RU67737U1 - DEVICE FORMING A SIGNAL FOR CONTROL OF THE LATERAL MOVEMENT OF THE AIRCRAFT - Google Patents

Abstract

The invention relates to control devices for aircraft with the implementation of the modes of coordinated turns in the side channel with large roll angles. An object of the invention is to expand the functionality and improve control accuracy. The device comprises a heading control signal adjuster, two subtraction elements, two summing amplifiers, two signal limiters, a piecewise linear functional information converter, an aperiodic filter, an inverting amplifier, heading angle sensors, heading angular velocity, roll angle and roll angular velocity.

Description

The utility model relates to controlling the spatial position of aircraft, in flight of which coordinated turns are implemented in the side channel with large roll angles.

Aircraft control devices are known in which control signals for the heading and roll channels are generated based on the signals of the driving actions and the measured signals of the angular position of the aircraft and the angular velocity along the heading and roll.

Closest to the proposed solution is a device for generating a lateral motion control signal of an aircraft, selected as a prototype, which contains a serially connected control signal adjuster, a heading channel subtracting element and a heading channel summing amplifier, a roll channel subtracting element and a summing roll channel amplifier, heading angle sensors, heading angular velocity, roll angle and roll angular velocity sensors, the outputs of which are connected respectively to the second inputs of the subtraction element and the summing amplifier of the channel channel and the subtraction element and the summing amplifier of the channel channel [1].

The essential features of the prototype — the device for generating the signal for controlling the lateral movement of the aircraft, which coincides with the essential features of the proposed technical solution, are — the device for generating the signal for controlling the lateral movement of the aircraft contains a directional control signal adjuster, a first subtraction element, and a first summing amplifier connected in series a second subtraction element and a second summing amplifier, heading angle sensors,

heading angular velocity, roll angle and roll angular velocity, the outputs of which are connected respectively to the second inputs of the first subtraction element, the first summing amplifier, the second subtraction element and the second summing amplifier.

A disadvantage of the known solution is limited functionality and low control accuracy, which leads to a decrease in the quality of transient control processes and can lead to a decrease in the accuracy characteristics of the aircraft.

The technical problem to be solved in the proposed utility model is to expand the functionality and increase the accuracy of the aircraft control. In the proposed device, the functional ability to change the control intensity in the roll channel is achieved under conditions of sufficiently intensive control in the heading channel.

The specified technical result is achieved by the fact that in the known device for generating a lateral motion control signal of an aircraft, comprising a series-connected control signal adjuster, a first subtraction element and a first summing amplifier, a second subtraction element and a second summing amplifier, a heading angle sensor, angularly connected heading speed, roll angle and roll angular speed, the outputs of which are connected respectively to the second inputs of the first subtraction element of the first summing amplifier, the second subtraction element and the second summing amplifier, the first and second signal limiters are additionally introduced, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, as well as a linear functional information converter, an aperiodic filter and an inverting amplifier, the output of which is connected to the first input of the second element

subtraction, while the output of the setter of the control signal at the rate is connected to the input of a piecewise linear functional information converter.

The distinguishing features of the proposed technical solution, the device for generating the lateral motion control signal of the aircraft, are as follows: it contains the first and second signal limiters, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, as well as sequentially connected piecewise linear functional information converter, aperiodic filter and inverting amplifier, output to torogo connected to a first input of a second subtracting element, wherein the control signal output at the rate set point is coupled to an input of a piecewise linear function information converter.

As the results of mathematical modeling show, the proposed device for generating the lateral motion control signal of the aircraft allows expanding the functionality and increasing the control accuracy in the heading and roll channels, which leads to an improvement in the quality of transient control processes and an increase in the accuracy characteristics of the aircraft.

The proposed control device is most effective when used on aircraft that are designed to perform maneuvers on the course by coordinated roll-over (i.e., for aircraft with a flat aerodynamic design), especially if there are requirements for accuracy and speed of maneuvers.

Figure 1 presents the structural diagram of the device, figure 2 is a structural diagram of a piecewise linear functional information converter, figure 3 and 4 are respectively the characteristics

relay and nonlinear elements of piecewise linear functional information converter with deadband.

The device for generating the lateral motion control signal of the aircraft (FIG. 1) contains a control signal setter connected in series 1, a first subtraction element 2, a first summing amplifier 3, and a first signal limiter 4, the output of which is the first output of the device, connected in series with a piecewise linear functional information converter 5, aperiodic filter 6, inverting amplifier 7, second subtraction element 8, second summing amplifier 9 and second signal limiter 10, the output of which is the second output of the device, as well as sensors for heading 11, heading 12, heading 13 and heading 14, the outputs of which are connected respectively to the second inputs of the first subtraction element 2, the first summing amplifier 3, and the second a subtraction element 8 and a second summing amplifier 9, while the output of the control signal setter at the rate 1 is connected to the input of the piecewise-linear functional information converter 5. The piecewise-linear functional information converter 5 (fi d.2) contains a series-connected relay element with a dead zone 15 and an adder 16, as well as a non-linear element 17, the input of which is connected to the input of the information converter 5, and the output is connected to the second input of the adder 16.

A device for generating a signal for controlling the lateral movement of an aircraft operates as follows.

Basic, basic control signals in the course channels and roll formed, respectively, by blocks 1, 2, 3, 11, 12 of the channel of the course and 7, 8, 9, 13, 14 of the roll channel:

where K _1ψ , K _2ψ are the transfer coefficients of the first summing amplifier 3, which determine the amplification of the error signals and the angular velocity in the direction, respectively;

Δψ - mismatch signal at the output of the first element of subtraction 2;

ψ is the signal of the heading angle sensor 11;

ψ _ass - a reference signal at the heading at the output of the control signal setter at heading 1;

ω _y is the signal of the angular velocity sensor at the rate of 12;

K _1γ , K _2γ - transfer coefficients of the second summing amplifier 9, which determine the gain of the error signals and the angular velocity along the roll, respectively;

Δγ is the roll error signal at the output of the second subtraction element 8;

γ — roll angle sensor signal 13;

γ _y. - control signal roll at the output of the inverting amplifier 7;

ω _x - the signal of the angular velocity sensor roll 14.

Control signals by (1) and according to (2) are formed by summing amplifiers 3 and 9, and the mismatch signals Δψ according to (3) and Δγ according to (4) are formed by the first 2 and second 8 subtraction elements, respectively.

Signals by (1) and by (2) are limited by the first and second signal limiters 4 and 10, respectively. At the same time, the control output signals in the course and roll channels are formed in the form of:

and

where A _ψ and A _γ are the levels of restrictions of the first and second limiters 4 and 10, respectively. The choice of parameters A _ψ and A _γ provides the deviation of the steering gears of the aircraft in the channels of heading and roll, corresponding to the optimal maneuver of the aircraft in heading and roll.

The control signal on a roll formed γ _y coordination control channel comprising serially connected piecewise linear function information converter 5, an aperiodic filter 6 and inverting amplifier 7. The output signal ψ _backside. the control signal setter at the rate 1 is connected to the input of the piecewise linear functional information converter 5, and the output signal of the inverting amplifier 7 γ _{y is} supplied to the first input of the second subtraction element 8.

Piecewise linear functional information converter 5 can be performed in a known manner - according to [3], and also, in particular, on even simpler non-linear elements (figure 2). It includes

a relay element 15 with a dead zone, a nonlinear element 17 with a dead zone and a linear part and an adder 16.

The characteristics of the relay element 15 and non-linear element 17 are shown respectively in figure 3 and figure 4, which presents the dependence of their output signals and from the value of the reference signal ψ _ass. at the rate; the diagrams indicate: ρ - deadband of the relay element 15 and the nonlinear element 17 and the signal level at the output of the relay element. The output signal from the adder 16 is equal to:

Where and output signals of relay 15 and nonlinear 17 elements.

The presence of block 5 — a piecewise linear functional information converter — makes it possible to implement selective connection of a coordinated control channel. With signals | ψ _ass. | <ρ the coordinated control channel is not connected. The course channel works in the mode of stabilization of small values of ψ _ass . The roll channel operates in the stabilization mode of the zero roll angle γ, since γ _y = 0.

When working out large signals ψ _ass. determining the dynamics of | ψ _ass. | ≥ρ, the course channel works in the control mode for practicing ψ _ass. , and the roll channel - in control mode with signal processing γ _y ≠ 0. At the end of the transition process, the course channel goes into the stabilization mode of the set value ψ _ass. , and for the roll channel upon reaching | ψ _ass. | <ρ control signal γ _y = 0, i.e. stabilization of the zero value of the roll angle is in progress.

Thus, in a piecewise linear functional information converter 5, the formation of a basic control signal by

roll equal to a given control signal in the direction when the control signal in excess of the course (modulo) the deadband value.

The inverting amplifier 7 of the device allows you to implement the principle of coordinated control in accordance with the required heading due to inverting the input signal and choosing the optimal value of the gain of this block. Aperiodic filter 6 is a low-pass filter and allows you to correctly, according to the dynamic properties of the heading and roll channels, combine control signals along the heading and roll, as well as provide a smooth connection of the coordination channel. Signal limiters 4 and 10 provide the required signal limitation and for heading and roll channels in accordance with dynamic restrictions on the maneuverability of the aircraft, and determine the correct combination of heading turns, taking into account the need to work out the roll angle.

All blocks of the control device are standard and can be implemented on the elements of automation and computer technology [2, 3].

Thus, the proposed device for generating a signal for controlling the lateral movement of the aircraft allows you to expand the functionality and improve the accuracy of control.

Information sources:

1. V. A. Bodner "Theory of automatic flight control" M .: Nauka, 1964, p.100 ... 110.

2. A.U. Yalyshev, O. I. Razorenov "Multifunctional analog control devices for automation" M.: Mechanical Engineering, 1081, p.103.

3. VB Smolov "Functional information converters" L .: Energoizdat, Leningrad branch, 1981.

Claims (1)

A device for generating a lateral motion control signal of an aircraft, comprising a heading control signal setter, a first subtraction element and a first summing amplifier, a second subtraction element and a second summing amplifier connected in series, heading angle sensors, heading angular velocity, roll angle and angular velocity roll, the outputs of which are connected respectively with the second inputs of the first subtraction element, the first summing amplifier, the second subtraction element and a second summing amplifier, characterized in that it contains the first and second signal limiters, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, connected in series with a piecewise-linear functional information converter, an aperiodic filter and an inverting amplifier, the output of which is connected to the first input of the second subtraction element, while the output of the control signal setter is connected to the heading input piecewise linear functional information converter.