CN105843232B - Aircraft gliding deceleration control method - Google Patents
Aircraft gliding deceleration control method Download PDFInfo
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- CN105843232B CN105843232B CN201610217768.3A CN201610217768A CN105843232B CN 105843232 B CN105843232 B CN 105843232B CN 201610217768 A CN201610217768 A CN 201610217768A CN 105843232 B CN105843232 B CN 105843232B
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an aircraft gliding deceleration control method. The method comprises steps that whether deceleration control is needed is determined according to a difference value of an instruction speed Vcx provided by a guidance system and a motion speed Vd of an aircraft relative to the Earth acquired by a navigation system; if yes, a required basic attack angle alpha0 is acquired through calculation; a dissipation speed deltaV is acquired through calculation; a required deceleration attack angle alphan is acquired through calculation; an additional guidance force Fzc<V> for deceleration control is acquired through calculation; deceleration control on the aircraft is carried out according to the additional guidance force for deceleration control acquired through calculation. Through the method, precise speed control on the aircraft can be realized.
Description
Technical field
The present invention relates to hypersonic aircraft technical field of guidance, more particularly to a kind of aircraft gliding deceleration controlling party
Method.
Background technology
For lift formula aircraft, as which relies primarily on aerodynamic force flight, in uncertain factor and the shadow of disturbed condition
Under sound, at the end of flight, the speed of aircraft spreads big, causes unfavorable to subsequent flights, and for about the speed of beamsplitter terminal point spreads,
Need to carry out strict speed controlling to aircraft so as to which under disturbed condition, speed reaches unanimity.
However, can not yet provide a kind of effective and precision higher aircraft gliding deceleration controlling party in prior art
Method, therefore the problems demand is resolved.
The content of the invention
In view of this, the present invention provides a kind of aircraft gliding method for slowing-down control, such that it is able to realize to aircraft
Accurate speed controlling.
What technical scheme was specifically realized in：
A kind of aircraft gliding method for slowing-down control, the method comprise the steps：
According to command speed V that guidance system is givencxRelative earth movements speed current with the aircraft that navigation system is obtained
Degree VdDifference, judge whether that needs carry out deceleration control；
When needing to carry out deceleration control, it is calculated0；
It is calculated the speed Δ V for needing to dissipate；
It is calculated deceleration and need to uses angle of attackn；
It is calculated the additional guidance power of control of slowing down
According to the calculated additional guidance power of control of slowing down, deceleration control is carried out to aircraft.
Preferably, described according to VcxWith VdDifference, judge whether that needs carry out deceleration control and include：
The default one control mark V that slows downCtrl_ Flag, and the VCtrlThe initial value of _ Flag is 0；
As (Vd-Vcx)>Vc1, and VCtrlWhen the value of _ Flag is 0, V is putCtrl_ Flag is 1；As (Vd-Vcx)<Vc2, and VCtrl_
When the value of Flag is 1, V is putCtrl_ Flag is 0；Wherein, Vc1It is to enter the threshold value for controlling that slows down, Vc2For exiting control of slowing down
Threshold value；
Work as VCtrlWhen _ Flag is 0, judgement need not carry out deceleration control；Work as VCtrlWhen _ Flag is 1, judge that needs are carried out
Slow down and control.
Preferably, being calculated according to formula below need to use substantially angle of attack0：
Wherein, ax、bxRespectively related to aircraft normal force aerodynamic characteristic parameter, q is dynamic pressure, SmIt is special for aircraft
Levy area, FnIt is without the guidance power slowed down when controlling.
Preferably, being calculated the speed Δ V for needing to dissipate according to formula below：
Wherein, TgIt is the time to be flown of distance flight end.
Preferably, being calculated deceleration according to formula below need to use angle of attackn：
Wherein, bDIt is the parameter related to aircraft resistance coefficient；KV1, N be Guidance Parameter；M is vehicle mass.
Preferably, the additional guidance power of control of slowing down that is calculated includes：
It is calculated Fn0=(ax+bx·α0)·q·Sm；
It is calculated Fnn=(ax+bx·αn)·q·Sm；
If Fnn>Fn0, thenOtherwise,
As above it is visible, in aircraft in the present invention gliding method for slowing-down control, due to can first according to actual speed
The deviation of (i.e. the current relative earth movement velocity of aircraft) with command speed, judges whether that needs carry out deceleration control, then
When needing to carry out slowing down control, first calculate, then calculating needs the speed for dissipating and slow down to need respectively
With the angle of attack, the additional guidance power of control of slowing down finally is calculated, and aircraft is entered according to control additional guidance power of slowing down
Row slows down and controls, and such that it is able to increase the flying drilling angle of aircraft, increases then resistance by increasing the angle of attack, to realize to flight
The accurate speed controlling of device.Said method can be directly used for glide vehicle (for example, the lift formula based on aerodynamic force flight
Aircraft) guidance, effectively, and velocity control accuracy is high for speed controlling.
Description of the drawings
Schematic flow sheets of the Fig. 1 for the aircraft gliding method for slowing-down control in the embodiment of the present invention.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention become more apparent, develop simultaneously embodiment referring to the drawings, right
The present invention is further described.
Present embodiments provide a kind of aircraft gliding method for slowing-down control, the method is suitable for based on flying with aerodynamic force
Lift formula aircraft, such that it is able to solve high precision velocity control problem of the aircraft under equilibrium glide state of flight.
Schematic flow sheets of the Fig. 1 for the aircraft gliding method for slowing-down control in the embodiment of the present invention.As shown in figure 1, this
Aircraft gliding method for slowing-down control in inventive embodiments includes：.
Step 101, according to command speed V that guidance system is givencxThe aircraft obtained with navigation system is relatively currently
Ball movement velocity VdDifference, judge whether that needs carry out deceleration control；
In the inventive solutions, first have to judge whether that needs carry out deceleration control.Therefore, in this step,
Can be according to VcxWith VdDifference carry out deceleration control, wherein, V judging whether needscxFor the instruction speed that guidance system is given
Degree, VdFor current relative earth movement velocity V of aircraft that navigation system is obtainedd, unit is m/s.
Preferably, in a particular embodiment of the present invention, can be judged whether to need according to method as described below into
Row slows down and controls：
The default one control mark V that slows downCtrl_ Flag, and the VCtrlThe initial value of _ Flag is 0；The VCtrl_ Flag is used for
Whether mark needs to carry out deceleration control；
As (Vd-Vcx)>Vc1, and VCtrlWhen the value of _ Flag is 0, V is putCtrl_ Flag is 1；As (Vd-Vcx)<Vc2, and VCtrl_
When the value of Flag is 1, V is putCtrl_ Flag is 0；Wherein, Vc1It is to enter the threshold value for controlling that slows down, Vc2For exiting control of slowing down
Threshold value；In the inventive solutions, above-mentioned V can be pre-set according to the needs of practical applicationc1And Vc2Value；
Therefore, generally, above-mentioned Vc1And Vc2It is default constant value.
Work as VCtrlWhen _ Flag is 0, judgement need not carry out deceleration control, the control if attached side force of slowing down is slowed down
The attached guidance power of systemSo as to exit deceleration control flow；
Work as VCtrlWhen _ Flag is 1, judge that needs carry out deceleration control, so as to continue executing with follow-up step 102.
Step 102, when needing to carry out deceleration control, is calculated0；
For the lift formula aircraft based on being flown with aerodynamic force, its power needed for flight is come by normal force of aircraft
There is provided, and slow down and be then mainly by the angle of attack of increase aircraft to realize, therefore, in the inventive solutions, if
Determine that needs carry out deceleration control by above-mentioned step 101, then can calculate first in this step0。
In the inventive solutions, the angle of attack need to can be used substantially to be calculated according to various concrete implementation modes
α0.Hereinafter technical scheme will be illustrated by taking a kind of specific implementation therein as an example.
For example, preferably, in one particular embodiment of the present invention, can according to dynamic pressure, aircraft feature area and
Without the guidance power slowed down when controlling, calculating need to use angle of attack substantially0.For example, base can be calculated according to formula as described below
This need to use angle of attack0：
Wherein, ax、bxThe first and second respectively related to aircraft normal force aerodynamic characteristic parameters, ax、bxCan be with root
Obtain according to the aerodynamic characteristic fitting of aircraft；Q is dynamic pressure, SmFor aircraft feature area, FnIt is without the guidance slowed down when controlling
Power.
In the inventive solutions, it is described without guidance power F slowed down when controllingnCan be according to of the prior art normal
It is calculated with guidance algorithm, therefore, concrete calculating process will not be described here.
Step 103, is calculated the speed Δ V for needing to dissipate；
In the inventive solutions, can need what is dissipated to be calculated according to various concrete implementation modes
Speed Δ V.Hereinafter technical scheme will be illustrated by taking a kind of specific implementation therein as an example.
For example, preferably, in one particular embodiment of the present invention, can be according to Vcx、VdWith distance flight end
Time to be flown, calculate the speed Δ V for needing to dissipate.For example, can be calculated according to formula as described below needs to dissipate
The speed Δ V for falling：
Wherein, TgIt is the time to be flown of distance flight end.In the inventive solutions, can be according to actual feelings
Condition, pre-sets TgValue, that is, set TgFor a constant value；Or, it is also possible to according to conventional guidance algorithm meter of the prior art
Calculation obtains the Tg, concrete calculating process will not be described here.
Step 104, is calculated deceleration and need to use angle of attackn；
In the inventive solutions, can need to use the angle of attack deceleration is calculated according to various concrete implementation modes
αn.Hereinafter technical scheme will be illustrated by taking a kind of specific implementation therein as an example.
For example, preferably, in one particular embodiment of the present invention, can be calculated according to formula as described below
Deceleration need to use angle of attackn：
Wherein, bDIt is the parameter related to aircraft resistance coefficient, which is related to flight aerodynamics；KV1For speed proportional
Coefficient, its value can typically be taken as 1, N be the order of angle of attack function obtained by aerodynamic characteristics of vehicle fitting；M is aircraft
Quality.
Step 105, is calculated the additional guidance power of control of slowing down
In the inventive solutions, can be additional to be calculated control of slowing down according to various concrete implementation modes
Guidance powerHereinafter technical scheme will be illustrated by taking a kind of specific implementation therein as an example.
For example, preferably, in one particular embodiment of the present invention, can be calculated according to step as described below
The guidance power that control of slowing down is added
Step 51, is calculated Fn0=(ax+bx·α0)·q·Sm, wherein, Fn0 is the guidance that need to be produced with the angle of attack substantially
Power；
Step 52, is calculated Fnn=(ax+bx·αn)·q·Sm, wherein FnnThe guidance that need to be produced with the angle of attack for slowing down
Power；
Step 53, if Fnn>Fn0, thenOtherwise,
Step 106, according to the calculated additional guidance power of control of slowing down, carries out deceleration control to aircraft.
In summary, in aircraft gliding method for slowing-down control in the present invention, due to can first according to actual speed
The deviation of (i.e. the current relative earth movement velocity of aircraft) with command speed, judges whether that needs carry out deceleration control, then
When needing to carry out slowing down control, first calculate, then calculating needs the speed for dissipating and slow down to need respectively
With the angle of attack, the additional guidance power of control of slowing down finally is calculated, and aircraft is entered according to control additional guidance power of slowing down
Row slows down and controls, and such that it is able to increase the flying drilling angle of aircraft, increases then resistance by increasing the angle of attack, to realize to flight
The accurate speed controlling of device.Said method can be directly used for glide vehicle (for example, the lift formula based on aerodynamic force flight
Aircraft) guidance, effectively, and velocity control accuracy is high for speed controlling.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements done etc. are should be included within the scope of protection of the invention.
Claims (3)
1. a kind of aircraft glides method for slowing-down control, it is characterised in that the method comprises the steps：
According to command speed V that guidance system is givencxWith current relative earth movement velocity V of the aircraft that navigation system is obtainedd
Difference, judge whether that needs carry out deceleration control；
When needing to carry out deceleration control, it is calculated0；
It is calculated the speed Δ V for needing to dissipate；
It is calculated deceleration and need to uses angle of attackn；
It is calculated the additional guidance power of control of slowing down
According to the calculated additional guidance power of control of slowing down, deceleration control is carried out to aircraft；
Wherein, it is calculated according to formula below and need to use substantially angle of attack0：
Wherein, ax、bxRespectively related to aircraft normal force aerodynamic characteristic parameter, q is dynamic pressure, SmFor aircraft characteristic face
Product, FnIt is without the guidance power slowed down when controlling；
The speed Δ V for needing to dissipate is calculated according to formula below：
Wherein, TgIt is the time to be flown of distance flight end；
Deceleration is calculated according to formula below and need to use angle of attackn：
Wherein, bDIt is the parameter related to aircraft resistance coefficient；KV1, N be Guidance Parameter；M is vehicle mass.
2. method according to claim 1, it is characterised in that described according to VcxWith VdDifference, judge whether to need into
Row deceleration control includes：
The default one control mark V that slows downCtrl_ Flag, and the VCtrlThe initial value of _ Flag is 0；
As (Vd-Vcx)>Vc1, and VCtrlWhen the value of _ Flag is 0, V is putCtrl_ Flag is 1；As (Vd-Vcx)<Vc2, and VCtrl_Flag
Value be 1 when, put VCtrl_ Flag is 0；Wherein, Vc1It is to enter the threshold value for controlling that slows down, Vc2For exiting the threshold of control of slowing down
Value；
Work as VCtrlWhen _ Flag is 0, judgement need not carry out deceleration control；Work as VCtrlWhen _ Flag is 1, judge that needs are slowed down
Control.
3. method according to claim 2, it is characterised in that described to be calculated the additional guidance power bag of control that slows down
Include：
It is calculated Fn0=(ax+bx·α0)·q·Sm；
It is calculated Fnn=(ax+bx·αn)·q·Sm；
If Fnn>Fn0, thenOtherwise,
Wherein, Fn0For the guidance power that need to be produced with the angle of attack substantially, FnnThe guidance power that need to be produced with the angle of attack for slowing down.
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| CN201610217768.3A CN105843232B (en) | 2016-04-08 | 2016-04-08 | Aircraft gliding deceleration control method |
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| CN201610217768.3A CN105843232B (en) | 2016-04-08 | 2016-04-08 | Aircraft gliding deceleration control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109425754A (en) * | 2017-08-22 | 2019-03-05 | 成都飞机工业（集团）有限责任公司 | A method of it is abnormal to judge that unmanned plane slows down |
| US11358733B2 (en) | 2020-01-21 | 2022-06-14 | Rockwell Collins, Inc. | Optimum idle descent start point display based on current conditions |
| CN114812293B (en) * | 2021-01-27 | 2023-03-24 | 北京理工大学 | Method for controlling tail end speed reducer maneuvering |
| CN114489125B (en) * | 2022-01-15 | 2024-06-11 | 西北工业大学 | High-precision near-optimal deceleration control method for gliding aircraft |
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