CN106873615B - Emergency return landing speed instruction set design method - Google Patents
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Abstract
The invention belongs to the flight control technology and provides a design method of an emergency return landing speed instruction set, which comprises the following steps: (1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed; (3) and recording the N +2 gear speed instruction set by the airplane, and selecting a proper gear of the speed instruction set to execute according to the airplane quality, the airport height, the speed and the distance from the airport when the airplane returns to the field in an emergency.
Description
Technical Field
The invention belongs to a flight control technology, and particularly relates to an aircraft unpowered return landing autonomous guidance control technology.
Background
When the airplane has an engine stop fault in the air, the performance of the airplane is degraded, and the airplane can only slide down for flight. In order to ensure the flight safety, the speed of the airplane needs to be controlled and the flight track needs to be modified, so that the situation of stall caused by excessive pull-up of the track is avoided, and meanwhile, the lift-drag ratio of the airplane in gliding can be adjusted to enable the airplane to land on the runway of the airport as far as possible. The document 'design of emergency landing control law of wheeled take-off and landing unmanned aerial vehicle' provides a difficult point analysis and solution approach for the problem of idle sliding return landing: 1) in the transitional flight stage, the gliding flight is carried out at the maximum lift-drag ratio speed, so that the flying distance of the airplane is maximized, and the airplane can still have the capability of reaching the vicinity of an airport under various uncertain and interference factors; 2) when the flying distance of the airplane is too long, namely the energy is too high when the airplane arrives near an airport, the redundant energy is consumed by adopting the mode of hovering and descending. The scheme has definite physical significance and simple operation. But there are three issues that are not considered when applied to engineering practice: 1) in the process of idle sliding return, the engine is started in the air, and the speed condition that the engine is idle can not be reached by gliding at the maximum lift-drag ratio; 2) if the maximum lift-drag ratio speed is adopted for gliding, the flying speed is smaller in the range of the flying speed, and compared with other speeds, the flying distance and the flying time are relatively longer, so that the airplane can not land safely until the battery of the airport is exhausted before the airplane slides to the airport. 3) The condition of the engine parking in the air is uncertain, the actual flight distances are almost the same for the parking conditions with the same height, far and near and different energy states, and the strategy of the gliding speed is not flexible enough.
Disclosure of Invention
The purpose of the invention is: the invention provides a design method of an emergency return landing speed instruction set, which can provide a more flexible and changeable instruction selection scheme for an idle-sliding guidance law and improve the feasibility that the idle-sliding time is less than the available time of a battery.
The technical scheme of the invention is as follows: a design method for an emergency return landing speed instruction set comprises the following steps:
(1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed;
(3) and recording the N +2 gear speed instruction set by the airplane, and selecting a proper gear of the speed instruction set to execute according to the airplane quality, the airport height, the speed and the distance from the airport when the airplane returns to the field in an emergency.
The method comprises the following steps between the step (1) and the step (3):
(2) correcting the speed instruction set of the N +2 gear by using the corresponding relation between the altitude and the speed required by the aerial restart and the aerial slip landing of the engine, and updating the content of each gear speed instruction set, wherein the content comprises an attack angle, an elevating rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (1) comprises the following steps:
(11) constructing a computational grid within the variable ranges of the mass m of the airplane, the height gnd of the airport, the roll angle phi, the height H and the speed V;
(12) calculating the uniform speed gliding performance of the airplane at each point of the calculated grid by using the balancing condition with the roll angle:
wherein: w is mg is the gravity of the aircraft, g is the acceleration of gravity; l, D is the lift and drag of the aircraft, MyThe pitching moments of the aircraft are the angle of attack α and the elevator deltaeHeight H and velocity V. Theta is the pitch angle of the airplane;
obtaining an attack angle α and an elevator delta meeting the balancing condition by using an equation set numerical solution methodeA pitch angle θ; solving lift L and resistance D according to a pneumatic parameter calculation method;
calculating lift-to-drag ratio KL/D：
KL/D＝L/D
Calculating a trajectory angle γ:
γ＝θ-α
calculating the sinking rate Vs：
Vs＝Vsinγ
(13) Under the conditions of given mass, roll angle, height and airport height, the maximum lift-drag ratio speed is used as the farthest speed of a track, the maximum calculated speed is used as the nearest speed of the track, the interval between the two speeds is divided into N +1 parts, the speed is arranged according to the farthest speed of the track, the interval speeds are 1 … N and the nearest speed of the track in sequence, a speed instruction set of N +2 gears is obtained, and the content of each gear speed instruction set comprises an attack angle, a lifting rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (2) comprises the following steps:
(21) representing the conditions of an idle-up window and an idle sliding-in near window of the engine as speed instructions of corresponding height layers, and correspondingly replacing the original speed instructions;
(22) performing linear interpolation smoothing processing on the joint of the new speed instruction and the original speed instruction, and calculating the shortest length of an interpolation section according to the average sinking rate;
(23) selecting the speed instruction of the most middle gear from the speed instructions of all gears on the height layer behind the engine idle window;
(24) the updated speed instruction is obtained by interpolating the calculation result of the parameter grid, wherein the updated speed instruction is obtained at the position where the relative height between the airplane and the airport is more than 300m, and the corresponding attack angle, elevating rudder, lift-drag ratio, track angle and sinking rate are obtained by the interpolation of the calculation result of the parameter grid; the updated speed command at the position where the relative height of the airplane and the airport is less than 300m needs to be supplemented and calculated for the attack angle, the elevator, the lift-drag ratio, the track angle and the sinking rate of the airborne slip under the landing gear put-down state.
The step (3) comprises the following steps:
(31) according to the current speed V and the maximum available roll angle phi of the airplanemaxEstimating the maximum range of the aircraft required for turning the direction
Calculating the average lift-drag ratio K required by the return of the airplane from the altitude gnd and the altitude H of the airport and the distance Dis from the airportneed
(32) Looking up the speed instruction table to obtain the mass m of the airplane, the height gnd of the airport and the roll angle phimaxAn N +2 gear speed command under the condition. Solving the average value of lift-drag ratio in the range from the height of an airport to the height of an airplane for the speed instruction of the ith gear
Wherein i is 1, 2, …, N + 2;
(33) if i is present, such that
Then choose to make
And a minimum first gear speed instruction is used for designing a track for returning the idle sliding and a guidance decision. Otherwise, the current state can not be returned safely, and the 1 st gear speed instruction with the maximum lift-drag ratio is selected for track design and guidance decision of idle sliding return, so that the gliding capability is exerted as much as possible.
The invention has the advantages that: the invention provides a method for designing an idle-slip speed instruction set based on the unpowered gliding performance of an airplane and the air restart condition of an engine, and provides a better instruction design approach for the engineering realization of the idle-slip return landing of the airplane. The obtained multi-gear instruction set can support the idle start of an engine, the flight state can be converged to an expected landing state by the same speed instruction design after the engine is restarted, and meanwhile, the guidance law can flexibly adjust the flying distance and the flying time by the aid of the stepped speed instruction design in the initial parking period through online scheduling. Compared with the maximum lift-drag ratio flight, the multi-gear speed instruction set can realize more gliding flight tracks, and can save more than 20% of flight time under the initial condition of high altitude, close range and low energy.
Drawings
FIG. 1 is a plot of trim lift-drag ratio versus velocity for a model at different altitudes at a given mass and roll angle of zero.
FIG. 2 is a diagram of the design result of the 11-gear speed command for a certain model at a given mass and airport altitude.
Detailed Description
The present invention is described in further detail below.
A design method for an emergency return landing speed instruction set comprises the following steps:
(1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed;
(3) and recording the N +2 gear speed instruction set by the airplane, and selecting a proper gear of the speed instruction set to execute according to the airplane quality, the airport height, the speed and the distance from the airport when the airplane returns to the field in an emergency.
The method comprises the following steps between the step (1) and the step (3):
(2) correcting the speed instruction set of the N +2 gear by using the corresponding relation between the altitude and the speed required by the aerial restart and the aerial slip landing of the engine, and updating the content of each gear speed instruction set, wherein the content comprises an attack angle, an elevating rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (1) comprises the following steps:
(11) constructing a computational grid within the variable ranges of the mass m of the airplane, the height gnd of the airport, the roll angle phi, the height H and the speed V;
(12) calculating the uniform speed gliding performance of the airplane at each point of the calculated grid by using the balancing condition with the roll angle:
wherein: w is mg is the gravity of the aircraft, g is the acceleration of gravity; l, D is the lift and drag of the aircraft, MyThe pitching moments of the aircraft are the angle of attack α and the elevator deltaeHeight H and velocity V. Theta is the pitch angle of the airplane;
obtaining an attack angle α and an elevator delta meeting the balancing condition by using an equation set numerical solution methodeA pitch angle θ; solving according to a calculation method of pneumatic parametersLift L and drag D;
calculating lift-to-drag ratio KL/D：
KL/D＝L/D
Calculating a trajectory angle γ:
γ＝θ-α
calculating the sinking rate Vs：
Vs＝Vsinγ
(13) Under the conditions of given mass, roll angle, height and airport height, the maximum lift-drag ratio speed is used as the farthest speed of a track, the maximum calculated speed is used as the nearest speed of the track, the interval between the two speeds is divided into N +1 parts, the speed is arranged according to the farthest speed of the track, the interval speeds are 1 … N and the nearest speed of the track in sequence, a speed instruction set of N +2 gears is obtained, and the content of each gear speed instruction set comprises an attack angle, a lifting rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (2) comprises the following steps:
(21) representing the conditions of an idle-up window and an idle sliding-in near window of the engine as speed instructions of corresponding height layers, and correspondingly replacing the original speed instructions;
(22) performing linear interpolation smoothing processing on the joint of the new speed instruction and the original speed instruction, and calculating the shortest length of an interpolation section according to the average sinking rate;
(23) selecting the speed instruction of the most middle gear from the speed instructions of all gears on the height layer behind the engine idle window;
(24) the updated speed instruction is obtained by interpolating the calculation result of the parameter grid, wherein the updated speed instruction is obtained at the position where the relative height between the airplane and the airport is more than 300m, and the corresponding attack angle, elevating rudder, lift-drag ratio, track angle and sinking rate are obtained by the interpolation of the calculation result of the parameter grid; the updated speed command at the position where the relative height of the airplane and the airport is less than 300m needs to be supplemented and calculated for the attack angle, the elevator, the lift-drag ratio, the track angle and the sinking rate of the airborne slip under the landing gear put-down state.
The step (3) comprises the following steps:
(31) according to the current speed V and the maximum available roll angle phi of the airplanemaxEstimating the maximum range of the aircraft required for turning the direction
Calculating the average lift-drag ratio K required by the return of the airplane from the altitude gnd and the altitude H of the airport and the distance Dis from the airportneed
(32) Looking up the speed instruction table to obtain the mass m of the airplane, the height gnd of the airport and the roll angle phimaxAn N +2 gear speed command under the condition. Solving the average value of lift-drag ratio in the range from the height of an airport to the height of an airplane for the speed instruction of the ith gear
Wherein i is 1, 2, …, N + 2;
(33) if i is present, such that
Then choose to make
And a minimum first gear speed instruction is used for designing a track for returning the idle sliding and a guidance decision. Otherwise, the current state can not be returned safely, and the 1 st gear speed instruction with the maximum lift-drag ratio is selected for track design and guidance decision of idle sliding return, so that the gliding capability is exerted as much as possible.
Examples
Taking a certain model as an example, giving conditions such as aircraft mass, airport altitude 1500m and the like, giving an engine restart window as an altitude layer 3-6km to fly at a speed of 450km/h, and giving main steps and results of designing a multi-gear speed instruction set:
the first step is as follows: generating a parameter grid, calculating the idling-skid performance and designing a multi-gear speed instruction, wherein a curve of the rising-drag ratio of part of grid points along with the speed is shown in figure 1.
1) Forming a height calculation sequence from the height of the airport to the maximum height by taking 100m as a height interval; taking a rolling angle sequence of 0:10: 30; inquiring the flight envelope corresponding to the current mass, calculating the speed range of each point of the altitude sequence, and dividing the speed range by 50 equal parts to obtain a roll angle-altitude-speed parameter grid; and calculating an attack angle, a pitch angle, an elevator, a lift-drag ratio and a sinking rate of uniform gliding trim at each point of the parameter grid.
2) Combining the rolling angle and the height sequence to obtain a rolling angle-height grid; searching a point with the maximum trim lift-drag ratio at each point of the rolling angle-height grid as the farthest speed of the flight path, and taking the point with the maximum speed as the nearest speed of the flight path; dividing a speed interval 10 formed by the farthest speed of the track and the nearest speed of the track equally, arranging the farthest speed of the track, the equal interval speed of the level 1 … 9 and the nearest speed of the track in a front-back sequence, and arranging 11 searched points to obtain a speed instruction of 11 gears; and (3) interpolating a trimming track angle, a lift-drag ratio and an elevator corresponding to the 1 … 9 level equal interval speed according to the performance calculation result.
The second step is that: regenerating a stepping instruction set according to the engine restart window condition, the landing window condition and the like, wherein the speed instruction design result is shown in fig. 2:
1) flight segment before air-lift (flight segment above 7 km): and directly adopting a multi-gear speed instruction design result.
2) Engine idle section (2-7km height section): according to the condition of an engine idle-up window, a speed instruction in a height layer of 3-6km is designed to be 450km/h, two transition height layers of 1000m are arranged at positions of 2-3km and 6-7km through average sinking rate calculation, and the speed instruction is smoothly transited through linear interpolation.
3) The engine in flight after the idle start failure: the relative height of the tail end of the idle starting section of the engine of the embodiment reaches 500m and reaches the vicinity of the approaching window, so that the flying section after the idle starting failure of the engine is cancelled.
4) Approach segment (1515-: the landing speed is 240km/h, and the flight performance parameters correspond to the landing gear falling state.
Claims (3)
1. A design method for an emergency return landing speed instruction set is characterized by comprising the following steps:
(1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed;
(3) the airplane records the speed instruction set of the N +2 gear, and when the airplane returns to the field in an emergency, the proper speed instruction set gear is selected for execution according to the airplane quality, the height, the altitude, the speed and the distance from the airport;
the method comprises the following steps between the step (1) and the step (3):
(2) correcting the speed instruction set of the N +2 gear by using the corresponding relation between the height and the speed required by the aerial restart and the aerial slip landing of the engine, and updating the content of each speed instruction set, wherein the content comprises an attack angle, an elevating rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed;
the step (1) comprises the following steps:
(11) constructing a computational grid within the variable ranges of the mass m of the airplane, the height gnd of the airport, the roll angle phi, the height H and the speed V;
(12) calculating the uniform speed gliding performance of the airplane at each point of the calculated grid by using the balancing condition with the roll angle:
wherein: w is mg is the gravity of the aircraft, g is the acceleration of gravity; l, D is the lift and drag of the aircraft, MyThe pitching moments of the aircraft are the angle of attack α and the elevator deltaePneumatic parameters of height H and velocity V variation; theta is the pitch angle of the airplane;
obtaining the attack meeting the balancing condition by using an equation set numerical solution methodAngle α elevator deltaeA pitch angle θ; solving lift L and resistance D according to a pneumatic parameter calculation method;
calculating lift-to-drag ratio KL/D：
KL/D＝L/D
Calculating a trajectory angle γ:
γ＝θ-α
calculating the sinking rate Vs：
Vs＝Vsinγ
(13) Under the conditions of given mass, roll angle, height and airport height, the maximum lift-drag ratio speed is used as the farthest speed of a track, the maximum calculated speed is used as the nearest speed of the track, the interval between the two speeds is divided into N +1 parts, the speed is arranged according to the farthest speed of the track, the interval speeds are 1 … N and the nearest speed of the track in sequence, a speed instruction set of N +2 gears is obtained, and the content of each gear speed instruction set comprises an attack angle, a lifting rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
2. The design method of emergency return field landing speed instruction set according to claim 1, wherein the step (2) comprises:
(21) representing the conditions of an idle-up window and an idle sliding-in near window of the engine as speed instructions of corresponding height layers, and correspondingly replacing the original speed instructions;
(22) performing linear interpolation smoothing processing on the joint of the new speed instruction and the original speed instruction, and calculating the shortest length of an interpolation section according to the average sinking rate;
(23) selecting the speed instruction of the most middle gear from the speed instructions of all gears on the height layer behind the engine idle window;
(24) the updated speed instruction is obtained by interpolating the calculation result of the parameter grid, wherein the updated speed instruction is obtained at the position where the relative height between the airplane and the airport is more than 300m, and the corresponding attack angle, elevating rudder, lift-drag ratio, track angle and sinking rate are obtained by the interpolation of the calculation result of the parameter grid; the updated speed command at the position where the relative height of the airplane and the airport is less than 300m needs to be supplemented and calculated for the attack angle, the elevator, the lift-drag ratio, the track angle and the sinking rate of the airborne slip under the landing gear put-down state.
3. The design method of emergency return field landing speed instruction set according to claim 1, wherein the step (3) comprises:
(31) according to the current speed V and the maximum available roll angle phi of the airplanemaxEstimating the maximum range of the aircraft required for turning the direction
Calculating the average lift-drag ratio K required by the return of the airplane from the altitude gnd and the altitude H of the airport and the distance Dis from the airportneed
(32) Looking up the speed instruction table to obtain the mass m of the airplane, the height gnd of the airport and the roll angle phimaxAn N +2 gear speed instruction under the condition; solving the average value of lift-drag ratio in the range from the height of an airport to the height of an airplane for the speed instruction of the ith gear
Wherein i is 1, 2, …, N + 2;
(33) if i is present, such that
Then choose to make
The minimum first gear speed instruction is used for track design and guidance decision of idle sliding return; otherwise, the current state can not be returned safely, and the 1 st gear speed instruction with the maximum lift-drag ratio is selected for track design and guidance decision of idle sliding return, so that the gliding capability is exerted as much as possible.
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| CN107643763B (en) * | 2017-09-20 | 2020-09-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Airplane unpowered return energy/track comprehensive control method |
| CN108931990A (en) * | 2018-07-19 | 2018-12-04 | 四川腾盾科技有限公司 | A kind of empty sliding Landing Control method that high aspect ratio unmanned plane is unpowered |
| CN111792054B (en) * | 2020-06-15 | 2021-06-08 | 成都飞机工业（集团）有限责任公司 | Safe test flight method based on airplane airborne sliding forced landing capability |
| CN112051860B (en) * | 2020-09-07 | 2022-04-19 | 中国航空工业集团公司成都飞机设计研究所 | Method for stabilizing idle-slip forced landing dynamic idle-slip ratio |
| CN116880527B (en) * | 2023-07-20 | 2024-02-23 | 中国空气动力研究与发展中心空天技术研究所 | Control method and system for maximum jump glide flight range of hypersonic aircraft |
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