CN112798018A - Method for reconstructing surface speed and Mach number signals of aircraft - Google Patents

Method for reconstructing surface speed and Mach number signals of aircraft Download PDF

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CN112798018A
CN112798018A CN202011612891.8A CN202011612891A CN112798018A CN 112798018 A CN112798018 A CN 112798018A CN 202011612891 A CN202011612891 A CN 202011612891A CN 112798018 A CN112798018 A CN 112798018A
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mach number
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aircraft
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巩磊
何晶晶
张飞
刘龙
江飞鸿
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Xian Aircraft Design and Research Institute of AVIC
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Abstract

The invention belongs to the technical field of flight control, and provides a reconstruction method of meter speed and Mach number signals of an aircraft. The method can provide high-reliability, high-precision, fast-dynamic and low-cost online reconstruction for the meter speed and Mach number signals of the aircraft, is favorable for improving the fault tolerance of the flight control system to the meter speed and Mach number signals and the safety of the control system, and has higher application value in the aviation and aerospace industries.

Description

Method for reconstructing surface speed and Mach number signals of aircraft
Technical Field
The invention belongs to the technical field of flight control, and relates to a calculation method capable of realizing high-precision reconstruction of surface speed and Mach number signals of an aircraft.
Background
The speed of the incoming air flow relative to the aircraft is an important parameter in determining the aerodynamic force of the aircraft and is also the primary signal for modern aircraft control systems. Airspeed may be characterized in a number of forms, the most widely used form in the aerospace field being meter speed and mach number.
The meter speed is equivalent speed obtained by converting the dynamic pressure of the aircraft at the current height according to sea level atmospheric density, and can be used as an indirect representation of the dynamic pressure of the aircraft. The meter speed directly determines the aerodynamic force applied to the aircraft, and when the meter speed is too high, the structure of the aircraft can be overloaded and disassembled. Therefore, in flight control, the meter speed signal is one of the most important signals, and is used for controlling gain parameter adjustment, and also used for safety key functions such as control logic judgment, overspeed alarm, overspeed protection and the like.
The Mach number is the ratio of the real speed of the aircraft relative to the air to the current altitude atmospheric sound speed, and represents the severity of the air affected by compressibility. The Mach number directly determines the size of a dimensionless coefficient of aerodynamic force applied to the aircraft, and the overlarge Mach number can cause the stability of the aircraft and the obvious change of damping characteristics. Therefore, in flight control, the mach number signal is one of the most important signals, and is used for not only controlling gain parameters, but also performing safety key functions such as logic judgment, overspeed alarm, overspeed protection and the like.
In order to ensure the control safety when the meter speed and Mach number signals have faults, the fault signals need to be reconstructed. A common processing method is to reconstruct the table speed and mach number signals of the fault to a certain fixed value. The method can ensure that the fault signal does not generate wrong interference on subsequent flight, but simultaneously also disables the gain parameter adjustment, logic judgment, alarm and protection functions related to the meter speed and the Mach number.
Disclosure of Invention
The purpose of the invention is: the method for reconstructing the meter speed and Mach number signals of the aircraft is provided, and the fault tolerance capability of a flight control system to the meter speed and Mach number signals is improved.
The technical scheme of the invention is as follows:
an airborne system acquires a GPS height signal, an inertial navigation ground speed signal and a standard atmosphere model to construct a virtual meter speed and Mach number signal as a reconstructed value of the aircraft after the meter speed and Mach number signal fails.
The method comprises the following steps:
step 1, constructing atmospheric parameters for resolving;
step 2, resolving the reconstructed value of the meter speed/Mach number;
and 3, replacing the fault signal by the reconstructed signal.
The step 1 specifically comprises the following steps: and (3) using the GPS altitude as an approximate value of the air pressure altitude of the aircraft, and solving the atmospheric environment parameters on the current altitude through a standard atmospheric mathematical model to obtain the structural values of atmospheric density and sound velocity.
The step 2 specifically comprises the following steps: and calculating a reconstructed value of the meter speed of the aircraft through the constructed atmospheric density and a reconstructed value of the Mach number of the aircraft through the constructed sonic speed by using the inertial navigation ground speed as an approximate value of the vacuum speed of the aircraft.
The step 3 specifically comprises the following steps: and switching the signals of the measuring meter speed and the reconstructed meter speed and switching the signals of the measuring Mach number and the reconstructed Mach number by logic judgment by using the signal fault identifications of the meter speed and the Mach number.
The step 1 comprises the following steps:
let the GPS altitude of the aircraft be HiThe function of the atmospheric density rho changing with the height H in the standard atmospheric model is rho ═ fρ(H) In the standard atmosphere model, the function of the variation of the sound velocity a along with the height H is that a is fa(H) Then the current height H0Structural atmospheric density ρ ofiAnd constructing the atmospheric speed of sound aiComprises the following steps:
ρi＝fρ(Hi)
ai＝fa(Hi)
function p ═ fρ(H) And a ═ fa(H) Usually given in the form of an interpolation table, the function interpolation table below an altitude of 20km is:
Figure BDA0002869898420000021
Figure BDA0002869898420000031
the step 2 comprises the following steps:
setting the ground speed signal of the aircraft measured by inertial navigation as Vi(unit: m/s) and the sea level atmospheric density is rho0Atmospheric density ρ at the altitude of the aircraftiAnd speed of sound aiWhen known, then reconstruct the table velocity VI，iAnd reconstructed Mach number MaiThe calculation method comprises the following steps:
Figure BDA0002869898420000032
Figure BDA0002869898420000033
the step 3 comprises the following steps:
and switching the measurement meter speed signal and the reconstructed meter speed signal and switching the measurement Mach number signal and the reconstructed Mach number signal through logic judgment by using the signal fault identifications of the meter speed and the Mach number. Let the speed signal of the meter be VI,sThe fault flag of the meter speed signal is SW _ VI, and the control uses the meter speed signal as VIThen, the fail-over logic of the meter speed signal is:
Figure BDA0002869898420000034
setting the Mach number signal of measurement as MasAnd the Mach number signal fault is marked as SW _ MA, and the control uses the Mach number signal as Ma, so that the fault switching logic of the Mach number signal is as follows:
Figure BDA0002869898420000035
the invention has the following beneficial effects: according to the method for reconstructing the meter speed and Mach number signals of the aircraft, the meter speed and Mach number signals are reconstructed by using signals of the GPS height, the inertial navigation ground speed and the like which are different in source from the atmospheric system, so that the influence of the atmospheric system fault on the reconstruction can be avoided, and the reconstruction signals can be used in any fault mode of the atmospheric system. Meanwhile, in the invention, the calculation algorithm for constructing the atmospheric parameter and the calculation algorithm for the reconstructed value of the meter speed/Mach number are established based on strict mathematical derivation, the consistency of the original input GPS height and the air pressure height is generally better, and the reconstructed value can be ensured to have better consistency compared with the measured values of the meter speed and the Mach number. In addition, the calculation algorithm for constructing the atmospheric parameters and the calculation algorithm for the reconstructed value of the table speed/Mach number are algebraic equations without differential equations, the problem of convergence of the equations is not required to be considered, and the problem of signal delay caused by dynamic calculation of the differential equations can be avoided. And finally, reconstructing the used GPS height and inertial navigation ground speed signals as common signals of a modern flight control system, wherein the reconstruction of the meter speed and Mach number signals can be realized through software and an algorithm, no additional hardware equipment is needed, and the method has good economy. By combining the characteristics, the method can provide high-reliability, high-precision, fast-dynamic and low-cost online reconstruction for the surface speed and Mach number signals of the aircraft, is favorable for improving the fault tolerance of the flight control system to the surface speed and Mach number signals and the safety of the control system, and has higher application value in the aviation and aerospace industries.
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FIG. 1 is a schematic diagram of the method of the present invention.
Detailed Description
The following describes a method for reconstructing an aircraft meter speed and mach number signal in detail with reference to the accompanying drawings and embodiments.
According to the method, virtual meter speed and Mach number signals are constructed through a GPS altitude signal, an inertial navigation ground speed signal and a standard atmosphere model and are used as reconstructed values of the aircraft after the meter speed and Mach number signals fail, and the reconstructed values are shown in figure 1. The method specifically comprises the following steps: and constructing atmospheric parameter calculation, meter speed/Mach number reconstruction value calculation and replacement of the reconstruction signal for the fault signal.
(1) Atmospheric parameter resolution is constructed. And (3) using the GPS altitude as an approximate value of the air pressure altitude of the aircraft, and solving the atmospheric environment parameters on the current altitude through a standard atmospheric mathematical model to obtain the structural values of atmospheric density and sound velocity.
(2) The meter speed/mach number reconstruction value is resolved. And calculating a reconstructed value of the meter speed of the aircraft through the constructed atmospheric density and a reconstructed value of the Mach number of the aircraft through the constructed sonic speed by using the inertial navigation ground speed as an approximate value of the vacuum speed of the aircraft.
(3) The replacement of the fault signal by the reconstructed signal. And switching the signals of the measuring meter speed and the reconstructed meter speed and switching the signals of the measuring Mach number and the reconstructed Mach number by logic judgment by using the signal fault identifications of the meter speed and the Mach number.
The specific implementation scheme is as follows:
(1) constructive atmospheric parameter solution
Let the GPS altitude of the aircraft be HiThe function of the atmospheric density rho changing with the height H in the standard atmospheric model is rho ═ fρ(H) In the standard atmosphere model, the function of the variation of the sound velocity a along with the height H is that a is fa(H) Then the current height H0Structural atmospheric density ρ ofiAnd constructing the atmospheric speed of sound aiComprises the following steps:
ρi＝fρ(Hi)
ai＝fa(Hi)
function p ═ fρ(H) And a ═ fa(H) Usually given in the form of an interpolation table, the function interpolation table below an altitude of 20km is:
altitude H (m) Atmospheric density rho (kg/m)3) Atmospheric speed of sound a (m/s)
0 1.2250 340.294
1000 1.1117 336.435
2000 1.0066 332.532
3000 0.90925 328.583
4000 0.81935 324.589
5000 0.73643 320.545
6000 0.66011 316.452
7000 0.59002 312.306
8000 0.52579 308.105
9000 0.46706 303.848
10000 0.41351 299.532
11000 0.36480 295.154
12000 0.31194 295.069
13000 0.26660 295.069
14000 0.22786 295.069
15000 0.19475 295.069
16000 0.16647 295.069
17000 0.14230 295.069
18000 0.12165 295.069
19000 0.10400 295.069
20000 0.08891 295.069
(2) Meter speed/Mach number reconstruction value resolution
Setting the ground speed signal of the aircraft measured by inertial navigation as Vi(unit: m/s) and the sea level atmospheric density is rho0Atmospheric density ρ at the altitude of the aircraftiAnd speed of sound aiWhen known, then reconstruct the table velocity VI，iAnd reconstructed Mach number MaiThe calculation method comprises the following steps:
Figure BDA0002869898420000051
Figure BDA0002869898420000061
(3) replacement of fault signals by reconstructed signals
And switching the measurement meter speed signal and the reconstructed meter speed signal and switching the measurement Mach number signal and the reconstructed Mach number signal through logic judgment by using the signal fault identifications of the meter speed and the Mach number. Let the speed signal of the meter be VI,sThe fault flag of the meter speed signal is SW _ VI, and the control uses the meter speed signal as VIThen, the fail-over logic of the meter speed signal is:
Figure BDA0002869898420000062
setting the Mach number signal to MasAnd the Mach number signal fault is marked as SW _ MA, and the control uses the Mach number signal as Ma, so that the fault switching logic of the Mach number signal is as follows:
Figure BDA0002869898420000063

Claims (8)

1. a method for reconstructing surface speed and Mach number signals of an aircraft is characterized in that an airborne system collects GPS altitude signals, inertial navigation ground speed signals and virtual surface speed and Mach number signals constructed by a standard atmospheric model and uses the signals as reconstruction values of the surface speed and Mach number signals of the aircraft after faults.
2. The method for reconstructing aircraft angle of attack, sideslip angle signals of claim 1, including:
step 1, constructing atmospheric parameters for resolving;
step 2, resolving the reconstructed value of the meter speed/Mach number;
and 3, replacing the fault signal by the reconstructed signal.
3. The method for reconstructing aircraft angle of attack and sideslip angle signals according to claim 2, wherein the step 1 specifically comprises: and (3) using the GPS altitude as an approximate value of the air pressure altitude of the aircraft, and solving the atmospheric environment parameters on the current altitude through a standard atmospheric mathematical model to obtain the structural values of atmospheric density and sound velocity.
4. The method for reconstructing aircraft angle of attack, sideslip angle signals according to claim 2, wherein step 2 specifically comprises: and calculating a reconstructed value of the meter speed of the aircraft through the constructed atmospheric density and a reconstructed value of the Mach number of the aircraft through the constructed sonic speed by using the inertial navigation ground speed as an approximate value of the vacuum speed of the aircraft.
5. The method for reconstructing aircraft angle of attack, sideslip angle signals according to claim 2, wherein step 3 specifically comprises: and switching the signals of the measuring meter speed and the reconstructed meter speed and switching the signals of the measuring Mach number and the reconstructed Mach number by logic judgment by using the signal fault identifications of the meter speed and the Mach number.
6. The method for reconstructing aircraft angle of attack, sideslip angle signal of claim 3, characterized in that step 1 comprises:
let the GPS altitude of the aircraft be HiThe function of the atmospheric density rho changing with the height H in the standard atmospheric model is rho ═ fρ(H) In the standard atmosphere model, the function of the variation of the sound velocity a along with the height H is that a is fa(H) Then the current height H0Structural atmospheric density ρ ofiAnd constructing the atmospheric speed of sound aiComprises the following steps:
ρi＝fρ(Hi)
ai＝fa(Hi)
function p ═ fρ(H) And a ═ fa(H) Usually given in the form of an interpolation table, the function interpolation table below an altitude of 20km is:
Figure FDA0002869898410000011
Figure FDA0002869898410000021
7. the method for reconstructing aircraft angle of attack, sideslip angle signal of claim 4, characterized in that step 2 includes:
setting the ground speed signal of the aircraft measured by inertial navigation as Vi(unit: m/s) and the sea level atmospheric density is rho0Atmospheric density ρ at the altitude of the aircraftiAnd speed of sound aiWhen known, then reconstruct the table velocity VI，iAnd reconstructed Mach number MaiThe calculation method comprises the following steps:
Figure FDA0002869898410000022
Figure FDA0002869898410000023
8. the method for reconstructing aircraft angle of attack, sideslip angle signal of claim 5, characterized in that step 3 comprises:
and switching the measurement meter speed signal and the reconstructed meter speed signal and switching the measurement Mach number signal and the reconstructed Mach number signal through logic judgment by using the signal fault identifications of the meter speed and the Mach number. Let the speed signal of the meter be VI,sThe fault flag of the meter speed signal is SW _ VI, and the control uses the meter speed signal as VIThen, the fail-over logic of the meter speed signal is:
Figure FDA0002869898410000031
setting the Mach number signal of measurement as MasAnd the Mach number signal fault is marked as SW _ MA, and the control uses the Mach number signal as Ma, so that the fault switching logic of the Mach number signal is as follows:
Figure FDA0002869898410000032
CN202011612891.8A 2020-12-29 2020-12-29 Method for reconstructing surface speed and Mach number signals of aircraft Pending CN112798018A (en)

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Application publication date: 20210514