RU2367992C1 - Adaptive device of aircraft coordinated control - Google Patents

Abstract

FIELD: physics, control.

SUBSTANCE: invention is related to the field of instrument making and may find application in board systems of automatic control of aircrafts with realisation of coordinated turn modes. In order to achieve this result, control device comprises detector of heeling angle, detector of heeling angular speed, course angle detector, detector of angular speed by course, the first and second summing amplifiers, setter of control signal by course, the first and second subtraction units, inverting amplifier, the first and second nonlinear elements with limitation.

EFFECT: expansion of functional resources and high dynamic accuracy of control.

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Description

The invention relates to control devices for on-board automatic control systems for aircraft with the implementation of coordinated U-turns.

Known control devices for systems in which the roll and heading control channels contain subtraction elements and summing amplifiers that form control actions on the executive drives of the aircraft from the driving actions and signals of the state sensors [1].

The disadvantage of this implementation is the limited control capabilities and low dynamic accuracy.

Closest to the proposed invention is a coordinated control device for an aircraft, comprising an inverting amplifier, serially connected roll angular velocity sensor and a first summing amplifier, serially connected heading control signal adjuster, a first subtraction unit and a second summing amplifier, the second input of which is connected to the output heading angular velocity sensor, sequentially connected the first nonlinear element with restriction, the second block of subtraction, the output of which is connected to the first summing amplifier, and the second input to the output of the roll angle sensor, the heading angle sensor, the output of which is connected to the second input of the first subtraction unit [2].

A disadvantage of the known device is its limited functionality and low dynamic control accuracy.

The technical problem to be solved in the proposed control system is to expand the functionality and increase the dynamic control accuracy. The proposed construction of the control device achieves the functionality to achieve maximum control intensity and increase dynamic accuracy.

The specified technical result is achieved by the fact that in a known device for coordinated control of an aircraft, comprising an inverting amplifier, serially connected roll angular velocity sensor and a first summing amplifier, serially connected heading signal control unit, the first subtraction unit and the second summing amplifier, the second input of which connected to the output of the angular velocity sensor along the course, the first nonlinear element with restriction, the second block connected in series a subtraction, the output of which is connected to the first summing amplifier, and the second input with the output of the roll angle sensor, the heading angle sensor, the output of which is connected to the second input of the first subtraction unit, is additionally introduced a second nonlinear element with a restriction, the input of which is connected to the output of the first summing amplifier, and the output is the output of the device, while the output of the second summing amplifier is connected through an inverting amplifier to the input of the first nonlinear element with restriction.

Indeed, this ensures maximum working out of the course angle by means of roll maneuvers, i.e. widening of U-turns with large roll angles.

The drawing shows a structural diagram of a coordinated control device.

The coordinated control device of the aircraft contains an inverting amplifier 1 (DUT), a serially connected roll angular velocity sensor 2 (DUSKr) and a first summing amplifier 3 (1 SU), a serially connected control signal setter in direction 4 (ZSUKur), the first subtraction unit 5 (1BV) and the second summing amplifier 6 (2СУ), the second input of which is connected to the output of the angular velocity sensor at the rate of 7 (DUSKur), the first nonlinear element with restriction 8 (1NESO), the second subtraction unit 9 (2 B), the output of which is connected to the first summing amplifier 3, and the second input to the output of the angle sensor 10 (DUKr), the angle sensor 11 (DUKur), the output of which is connected to the second input of the first subtraction unit 5. In addition, the device contains a second a nonlinear element with a limitation of 12 (2NESO), the input of which is connected to the output of the first summing amplifier 3, and the output is the output of the device, while the output of the second summing amplifier 6 is connected through an inverting amplifier 1 to the input of the first nonlinear element with a limit of 8.

The coordinated control device operates as follows.

The main control signals in the channels of the course σ _Ψ and roll σ _γ are formed, respectively, by blocks 4, 5, 6, 7, 11 of the channel of the course and 1, 2, 3, 9 of the roll channel:

where K _1ψ , K _2ψ - gear ratios of the second summing amplifier 6;

Δψ is the error signal at the output of the first block of subtraction 5;

ψ is the signal of the heading angle sensor 11;

ψ _ass - a reference signal at the heading at the output of the control signal setter at heading 4;

ω _y - the signal of the angular velocity sensor at the rate of 7;

To _1γ , To _2γ - gear ratios of the first summing amplifier 3;

Δγ is the roll mismatch signal at the output of the second subtraction block 9;

γ is the signal of the roll angle sensor 10;

γ _control - roll signal at the output of a nonlinear element with a limit of 8;

ω _x - the signal of the angular velocity sensor roll 2.

Signal γ _control formed by a special coordinated control channel, connected by an input signal σ _ψ - to the output of the second summing amplifier 6, and output to the input of the second subtraction unit 9. The channel contains series-connected blocks 1 and 8. Signal generation γ _control. by the signal of the course, σ _Ψ makes it possible, on the whole, to achieve the required damping properties of roll processes.

The coordinated control device operates in the mode of stabilization and control of ψ _ass values through the roll channel. Namely. When processing large signals ψ, the _back channel of the course generates σ _ψ , and the roll channel in the mode of coordinated control with the processing of the signal γ _control ≠ 0 and with inversion and limitation of the signal σ _ψ .

The inverting amplifier 1 of this channel of the device allows you to realize the principle of coordinated control by inverting the input signal and choosing the optimal value of the degree of amplification. The first nonlinear element with a limit of 8 provides the required signal limitation γ _control for the roll channel in accordance with the technical restrictions on the aircraft in roll angle. The second non-linear element with a restriction of 12 provides for the implementation of the restrictions of the coordinated control signal for supplying to the steering gear of the aircraft.

All blocks of the control device are standard and can be implemented on the elements of automation and computer technology.

Thus, the proposed control device allows you to expand the functionality of the system and increase the dynamic accuracy of control.

Information sources

1. I. A. Mikhalev and other systems of automatic control of the aircraft. - M.: Mechanical Engineering, 1987, p. 174.

2. RF patent No. 2237269 dated 04/03/2003, G05D 1/08.

Claims (1)

A device for coordinated control of an aircraft, comprising an inverting amplifier, a roll angular velocity sensor connected in series and a first summing amplifier, a heading control signal set in series, a first subtraction unit and a second summing amplifier, the second input of which is connected to the heading of the angular velocity sensor, series-connected first non-linear element with a restriction, the second subtraction unit, the output of which is connected to the first summing amplifier m, and the second input with the output of the roll angle sensor, the heading angle sensor, the output of which is connected to the second input of the first subtraction unit, characterized in that it contains a second nonlinear element with a restriction, the input of which is connected to the output of the first summing amplifier, and the output is the output devices, while the output of the second summing amplifier is connected through an inverting amplifier to the input of the first nonlinear element with restriction.

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