CN105447276A - Helicopter take-off and landing speed fusion algorithm - Google Patents
Helicopter take-off and landing speed fusion algorithm Download PDFInfo
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- CN105447276A CN105447276A CN201510995021.6A CN201510995021A CN105447276A CN 105447276 A CN105447276 A CN 105447276A CN 201510995021 A CN201510995021 A CN 201510995021A CN 105447276 A CN105447276 A CN 105447276A
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Abstract
The invention belongs to the field of helicopter atmospheric systems, particularly relates to a helicopter take-off and landing speed fusion algorithm, and aims to solve the problems of take-off and landing speed fluctuation and time delay of a helicopter and fulfill the aim of lowering a time delay characteristic while reducing fluctuation. The helicopter take-off and landing speed fusion algorithm is a second-order integral operation algorithm with negative feedback control; an inertial vertical acceleration is taken as an input quantity of integral operation; and an atmospheric pressure height is taken as an observed quantity of the negative feedback control. The helicopter take-off and landing speed fusion algorithm has a long-term stability characteristic in the prior art, but is remarkably superior to the prior art in fluctuation and time delay characteristics, is beneficial to flight control, and contributes to enhancing the flight quality.
Description
Technical field
The invention belongs to helicopter Atmosphere System field, be specifically related to a kind of helicopter rising or falling speed blending algorithm.
Background technology
Rising or falling speed is aircraft and the Important Parameters flying to control vertical direction control, and the barometer altitude usually measured by the static pressure transducer being positioned at fuselage positions obtains through calculus of differences.Helicopter forms purling generation thrust by rotor rotational and takes off to overcome body gravity, because whole fuselage is all in the parcel of rotor down-wash flow, be difficult to find the installation site of a suitable static pressure transducer do not affected by rotor to carry out the true static pressure of Measurement accuracy, although helicopter is revised static pressure source error, but due to the complicacy of rotor system, the static pressure source revised can not eliminate the impact of purling completely, the interference in static pressure source is directly brought in rising or falling speed after calculus of differences sharpening, rising or falling speed is made to fluctuate violent and time delay is larger, the flight affecting vertical direction controls, reduce flight quality.
Summary of the invention
Due to the impact by lifting airscrew purling, static pressure source is by severe jamming, therefore the barometer altitude calculated by static pressure also can be unstable, causes that the existing rising or falling speed fluctuation obtained by barometer altitude Difference Calculation is violent and time delay is comparatively large, reduces flight quality.The rising or falling speed of helicopter just fluctuation to be solved by this invention and time delay problem between the two, reach the object reducing time-delay characteristics while reducing fluctuation.
The present invention adopts following technical scheme to realize:
A kind of helicopter rising or falling speed blending algorithm, step is as follows:
Inertia normal acceleration measured to obtain by inertial sensor
, inertia normal acceleration
obtain revising acceleration after carrying out zero inclined estimation by formula (1), then carry out by formula (2) rising or falling speed that integral operation obtains containing error, carry out feedback error by formula (3) and estimate to obtain correction rising or falling speed, be the rising or falling speed finally exported,
This rising or falling speed is pressed formula (4) integral operation and is obtained the height that algorithm estimates, for the deviation of barometer altitude measurement fusion algorithm measured, this deviation revises the drift of inertia normal acceleration after clipper restriction for formula (1),
. formula (1),
formula (2),
formula (3),
formula (4),
Being the normal acceleration that inertial sensor is measured in formula, is revised acceleration, h
pfor the barometer altitude that atmospheric sensor is measured, h is the height that algorithm is estimated, t is that inertial sensor gathers time monocycle, n is inertial sensor collection period number, k1, k2 are negative feedback control gain coefficient, and being the rising or falling speed containing error, is the rising or falling speed finally exported.
In recent years, along with the develop rapidly of aeronautical technology, Atmosphere System and inertia system crosslinked more and more tightr, utilize respective advantage, learn from other's strong points to offset one's weaknesses, obtain the precision and the reliability that are better than any one system, become a kind of possibility, long-time for air steady-state characteristic and the good high frequency response characteristic of inertial navigation combine by the present invention just, application atmospheric gas pressure height and inertia normal acceleration fusion calculation rising or falling speed.Helicopter rising or falling speed blending algorithm is a kind of Second Order Integral mathematical algorithm with negative feedback control, using inertia normal acceleration as the input quantity of integral operation, using atmospheric gas pressure height as the observed quantity of negative feedback control, application Kalman filter dynamic calculation feedback control gain coefficient is to obtain stable accurate rising or falling speed, inertia normal acceleration can obtain VTOL (vertical take off and landing) speed through integral operation, due to measuring error and the time drift of inertial sensor, long-time integration computing can outwards be dispersed gradually, therefore need to add atmospheric gas pressure height as observed quantity, carry out negative feedback control.
The beneficial effect that this discovery compared with prior art has: blending algorithm and existing barometer altitude difference algorithm and pure inertia integral algorithm test effect contrast sees accompanying drawing, helicopter rising or falling speed blending algorithm has the characteristic steady in a long-term of prior art, but in fluctuation and time-delay characteristics, be obviously better than prior art, be of value to flight to control, improve flight quality.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention,
Fig. 2 is that the present invention and prior art practice effect contrast overall diagram,
Fig. 3 is the present invention and prior art practice effect contrast detail diagram,
In figure: 1-normal acceleration, 2-accelerator feedback comparing element, 3-integrator, 4-rising or falling speed feedback comparing element, 5-integrator, 6-barometer altitude observation comparing element, 7-barometer altitude, 8-rising or falling speed feedback control gain coefficient, 9-clipper, 10-acceleration feedback control gain coefficient.
Embodiment
A kind of helicopter rising or falling speed blending algorithm, step is as follows:
Inertia normal acceleration measured to obtain by inertial sensor, inertia normal acceleration obtains revising acceleration after carrying out zero inclined estimation by formula (1), then carry out by formula (2) rising or falling speed that integral operation obtains containing error, carry out feedback error by formula (3) and estimate to obtain revising rising or falling speed
, be the final rising or falling speed exported,
This rising or falling speed is pressed formula (4) integral operation and is obtained the height that algorithm estimates, for the deviation of barometer altitude measurement fusion algorithm measured, this deviation revises the drift of inertia normal acceleration after clipper restriction for formula (1),
formula (1),
formula (2),
formula (3),
formula (4),
Being the normal acceleration that inertial sensor is measured in formula, is revised acceleration, h
pfor the barometer altitude that atmospheric sensor is measured, h is the height that algorithm is estimated, t is that inertial sensor gathers time monocycle, n is inertial sensor collection period number, k1, k2 are negative feedback control gain coefficient, for the rising or falling speed containing error, be the rising or falling speed finally exported, relevant parameters those skilled in the art can determine according to experience according to prior art.
Embodiment: the normal acceleration that certain type helicopter application inertial sensor is measured and the barometer altitude that atmospheric sensor is measured are carried out fusion calculation by formula (1) to formula (4) and obtained fusion rising or falling speed and see in Fig. 1 and Fig. 2 and merge rising or falling speed, apply existing barometer altitude Difference Calculation to obtain rising or falling speed and see pure pressure liftable speed in Fig. 1 and Fig. 2, the rising or falling speed that the normal acceleration integral and calculating that application inertial sensor is measured obtains is shown in the pure inertia rising or falling speed in Fig. 1.Merge rising or falling speed amplitude size as shown in Figure 1 consistent with pure pressure liftable speed, but As time goes on pure inertia rising or falling speed is dispersed gradually, fusion rising or falling speed is than pure pressure liftable velocity-stabilization and time delay is little as shown in Figure 2.
Claims (1)
1. a helicopter rising or falling speed blending algorithm, is characterized in that step is as follows:
Inertia normal acceleration measured to obtain by inertial sensor, inertia normal acceleration obtains revising acceleration after carrying out zero inclined estimation by formula (1), then carry out by formula (2) rising or falling speed that integral operation obtains containing error, carry out feedback error by formula (3) to estimate to obtain revising rising or falling speed, be the final rising or falling speed exported
This rising or falling speed is pressed formula (4) integral operation and is obtained the height that algorithm estimates, for the deviation of barometer altitude measurement fusion algorithm measured, this deviation revises the drift of inertia normal acceleration after clipper restriction for formula (1),
. formula (1),
formula (2),
formula (3),
formula (4),
Being the normal acceleration that inertial sensor is measured in formula, is revised acceleration, h
pfor the barometer altitude that atmospheric sensor is measured, h is the height that algorithm is estimated, t is that inertial sensor gathers time monocycle, n is inertial sensor collection period number, k1, k2 are negative feedback control gain coefficient, and being the rising or falling speed containing error, is the rising or falling speed finally exported.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510995021.6A CN105447276B (en) | 2015-12-28 | 2015-12-28 | Helicopter lifting speed blending algorithm |
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| CN201510995021.6A CN105447276B (en) | 2015-12-28 | 2015-12-28 | Helicopter lifting speed blending algorithm |
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| CN105447276A true CN105447276A (en) | 2016-03-30 |
| CN105447276B CN105447276B (en) | 2019-10-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109631833A (en) * | 2018-12-18 | 2019-04-16 | 重庆邮电大学 | The difference barometric leveling method merged based on storage verification with inertial sensor |
Citations (5)
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| CN102506892A (en) * | 2011-11-08 | 2012-06-20 | 北京航空航天大学 | Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device |
| CN103076013A (en) * | 2012-12-27 | 2013-05-01 | 太原航空仪表有限公司 | Air data and gesture heading reference system for flight navigation |
| US20140336867A1 (en) * | 2012-04-26 | 2014-11-13 | Bell Helicopter Textron Inc. | System and method for economic usage of an aircraft |
| CN104859834A (en) * | 2015-05-20 | 2015-08-26 | 王树强 | Low-energy-consumption fast controllable-change static ascending and descending device |
| CN105066994A (en) * | 2015-08-21 | 2015-11-18 | 中国运载火箭技术研究院 | Data fusion method for flush air data system and inertial navigation system |
-
2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506892A (en) * | 2011-11-08 | 2012-06-20 | 北京航空航天大学 | Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device |
| US20140336867A1 (en) * | 2012-04-26 | 2014-11-13 | Bell Helicopter Textron Inc. | System and method for economic usage of an aircraft |
| CN103076013A (en) * | 2012-12-27 | 2013-05-01 | 太原航空仪表有限公司 | Air data and gesture heading reference system for flight navigation |
| CN104859834A (en) * | 2015-05-20 | 2015-08-26 | 王树强 | Low-energy-consumption fast controllable-change static ascending and descending device |
| CN105066994A (en) * | 2015-08-21 | 2015-11-18 | 中国运载火箭技术研究院 | Data fusion method for flush air data system and inertial navigation system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109631833A (en) * | 2018-12-18 | 2019-04-16 | 重庆邮电大学 | The difference barometric leveling method merged based on storage verification with inertial sensor |
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