CN115292557B - Calculation method and device for running and taking off, computer equipment and storage medium - Google Patents
Calculation method and device for running and taking off, computer equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a calculation method, a calculation device, computer equipment and a storage medium for running takeoff, which are used for acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to a judgment result and flap opening condition, wherein the first acceleration is used for reaching 80% of the decision speed, the second acceleration is used for reaching the decision speed, and the third acceleration is used for reaching the ground leaving speed to generate a running takeoff scheme, so that the problem that the takeoff speeds of different load aircrafts in the prior art are the same, and the effect of simulating flight is not achieved is solved.
Description
Technical Field
The present invention relates to the field of aviation flight technologies, and in particular, to a method and apparatus for calculating a running takeoff, a computer device, and a storage medium.
Background
In simulated flight, the take-off speeds of different loaded aircrafts are all the same, which results in that the effect of simulated flight is not achieved.
Disclosure of Invention
In view of the above, the present invention provides a method, a device, a computer device and a storage medium for calculating a running takeoff, which are used for solving the problem that the takeoff speeds of different load aircrafts are the same in the prior art, so that the effect of simulating the flight is not achieved.
To achieve one or a part or all of the above or other objects, the present invention provides a method for estimating a running takeoff, which includes:
acquiring the loading condition and the flap opening condition of the aircraft;
judging whether the aircraft belongs to light load, medium load, heavy load or overweight load according to the load condition;
acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
and the first acceleration reaches 80% of the decision speed, the second acceleration reaches the decision speed, the third acceleration reaches the ground leaving speed, and a running take-off scheme is generated, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action.
Preferably, after the step of generating the running takeoff scheme, it includes:
acquiring the size parameter and turning parameter of the aircraft;
calculating the position of the particles of the aircraft based on the size parameter;
calculating the minimum turning radius of the particle according to the size parameter and the turning parameter to obtain a first turning radius;
Obtaining a road line drawing turning radius to obtain a second turning radius;
comparing the first turning radius to the second turning radius;
if the first turning radius is smaller than or equal to the second turning radius, generating a sliding scheme when turning by adopting the second turning radius;
and if the first turning radius is larger than the second turning radius, generating a sliding scheme when turning by adopting the turning radius of the mass points.
Preferably, in the step of acquiring a dimensional parameter of the aircraft, it includes:
and obtaining the axial distance between the turning wheel and the main wheel, the distance between the main wheel and the maximum deflection angle of the turning wheel.
Preferably, the step of calculating the position of the particles of the aircraft based on the size parameter comprises:
determining the positions of a turning wheel, a left main wheel and a right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
on the same plane, connecting the left main wheel with the right main wheel by a first line segment, connecting the turning wheel with the first line segment by a second line segment, and enabling the second line segment to be perpendicular to the first line segment;
and taking the vertical point of the first line segment and the second line segment as a particle.
Preferably, the step of calculating the minimum turning radius of the particles according to the size parameter and the turning parameter to obtain the first turning radius includes:
calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formulaL is the distance between the turning wheel and the main wheel axle, and alpha is the maximum deflection angle of the turning wheel.
Preferably, after the step of generating the taxi-plan-while-turning using the second turning radius or generating the taxi-plan-while-turning using the turning radius of the particle, the method further comprises:
detecting whether the aircraft reaches a turn entry point;
if yes, reminding the aircraft to start turning at the turning inlet point;
detecting whether the aircraft reaches a turning exit point when detecting that the aircraft has performed a turning action;
if yes, reminding the aircraft to start turning at the turning exit point, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight road where the aircraft is located;
if yes, reminding the aircraft of ending the turning and sliding.
Preferably, the step of generating a sliding plan in turning with the second turning radius includes:
Calculating the turning arc length by adopting the second turning radius;
calculating the turning rate according to the turning arc length;
and if the turning rate is smaller than or equal to the preset turning rate, turning and sliding at the preset turning speed.
The invention also provides a running takeoff estimation device, which comprises:
the load acquisition module is used for acquiring the load condition and the flap opening condition of the aircraft;
the load judging module is used for judging whether the aircraft belongs to a light load, a medium load, a heavy load or an overweight load according to the load condition;
the speed acquisition module is used for acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
the take-off generating module is used for generating a running take-off scheme by enabling the first acceleration to reach 80% of the decision speed, enabling the second acceleration to reach the decision speed and enabling the third acceleration to reach the ground leaving speed, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action.
The invention also proposes a computer device comprising a memory and a processor, said memory storing a computer program, characterized in that the processor implements the steps of the method described above when executing said computer program.
The invention also proposes a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the steps of the method described above.
The implementation of the embodiment of the invention has the following beneficial effects:
after the calculation method, the calculation device, the computer equipment and the storage medium for running takeoff are adopted, corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration are obtained according to the judgment result and the flap opening condition, the first acceleration is used for reaching 80% of the decision speed, the second acceleration is used for reaching the decision speed, the third acceleration is used for reaching the ground leaving speed, and a running takeoff scheme is generated, so that the problem that the takeoff speeds of different load aircrafts in the prior art are the same, and the effect of simulating flight is not achieved is solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a flow chart of an embodiment of a method for estimating a race take-off;
FIG. 2 is a functional block diagram of a run-off estimation device in one embodiment;
fig. 3 is a block diagram of a computer device in one embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention discloses a method for calculating a running takeoff, which includes:
and S1, acquiring the loading condition and the flap opening condition of the aircraft.
Flap opening conditions mainly include flap 10 degrees and flap 20 degrees.
The load conditions are preset and are mainly divided into light load, medium load, heavy load and overweight load, and each load condition has a range value and is not coincident.
And S2, judging whether the aircraft belongs to a light load, a medium load, a heavy load or an overweight load according to the load condition.
According to which range of values the load condition belongs, it can be judged whether the load is a light load, a medium load, a heavy load or an overweight load.
And step S3, acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition.
Each loading condition and each flap opening condition has a matching data in the matching library, so that corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration are obtained.
And S4, enabling the first acceleration to reach 80% of the decision speed, enabling the second acceleration to reach the decision speed, enabling the third acceleration to reach the ground leaving speed, and generating a running take-off scheme, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action.
After the run-on takeoff schedule is generated, the aircraft may take off in accordance with the run-on takeoff schedule.
According to the judging result and the flap opening condition, corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration are obtained, the first acceleration is used for reaching 80% of the decision speed, the second acceleration is used for reaching the decision speed, the third acceleration is used for reaching the ground leaving speed, and a running take-off scheme is generated, so that the problem that take-off speeds of different load aircrafts in the prior art are the same, and the effect of simulating flight is not achieved is solved.
After step S4, it includes: step S101 to step S107.
Step S101, acquiring a size parameter and a turning parameter of the aircraft.
The dimensional parameters include body length, body height, main span, tail span, main wheel spacing, turning wheel and main wheel axle spacing, main wheel tread nose, left seat height, left seat tread central axis, belly height, belly ground contact to nose, ground proximity engine height, ground proximity engine to central axis, main landing gear height, turning wheel landing gear height, and the like, and aviation can be modeled according to the dimensional parameters.
The turning parameters of the aircraft include turning wheel maximum deflection angle, minimum turning radius, turning taxi speed range, common turning taxi speed, common turning rate and the like.
Step S102, calculating the position of the particles of the aircraft according to the size parameter.
The front wheels are turning wheels, the two rear wheels are left main wheels and right main wheels, the size parameters required for calculating the positions of particles are extracted from all the size parameters of the aircraft, and the positions of the particles of the aircraft are calculated after the required size parameters are extracted.
Step S103, calculating the minimum turning radius of the mass points according to the size parameter and the turning parameter to obtain a first turning radius.
Extracting data required for calculating the minimum turning radius of the particle from the size parameter and the turning parameter, calculating the minimum turning radius of the particle by using the extracted data, and obtaining the first turning radius
And step S104, obtaining the road line-drawing turning radius to obtain a second turning radius.
The road is planned in advance, and the corresponding road drawing turning radius is extracted from the road gallery, so that the second turning radius is obtained.
Step S105, comparing the first turning radius with the second turning radius.
The resulting first turning radius and second turning radius are compared, mainly in terms of magnitude.
And step S106, if the first turning radius is smaller than or equal to the second turning radius, generating a sliding scheme in turning by adopting the second turning radius.
If the first turning radius is smaller than or equal to the second turning radius, the aircraft can complete turning by using the road line drawing turning radius, and then a corresponding turning sliding scheme is generated by using the second turning radius.
Step S107, if the first turning radius is larger than the second turning radius, generating a sliding scheme when turning by adopting the turning radius of the mass points.
If the first turning radius is larger than the second turning radius, the aircraft can complete turning without using the road marking turning radius, and the turning radius of the selected particle is used for generating a corresponding turning sliding scheme. The turning radius of the particles may be the first turning radius or a larger turning radius than the first turning radius.
The method comprises the steps of calculating the position of particles of an aircraft, calculating the minimum turning radius of the particles, drawing a line between the minimum turning radius and a road, and correspondingly selecting the second turning radius or the turning radius of the particles to generate a turning sliding scheme according to different comparison results, so that the particles can slide along a central line when turning, and the aircraft can correctly enter one road from the other road, and the problem that the aircraft deviates from a runway and cannot correctly enter the other road when turning sliding in the prior art is solved.
In the present embodiment, in step S101, it includes:
and obtaining the axial distance between the turning wheel and the main wheel, the distance between the main wheel and the maximum deflection angle of the turning wheel.
Because the size parameters and the turning parameters of the aircraft are comparatively large, in order to improve the acquisition efficiency, all the size parameters and the turning parameters are not needed, and only three data, namely the distance between the turning wheel and the main wheel shaft, the distance between the main wheel and the maximum deflection angle of the turning wheel, are acquired.
In the present embodiment, in step S102, it includes:
determining the positions of a turning wheel, a left main wheel and a right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
on the same plane, connecting the left main wheel with the right main wheel by a first line segment, connecting the turning wheel with the first line segment by a second line segment, and enabling the second line segment to be perpendicular to the first line segment;
and taking the vertical point of the first line segment and the second line segment as a particle.
The position of the particles is determined by the positions of the turning wheel, the left main wheel and the right main wheel.
In the present embodiment, in step S103, it includes:
calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formulaL is the distance between the turning wheel and the main wheel axle, and alpha is the maximum deflection angle of the turning wheel.
According to the first turning radius formula, the turning wheel uses the maximum deflection angle, so that the minimum turning radius of the aircraft, which uses the maximum deflection angle to turn, is calculated.
A centerline of the turn is created in two intersecting straight lines, thus creating an entry point and exit point and an arc from one line to the other. It is also possible to calculate how large the road-drawn turning radius is.
In the present embodiment, after step S106, it includes:
detecting whether the aircraft reaches a turn entry point;
if yes, reminding the aircraft to start turning at the turning inlet point;
detecting whether the aircraft reaches a turning exit point when detecting that the aircraft has performed a turning action;
if yes, reminding the aircraft to start turning at the turning exit point, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight road where the aircraft is located;
if yes, reminding the aircraft of ending the turning and sliding.
In the sliding scheme, the device comprises a turning inlet point, a turning outlet point and a turning route, when the aircraft slides on a straight road, the turning inlet point is detected to remind the aircraft to execute turning action, then the turning outlet point is detected, whether the aircraft completes turning is detected, in the embodiment, whether the turning is completed is judged by whether a connecting line of a particle and a turning wheel is parallel to the straight road where the aircraft is located, and if the fact that the aircraft completes turning is detected, the device is reminded of finishing turning sliding of the aircraft.
Preferably, in step S106, it includes:
Calculating the turning arc length by adopting the second turning radius;
calculating the turning rate according to the turning arc length;
and if the turning rate is smaller than or equal to the preset turning rate, turning and sliding at the preset turning speed.
Length of turning arcBeta is the intersection angle of the road, i.e. the radian of the turn, pi is 3.1415, r is the second turning radius.
Turning rateBeta is the intersection angle of the road, v is the usual turning speed, and H is the turning arc length.
Specifically, the preset turning speed is a usual turning speed, and the preset turning rate is a usual turning rate.
And if the turning rate is less than or equal to the preset turning rate, turning and sliding at the preset turning speed. If the turning rate is larger than the preset turning rate, the turning speed calculated by using the common turning rate is used for sliding, and the formula is as follows: v 1 ＝ 1 *，A 1 R is the second turning radius, which is the usual turning rate. Solves the problems that the common turning speed is too small and the turning is too slow when turning a larger arc line.
In the present embodiment, in step S106, it includes:
sliding at a linear preset speed on a first linear road;
when a turning inlet point is detected, the linear preset speed is adjusted to the preset turning speed to conduct turning and sliding;
When a turning exit point is detected, judging whether the connecting line of the mass point and the turning wheel is parallel to a second straight line road or not;
and if the preset turning speed is judged to be parallel, adjusting the preset turning speed to a second linear speed on the second linear road.
Among the parameters of the aircraft are also the range of linear taxiing accelerations, the usual linear taxiing accelerations and the usual linear taxiing decelerations, etc.
Specifically, the straight preset speed is a straight usual speed, and the preset turning speed is a usual turning speed.
The aircraft turns from a first linear path to a second linear path, slides at a linear preset speed on the first linear path, turns and slides at a preset turning speed during turning, and slides at a second linear speed on the second linear path.
As shown in fig. 2, the invention further provides a device 1 for estimating running and taking off, wherein the device 1 comprises a load acquisition module 11, a load judgment module 12, a speed acquisition module 13 and a taking-off generation module 14.
The load acquisition module 11 is used for acquiring the load condition and the flap opening condition of the aircraft.
Flap opening conditions mainly include flap 10 degrees and flap 20 degrees.
The load conditions are preset and are mainly divided into light load, medium load, heavy load and overweight load, and each load condition has a range value and is not coincident.
The load judging module 12 is configured to judge whether the aircraft belongs to a light load, a medium load, a heavy load or an overweight load according to the load condition.
According to which range of values the load condition belongs, it can be judged whether the load is a light load, a medium load, a heavy load or an overweight load.
The speed obtaining module 13 is configured to obtain a corresponding determination speed, a front wheel lifting speed, a ground leaving speed, a first acceleration, a second acceleration, and a third acceleration according to the determination result and the flap opening condition.
Each loading condition and each flap opening condition has a matching data in the matching library, so that corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration are obtained.
The takeoff generation module 14 is configured to generate a running takeoff scheme by reaching 80% of the resolution speed with the first acceleration, reaching the resolution speed with the second acceleration, and reaching the ground leaving speed with the third acceleration, where the aircraft performs a front wheel lifting action when the speed of the aircraft reaches the front wheel lifting speed.
After the run-on takeoff schedule is generated, the aircraft may take off in accordance with the run-on takeoff schedule.
According to the judging result and the flap opening condition, corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration are obtained, the first acceleration is used for reaching 80% of the decision speed, the second acceleration is used for reaching the decision speed, the third acceleration is used for reaching the ground leaving speed, and a running take-off scheme is generated, so that the problem that take-off speeds of different load aircrafts in the prior art are the same, and the effect of simulating flight is not achieved is solved.
The computing device 1 includes a first acquisition module, a first calculation module, a second acquisition module, a first comparison module, a first generation module, and a second generation module.
And the first acquisition module is used for acquiring the size parameters and the turning parameters of the aircraft.
The dimensional parameters include body length, body height, main span, tail span, main wheel spacing, turning wheel and main wheel axle spacing, main wheel tread nose, left seat height, left seat tread central axis, belly height, belly ground contact to nose, ground proximity engine height, ground proximity engine to central axis, main landing gear height, turning wheel landing gear height, and the like, and aviation can be modeled according to the dimensional parameters.
The turning parameters of the aircraft include turning wheel maximum deflection angle, minimum turning radius, turning taxi speed range, common turning taxi speed, common turning rate and the like.
A first calculation module for calculating the location of particles of the aircraft based on the size parameter.
The front wheels are turning wheels, the two rear wheels are left main wheels and right main wheels, the size parameters required for calculating the positions of particles are extracted from all the size parameters of the aircraft, and the positions of the particles of the aircraft are calculated after the required size parameters are extracted.
And the second calculation module is used for calculating the minimum turning radius of the mass points according to the size parameter and the turning parameter to obtain the first turning radius.
Extracting data required for calculating the minimum turning radius of the particle from the size parameter and the turning parameter, calculating the minimum turning radius of the particle by using the extracted data, and obtaining the first turning radius
The second acquisition module is used for acquiring the road line-drawing turning radius to obtain a second turning radius.
The road is planned in advance, and the corresponding road drawing turning radius is extracted from the road gallery, so that the second turning radius is obtained.
And the first comparison module is used for comparing the first turning radius with the second turning radius.
The resulting first turning radius and second turning radius are compared, mainly in terms of magnitude.
And the first generation module is used for generating a sliding scheme in turning by adopting the second turning radius if the first turning radius is smaller than or equal to the second turning radius.
If the first turning radius is smaller than or equal to the second turning radius, the aircraft can complete turning by using the road line drawing turning radius, and then a corresponding turning sliding scheme is generated by using the second turning radius.
And the second generation module is used for generating a sliding scheme in turning by adopting the turning radius of the mass points if the first turning radius is larger than the second turning radius.
If the first turning radius is larger than the second turning radius, the aircraft can complete turning without using the road marking turning radius, and the turning radius of the selected particle is used for generating a corresponding turning sliding scheme. The turning radius of the particles may be the first turning radius or a larger turning radius than the first turning radius.
The method comprises the steps of calculating the position of particles of an aircraft, calculating the minimum turning radius of the particles, drawing a line between the minimum turning radius and a road, and correspondingly selecting the second turning radius or the turning radius of the particles to generate a turning sliding scheme according to different comparison results, so that the particles can slide along a central line when turning, and the aircraft can correctly enter one road from the other road, and the problem that the aircraft deviates from a runway and cannot correctly enter the other road when turning sliding in the prior art is solved.
In this embodiment, the first acquisition module includes:
the first sub-acquisition module is used for acquiring the distance between the turning wheel and the main wheel shaft, the distance between the main wheel and the maximum deflection angle of the turning wheel.
Because the size parameters and the turning parameters of the aircraft are comparatively large, in order to improve the acquisition efficiency, all the size parameters and the turning parameters are not needed, and only three data, namely the distance between the turning wheel and the main wheel shaft, the distance between the main wheel and the maximum deflection angle of the turning wheel, are acquired.
In this embodiment, the first calculation module includes:
the first sub-determining module is used for determining the positions of the turning wheel, the left main wheel and the right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
the first sub-connecting line module is used for connecting the left main wheel and the right main wheel on the same plane by a first line segment, connecting the turning wheel and the first line segment by a second line segment, and the second line segment is perpendicular to the first line segment;
and the first sub-identification module is used for taking the vertical points of the first line segment and the second line segment as particles.
The position of the particles is determined by the positions of the turning wheel, the left main wheel and the right main wheel.
In this embodiment, the second calculation module includes:
A first sub-calculation module for calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formulaL is the distance between the turning wheel and the main wheel axle, and alpha is the maximum deflection angle of the turning wheel.
According to the first turning radius formula, the turning wheel uses the maximum deflection angle, so that the minimum turning radius of the aircraft, which uses the maximum deflection angle to turn, is calculated.
A centerline of the turn is created in two intersecting straight lines, thus creating an entry point and exit point and an arc from one line to the other. It is also possible to calculate how large the road-drawn turning radius is.
In the present embodiment, the estimation device 1 includes:
a first detection module for detecting whether the aircraft reaches a turning entry point;
the first reminding module is used for reminding the aircraft to start turning at the turning entry point if yes;
the second detection module is used for detecting whether the aircraft reaches a turning exit point or not when detecting that the aircraft has executed a turning action;
the second reminding module is used for reminding the aircraft to start turning at the turning exit point if yes, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight line road where the aircraft is located;
And the third reminding module is used for reminding the aircraft of finishing the turning and sliding if yes.
In the sliding scheme, the device comprises a turning inlet point, a turning outlet point and a turning route, when the aircraft slides on a straight road, the turning inlet point is detected to remind the aircraft to execute turning action, then the turning outlet point is detected, whether the aircraft completes turning is detected, in the embodiment, whether the turning is completed is judged by whether a connecting line of a particle and a turning wheel is parallel to the straight road where the aircraft is located, and if the fact that the aircraft completes turning is detected, the device is reminded of finishing turning sliding of the aircraft.
Preferably, the first generating module includes:
the second sub-calculation module is used for calculating the turning arc length by adopting the second turning radius;
the third sub-calculation module is used for calculating the turning rate according to the turning arc length;
and the first sub-selection module is used for turning and sliding by using the preset turning speed if the turning rate is smaller than or equal to the preset turning rate.
Length of turning arcBeta is the intersection angle of the road, i.e. the radian of the turn, pi is 3.1415, r is the second turning radius.
Turning rateBeta is the intersection angle of the road, v is the usual turning speed, and H is the turning arc length.
Specifically, the preset turning speed is a usual turning speed, and the preset turning rate is a usual turning rate.
And if the turning rate is less than or equal to the preset turning rate, turning and sliding at the preset turning speed. If the turning rate is larger than the preset turning rate, the turning speed calculated by using the common turning rate is used for sliding, and the formula is as follows: v 1 ＝ 1 *，A 1 R is the second turning radius, which is the usual turning rate. Solves the problem of common turning when turning a larger arc lineToo small speed, too slow turning.
In this embodiment, the first generating module includes:
the second sub-selection module is used for sliding at a linear preset speed on the first linear road;
the first sub-adjustment module is used for adjusting the linear preset speed to the preset turning speed to conduct turning and sliding when the turning inlet point is detected;
the first sub-judging module is used for judging whether the connecting line of the mass point and the turning wheel is parallel to the second straight road or not when the turning exit point is detected;
and the second sub-adjustment module is used for adjusting the preset turning speed to a second linear speed on the second linear road if the preset turning speed is judged to be parallel.
Among the parameters of the aircraft are also the range of linear taxiing accelerations, the usual linear taxiing accelerations and the usual linear taxiing decelerations, etc.
Specifically, the straight preset speed is a straight usual speed, and the preset turning speed is a usual turning speed.
The aircraft turns from a first linear path to a second linear path, slides at a linear preset speed on the first linear path, turns and slides at a preset turning speed during turning, and slides at a second linear speed on the second linear path.
As shown in fig. 3, in an embodiment of the present invention, a computer device is further provided, where the computer device may be a server, and the internal structure of the computer device may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing data such as models of the calculation method of the running takeoff. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a method of estimating a running takeoff.
The processor executes the steps of the running takeoff estimation method:
acquiring the loading condition and the flap opening condition of the aircraft;
judging whether the aircraft belongs to light load, medium load, heavy load or overweight load according to the load condition;
acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
and the first acceleration reaches 80% of the decision speed, the second acceleration reaches the decision speed, the third acceleration reaches the ground leaving speed, and a running take-off scheme is generated, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action.
In this embodiment, after the step of generating the running takeoff scheme, the method includes:
acquiring the size parameter and turning parameter of the aircraft;
calculating the position of the particles of the aircraft based on the size parameter;
calculating the minimum turning radius of the particle according to the size parameter and the turning parameter to obtain a first turning radius;
obtaining a road line drawing turning radius to obtain a second turning radius;
Comparing the first turning radius to the second turning radius;
if the first turning radius is smaller than or equal to the second turning radius, generating a sliding scheme when turning by adopting the second turning radius;
and if the first turning radius is larger than the second turning radius, generating a sliding scheme when turning by adopting the turning radius of the mass points.
In one embodiment, the step of obtaining the dimensional parameter of the aircraft comprises:
and obtaining the axial distance between the turning wheel and the main wheel, the distance between the main wheel and the maximum deflection angle of the turning wheel.
In one embodiment, the step of calculating the location of particles of the aircraft based on the size parameter comprises:
determining the positions of a turning wheel, a left main wheel and a right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
on the same plane, connecting the left main wheel with the right main wheel by a first line segment, connecting the turning wheel with the first line segment by a second line segment, and enabling the second line segment to be perpendicular to the first line segment;
and taking the vertical point of the first line segment and the second line segment as a particle.
In one embodiment, the step of calculating the minimum turning radius of the particles based on the size parameter and the turning parameter to obtain the first turning radius comprises:
Calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formulaL is the distance between the turning wheel and the main wheel axle, and alpha is the maximum deflection angle of the turning wheel.
In one embodiment, after the step of generating the taxi-scheme-while-cornering with the second turning radius or generating the taxi-scheme-while-cornering with the turning radius of the particle, it comprises:
detecting whether the aircraft reaches a turn entry point;
if yes, reminding the aircraft to start turning at the turning inlet point;
detecting whether the aircraft reaches a turning exit point when detecting that the aircraft has performed a turning action;
if yes, reminding the aircraft to start turning at the turning exit point, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight road where the aircraft is located;
if yes, reminding the aircraft of ending the turning and sliding.
In one embodiment, the step of generating the sliding plan in the turning using the second turning radius includes:
calculating the turning arc length by adopting the second turning radius;
calculating the turning rate according to the turning arc length;
And if the turning rate is smaller than or equal to the preset turning rate, turning and sliding at the preset turning speed.
It will be appreciated by those skilled in the art that the architecture shown in fig. 3 is merely a block diagram of a portion of the architecture in connection with the present inventive arrangements and is not intended to limit the computer devices to which the present inventive arrangements are applicable.
An embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for calculating a running takeoff, specifically:
acquiring the loading condition and the flap opening condition of the aircraft;
judging whether the aircraft belongs to light load, medium load, heavy load or overweight load according to the load condition;
acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
and the first acceleration reaches 80% of the decision speed, the second acceleration reaches the decision speed, the third acceleration reaches the ground leaving speed, and a running take-off scheme is generated, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action.
In one embodiment, after the step of generating a running takeoff scheme, the method includes:
acquiring the size parameter and turning parameter of the aircraft;
calculating the position of the particles of the aircraft based on the size parameter;
calculating the minimum turning radius of the particle according to the size parameter and the turning parameter to obtain a first turning radius;
obtaining a road line drawing turning radius to obtain a second turning radius;
comparing the first turning radius to the second turning radius;
if the first turning radius is smaller than or equal to the second turning radius, generating a sliding scheme when turning by adopting the second turning radius;
and if the first turning radius is larger than the second turning radius, generating a sliding scheme when turning by adopting the turning radius of the mass points.
In one embodiment, the step of obtaining the dimensional parameter of the aircraft comprises:
and obtaining the axial distance between the turning wheel and the main wheel, the distance between the main wheel and the maximum deflection angle of the turning wheel.
In one embodiment, the step of calculating the location of particles of the aircraft based on the size parameter comprises:
determining the positions of a turning wheel, a left main wheel and a right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
On the same plane, connecting the left main wheel with the right main wheel by a first line segment, connecting the turning wheel with the first line segment by a second line segment, and enabling the second line segment to be perpendicular to the first line segment;
and taking the vertical point of the first line segment and the second line segment as a particle.
In one embodiment, the step of calculating the minimum turning radius of the particles based on the size parameter and the turning parameter to obtain the first turning radius comprises:
calculating the mass using a first radius of rotation formulaMinimum turning radius of point, the first turning radius formulaL is the distance between the turning wheel and the main wheel axle, and alpha is the maximum deflection angle of the turning wheel.
In one embodiment, after the step of generating the taxi-scheme-while-cornering with the second turning radius or generating the taxi-scheme-while-cornering with the turning radius of the particle, it comprises:
detecting whether the aircraft reaches a turn entry point;
if yes, reminding the aircraft to start turning at the turning inlet point;
detecting whether the aircraft reaches a turning exit point when detecting that the aircraft has performed a turning action;
If yes, reminding the aircraft to start turning at the turning exit point, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight road where the aircraft is located;
if yes, reminding the aircraft of ending the turning and sliding.
In one embodiment, the step of generating the sliding plan in the turning using the second turning radius includes:
calculating the turning arc length by adopting the second turning radius;
calculating the turning rate according to the turning arc length;
and if the turning rate is smaller than or equal to the preset turning rate, turning and sliding at the preset turning speed.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided by the present invention and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (4)
1. A calculation method for running and taking off is characterized in that: the method comprises the following steps:
acquiring the loading condition and the flap opening condition of the aircraft;
judging whether the aircraft belongs to light load, medium load, heavy load or overweight load according to the load condition;
acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
the first acceleration reaches 80% of the decision speed, the second acceleration reaches the decision speed, the third acceleration reaches the ground leaving speed, and a running take-off scheme is generated, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes front wheel lifting action;
after the step of generating a running takeoff scheme, the method comprises the following steps:
acquiring the size parameter and turning parameter of the aircraft;
calculating the position of the particles of the aircraft based on the size parameter;
Calculating the minimum turning radius of the particle according to the size parameter and the turning parameter to obtain a first turning radius;
obtaining a road line drawing turning radius to obtain a second turning radius;
comparing the first turning radius to the second turning radius;
if the first turning radius is smaller than or equal to the second turning radius, generating a sliding scheme when turning by adopting the second turning radius;
if the first turning radius is larger than the second turning radius, generating a sliding scheme in turning by adopting the turning radius of the mass points;
the step of acquiring the dimensional parameters and the turning parameters of the aircraft comprises the following steps:
acquiring the distance between the turning wheel and the main wheel shaft, the distance between the main wheel and the maximum deflection angle of the turning wheel;
the step of calculating the position of the particles of the aircraft from the size parameter comprises:
determining the positions of a turning wheel, a left main wheel and a right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
on the same plane, connecting the left main wheel with the right main wheel by a first line segment, connecting the turning wheel with the first line segment by a second line segment, and enabling the second line segment to be perpendicular to the first line segment;
Taking the vertical points of the first line segment and the second line segment as mass points;
the step of calculating the minimum turning radius of the particles according to the size parameter and the turning parameter to obtain a first turning radius comprises the following steps:
calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formulaL is a turnThe distance between the wheel and the main wheel shaft is alpha, which is the maximum deflection angle of the turning wheel;
after the step of generating a taxi-plan-while-turning using the second turning radius or generating a taxi-plan-while-turning using the turning radius of the particle, the method comprises:
detecting whether the aircraft reaches a turn entry point;
if yes, reminding the aircraft to start turning at the turning inlet point;
detecting whether the aircraft reaches a turning exit point when detecting that the aircraft has performed a turning action;
if yes, reminding the aircraft to start turning at the turning exit point, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight road where the aircraft is located;
if yes, reminding the aircraft of finishing turning and sliding;
The step of generating a sliding scheme in turning by using the second turning radius comprises the following steps:
calculating the turning arc length by adopting the second turning radius;
calculating the turning rate according to the turning arc length;
and if the turning rate is smaller than or equal to the preset turning rate, turning and sliding at the preset turning speed.
2. An estimating device for running and taking off is characterized in that: the estimation device includes:
the load acquisition module is used for acquiring the load condition and the flap opening condition of the aircraft;
the load judging module is used for judging whether the aircraft belongs to a light load, a medium load, a heavy load or an overweight load according to the load condition;
the speed acquisition module is used for acquiring corresponding decision speed, front wheel lifting speed, ground leaving speed, first acceleration, second acceleration and third acceleration according to the judgment result and the flap opening condition;
the take-off generating module is used for generating a running take-off scheme by using the first acceleration to reach 80% of the decision speed, using the second acceleration to reach the decision speed and using the third acceleration to reach the ground leaving speed, wherein when the speed of the aircraft reaches the front wheel lifting speed, the aircraft executes the front wheel lifting action;
The first acquisition module is used for acquiring the size parameters and the turning parameters of the aircraft;
a first calculation module for calculating the location of particles of the aircraft based on the size parameter;
the second calculation module is used for calculating the minimum turning radius of the particles according to the size parameter and the turning parameter to obtain a first turning radius;
the second acquisition module is used for acquiring the road line-drawing turning radius to obtain a second turning radius;
a first comparison module for comparing the first turning radius with the second turning radius;
the first generation module is used for generating a sliding scheme in turning by adopting the second turning radius if the first turning radius is smaller than or equal to the second turning radius;
the second generation module is used for generating a sliding scheme in turning by adopting the turning radius of the mass points if the first turning radius is larger than the second turning radius;
a first detection module for detecting whether the aircraft reaches a turning entry point;
the first reminding module is used for reminding the aircraft to start turning at the turning entry point if yes;
the second detection module is used for detecting whether the aircraft reaches a turning exit point or not when detecting that the aircraft has executed a turning action;
The second reminding module is used for reminding the aircraft to start turning at the turning exit point if yes, and detecting whether the connecting line of the mass points and the turning wheels is parallel to the straight line road where the aircraft is located;
the third reminding module is used for reminding the aircraft of finishing turning and sliding if yes;
the first acquisition module includes:
the first sub-acquisition module is used for acquiring the distance between the turning wheel and the main wheel shaft, the distance between the main wheel and the maximum deflection angle of the turning wheel;
the first computing module includes:
the first sub-determining module is used for determining the positions of the turning wheel, the left main wheel and the right main wheel according to the distance between the turning wheel and the main wheel shaft and the distance between the turning wheel and the main wheel shaft;
the first sub-connecting line module is used for connecting the left main wheel and the right main wheel on the same plane by a first line segment, connecting the turning wheel and the first line segment by a second line segment, and the second line segment is perpendicular to the first line segment;
the first sub-identification module is used for taking the vertical points of the first line segment and the second line segment as particles;
the second computing module includes:
a first sub-calculation module for calculating a minimum radius of the particle using a first radius of rotation formula, the first radius of rotation formula L is the distance between the turning wheel and the main wheel shaft, and alpha is the maximum deflection angle of the turning wheel;
the first generation module includes:
the second sub-calculation module is used for calculating the turning arc length by adopting the second turning radius;
the third sub-calculation module is used for calculating the turning rate according to the turning arc length;
and the first sub-selection module is used for turning and sliding by using the preset turning speed if the turning rate is smaller than or equal to the preset turning rate.
3. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of claim 1 when executing the computer program.
4. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 1.
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