CN105334860B - A kind of aircraft automatic leveling control method - Google Patents
A kind of aircraft automatic leveling control method Download PDFInfo
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- CN105334860B CN105334860B CN201510830056.4A CN201510830056A CN105334860B CN 105334860 B CN105334860 B CN 105334860B CN 201510830056 A CN201510830056 A CN 201510830056A CN 105334860 B CN105334860 B CN 105334860B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000010006 flight Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 3
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to aviation flight control technology fields, more particularly to a kind of aircraft automatic leveling control method, to solve the problems, such as that existing aircraft automatic leveling control method minusg is excessive, it is long to level off the time.Aircraft automatic leveling control method includes the following steps: that the pitch angle initial position of aircraft and the angle of horizontal plane that will be in state of flight are divided into multiple scheduled interval ranges；It is set separately and levels off mode for will control the aircraft in different interval ranges, so that carrying out automatic leveling automatically according to the mode of leveling off to match with section locating for the aircraft pitch angle under automatic leveling operating pattern.Aircraft automatic leveling design of control method of the invention is simple, structure is typical, uses ability with stronger, has a wide range of application, aircraft can be entered from any spatial position and level off mode, and leveled off control flow and meet pilot operator method.
Description
Technical field
The present invention relates to aviation flight control technology fields, more particularly to a kind of aircraft automatic leveling control method.
Background technique
One very important function of automatic leveling function aircraft automatic flight control system.The work of automatic leveling mode
With being when pilot loses spatial position, mode is leveled off in connection can be horizontal from any spatial position importing by aircraft.
But in current airplane design, aircraft to level off Functional Design relatively easy, be unable to full angle carry out it is automatic
It levels off, is less consistent in the process of leveling off with pilot's practical operation, causes during Aircraft Flight Test, pilot proposes to change automatically
Flat minusg is excessive, and it is long to level off the time.
Summary of the invention
The object of the present invention is to provide a kind of aircraft automatic leveling control methods, to solve existing aircraft automatic leveling control
Method minusg processed is excessive, levels off the problem of time length.
A kind of aircraft automatic leveling control method, includes the following steps:
Step 1: the pitch angle initial position of aircraft for being in state of flight and the angle of horizontal plane are divided into multiple pre-
Fixed interval range；
Mode is leveled off for will control the aircraft in different interval ranges Step 2: being set separately, so that
It obtains under automatic leveling operating pattern, is carried out certainly automatically according to the mode of leveling off to match with section locating for the aircraft pitch angle
It is dynamic to level off.
Preferably, the multiple scheduled interval range includes:
The angle of first interval, the pitch angle initial position and horizontal plane is at [- 90 °, -20 °], in the first interval
Interior, by the aircraft, laterally (lateral in table) progress roll angle is leveled off, then longitudinal direction is leveled off with scheduled overload values to the secondth area
Between；
The angle of second interval, the pitch angle initial position and horizontal plane is at [- 20 °, 20 °], in the second interval
It is interior, leveled off by the lifting speed of the aircraft longitudinally controlled, transverse direction to roll angle carry out control and with it is longitudinal simultaneously into
Row levels off；
The angle of 3rd interval, the pitch angle initial position and horizontal plane is at [20 °, 40 °], in the 3rd interval
It is interior, it is being longitudinally that the control aircraft is remained above 90 ° of roll angles and carries out inverted flights and levels off, to longitudinal direction by the aircraft control to putting down
It will laterally be leveled off again after flying position；
The angle of 4th section, the pitch angle initial position and horizontal plane is at [40 °, 70 °], in the 4th section
It is interior, it is being longitudinally that the control aircraft keeps 180 ° of roll angles progress inverted flights to level off, is flying the aircraft control to flat to longitudinal direction
It will laterally be leveled off again behind position；
The angle of 5th section, the pitch angle initial position and horizontal plane is at [70 °, 90 °], in the 5th section
It is interior, control the aircraft and enter and level off, then by the aircraft with scheduled overload values level off it is longitudinal forget about it winged, fly wait level off to flat
Behind position, then laterally carries out rolling and level off.
Preferably, in the first interval, the scheduled overload values are 5.
The present invention has the advantages that
Aircraft automatic leveling design of control method of the invention is simple, structure is typical, has stronger using ability, application
Range is wide, aircraft can be entered from any spatial position and level off mode, and leveled off control flow and meet pilot operator side
Method.
Detailed description of the invention
Fig. 1 is that aircraft automatic leveling control method of the present invention levels off schematic illustration.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
The limitation of range.
1 pair of aircraft automatic leveling control method of the present invention is described in further details with reference to the accompanying drawing.
The present invention provides a kind of aircraft automatic leveling control methods, include the following steps:
Step 1: the pitch angle initial position of aircraft for being in state of flight and the angle of horizontal plane are divided into multiple pre-
Fixed interval range.
Mode is leveled off for will control the aircraft in different interval ranges Step 2: being set separately, so that
It obtains under automatic leveling operating pattern, is carried out certainly automatically according to the mode of leveling off to match with section locating for the aircraft pitch angle
It is dynamic to level off.
Aircraft automatic leveling design of control method of the invention is simple, structure is typical, has stronger using ability, application
Range is wide, aircraft can be entered from any spatial position and level off mode, and leveled off control flow and meet pilot operator side
Method.
In aircraft automatic leveling control method of the invention, scheduled interval range, which can according to need, to be selected；?
In the present embodiment, multiple scheduled interval ranges include:
The angle of first interval, the pitch angle initial position and horizontal plane is at [- 90 °, -20 °], in the first interval
Interior, by the aircraft, laterally (lateral in table) progress roll angle is leveled off, then longitudinal direction is leveled off with scheduled overload values to the secondth area
Between.Further, preferably scheduled overload values are 5 in the present embodiment.
The angle of second interval, the pitch angle initial position and horizontal plane is at [- 20 °, 20 °], in the second interval
It is interior, leveled off by the lifting speed of the aircraft longitudinally controlled, transverse direction to roll angle carry out control and with it is longitudinal simultaneously into
Row levels off.
The angle of 3rd interval, the pitch angle initial position and horizontal plane is at [20 °, 40 °], in the 3rd interval
It is interior, it is being longitudinally that the control aircraft is remained above 90 ° of roll angles and carries out inverted flights and levels off, to longitudinal direction by the aircraft control to putting down
It will laterally be leveled off again after flying position.
The angle of 4th section, the pitch angle initial position and horizontal plane is at [40 °, 70 °], in the 4th section
It is interior, it is being longitudinally that the control aircraft keeps 180 ° of roll angles progress inverted flights to level off, is flying the aircraft control to flat to longitudinal direction
It will laterally be leveled off again behind position.
The angle of 5th section, the pitch angle initial position and horizontal plane is at [70 °, 90 °], in the 5th section
It is interior, control the aircraft and enter and level off, then by the aircraft with scheduled overload values level off it is longitudinal forget about it winged, fly wait level off to flat
Behind position, then laterally carries out rolling and level off.
Specifically, in above-mentioned five interval ranges, the gain and coefficient in control method are as shown in table 1 below:
Gain and coefficient in the control method of 1 automatic leveling of table
Wherein, NyIt is givenTo give overload values ,-KVy indicates gain, and Vy indicates control signal.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims
It is quasi-.
Claims (2)
1. a kind of aircraft automatic leveling control method, characterized by the following steps:
Step 1: the pitch angle initial position of aircraft for being in state of flight and the angle of horizontal plane are divided into multiple scheduled
Interval range；
Mode is leveled off for will control the aircraft in different interval ranges Step 2: being set separately, so that
Under automatic leveling operating pattern, changed automatically automatically according to the mode of leveling off that section locating for the aircraft pitch angle matches
It is flat；
The multiple scheduled interval range includes:
The angle of first interval, the pitch angle initial position and horizontal plane is at [- 90 °, -20 °], in the first interval,
The aircraft is laterally carried out to roll angle to level off, then longitudinal direction is leveled off with scheduled overload values to second interval；
The angle of second interval, the pitch angle initial position and horizontal plane is at [- 20 °, 20 °], in the second interval, leads to
The lifting speed for crossing the aircraft is leveled off longitudinally controlled, is carried out control to roll angle in transverse direction and is changed simultaneously with longitudinal
It is flat；
The angle of 3rd interval, the pitch angle initial position and horizontal plane is at [20 °, 40 °], in the 3rd interval,
Longitudinal direction is that the control aircraft is remained above 90 ° of roll angles and carries out inverted flights and levels off, and the aircraft control is flown position to flat to longitudinal direction
Postponing will laterally level off again；
The angle of 4th section, the pitch angle initial position and horizontal plane is at [40 °, 70 °], in the 4th section,
Longitudinal direction is that the control aircraft keeps 180 ° of roll angles progress inverted flights to level off, after longitudinal direction is by the aircraft control to flat winged position
It will laterally level off again；
The angle of 5th section, the pitch angle initial position and horizontal plane is at [70 °, 90 °], in the 5th section, control
Make the aircraft and enter and level off, then by the aircraft with scheduled overload values level off it is longitudinal forget about it is winged, wait level off to flat winged position
Afterwards, then laterally rolling is carried out to level off.
2. aircraft automatic leveling control method according to claim 1, which is characterized in that in the first interval, institute
Stating scheduled overload values is 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510830056.4A CN105334860B (en) | 2015-11-25 | 2015-11-25 | A kind of aircraft automatic leveling control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510830056.4A CN105334860B (en) | 2015-11-25 | 2015-11-25 | A kind of aircraft automatic leveling control method |
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| Publication Number | Publication Date |
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| CN105334860A CN105334860A (en) | 2016-02-17 |
| CN105334860B true CN105334860B (en) | 2019-04-23 |
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| CN201510830056.4A Active CN105334860B (en) | 2015-11-25 | 2015-11-25 | A kind of aircraft automatic leveling control method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558478B (en) * | 2020-12-08 | 2022-06-17 | 中国商用飞机有限责任公司 | Height leveling function control method and system for civil aircraft autopilot |
| CN113703318B (en) * | 2021-08-08 | 2023-12-15 | 中国航空工业集团公司沈阳飞机设计研究所 | Longitudinal leveling control method based on table speed calculation overload change |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3892373A (en) * | 1973-12-07 | 1975-07-01 | Bendix Corp | Integrated glide path/flare automatic flight control system |
| EP0530924B1 (en) * | 1991-09-03 | 1996-12-04 | The Boeing Company | Aircraft flare control system utilizing an envelope limiter |
| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014209220A1 (en) * | 2013-06-24 | 2014-12-31 | Singapore Technologies Aerospace Ltd | An unmanned aerial vehicle and a method for landing the same |
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2015
- 2015-11-25 CN CN201510830056.4A patent/CN105334860B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3892373A (en) * | 1973-12-07 | 1975-07-01 | Bendix Corp | Integrated glide path/flare automatic flight control system |
| EP0530924B1 (en) * | 1991-09-03 | 1996-12-04 | The Boeing Company | Aircraft flare control system utilizing an envelope limiter |
| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
Non-Patent Citations (5)
| Title |
|---|
| 基于ARM的三自由度直升机嵌入式控制***设计;苗晋玲;《中国优秀硕士学位论文全文数据库 信息科技辑》;20111231;第I140-337页 |
| 基于自适应模糊控制的飞机自动着陆***;高冰等;《电气传动》;20111231;第41卷(第8期);第24-27页 |
| 提高乘坐品质的大型民用飞机高度控制模态设计;谢殿煌;《科技创新导报》;20151010;第15-17页 |
| 无人机横侧向姿态控制研;李乐奇;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20071231;第C031-125页 |
| 自动飞行控制***的设计技术;邵荣士;《飞行设计》;20000930;第25-31页 |
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| CN105334860A (en) | 2016-02-17 |
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