CN110597281A - Method for acquiring parameters of automatic landing longitudinal flight control system - Google Patents
Method for acquiring parameters of automatic landing longitudinal flight control system Download PDFInfo
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Abstract
The invention discloses a parameter acquisition method of an automatic carrier landing longitudinal flight control system, which comprises the steps of firstly, using a linear small disturbance model for describing carrier landing longitudinal motion of a carrier-based aircraft as a controlled object, constructing the automatic carrier landing longitudinal flight control system model based on an F/A-18A carrier-based aircraft automatic carrier landing longitudinal control law, then combining a system stability theory, F/A-18A carrier-based aircraft flight data and a control system optimization method, and correcting undetermined parameters of 3 parts of an autopilot, an approach power compensation system and a guidance law from inside to outside in a loop-by-loop manner from a pitch angle speed control loop aiming at a cascade nested loop structure of the automatic carrier landing longitudinal flight control system. The method is simple, convenient and efficient, and the automatic carrier landing flight control system has good longitudinal control performance and higher practical value.
Description
Technical Field
The invention relates to the technical field of taking off and landing of aeronautical engineering, in particular to a method for acquiring parameters of an automatic landing longitudinal flight control system.
Background
In the carrier landing stage of the carrier-based aircraft, environmental interference factors are complex, but the requirement on control accuracy is high, so that the operation difficulty of a pilot is very high. In order to improve the success rate of Landing and reduce the pressure of pilots on executing the Landing tasks, the naval of the united states began to research the full-Automatic Landing technology from the last 50 century, and the shipboard aircraft is recovered in a manner of full automation without manual control in all weather through an Automatic Carrier Landing System (ACLS). At present, the ACLS is put into practice in a large amount and becomes one of the most effective tools for assisting the carrier-based aircraft to land on a ship, and particularly plays AN irreplaceable important role in extreme conditions (such as heavy fog and sand-dust weather) which cannot be competed by a pilot, such as AN AN/SPN-46 system for guaranteeing the automatic boarding of F-18 and F-35 carrier-based aircraft and a UCARS system for guiding the full-automatic recovery of a 'fire reconnaissance soldier' of a medium-sized unmanned gyroplane.
ACLS is mainly composed of a deck motion compensation System and a Flight Control System (FCS), which is divided into a ship-borne System and an aircraft-borne System: the shipboard part is responsible for resolving the automatic landing guidance law, and the shipboard part is divided into a Control Augmentation System (CAS) which is an automatic pilot and an Approach Power Compensation System (APCS) according to functions. In order to eliminate an approach track error of a shipboard aircraft as soon as possible and accurately track a command glide-slope, ACLS must have good longitudinal manipulation performance, and longitudinal FCS parameters are key for limiting the performance implementation. However, in the prior art, the automatic landing longitudinal FCS has a cascade-nested multi-feedback loop structure, so that the undetermined parameters are more, and the efficiency of adjusting the parameters by adopting a traditional root trajectory correction method or performing trial and error purely by engineering experience is very low.
Disclosure of Invention
The invention aims to provide a parameter acquisition method of an automatic landing longitudinal flight control system, which is simple, convenient and efficient, can enable the automatic landing longitudinal flight control system to have good longitudinal control performance, and has higher practical value.
The purpose of the invention is realized by the following technical scheme:
a method for acquiring parameters of an automatic carrier landing longitudinal flight control system comprises the following steps:
step 1, taking a linear small disturbance model describing carrier landing longitudinal motion of a carrier-based aircraft as a controlled object, and constructing an automatic carrier landing longitudinal flight control system model based on an F/A-18A carrier-based aircraft automatic carrier landing longitudinal control law;
step 2, setting a parameter correction target of an automatic carrier landing longitudinal flight control system according to the precision requirement of carrier landing control of the carrier-based aircraft and by referring to an F/A-18A carrier-based aircraft automatic carrier landing performance test result;
step 3, calculating a transfer function of the pitch angle rate control loop based on the constructed model, and reducing a pitch angle rate control loop parameter K according to a stability criterion in a control theoryQ、KIAnd KPThe value range of (a);
step 4, optimizing the step response of the pitch angle rate control loop to the amplitude 0.01rad angle rate instruction, and stopping optimization when the optimization result is close to the performance test condition of the F/A-18A carrier-based aircraft automatic landing pitch angle rate control loop to obtain the parameters of the pitch angle rate control loop;
step 5, fixing the parameter correction result obtained in the step 4, taking the vertical speed response performance of the F/A-18A carrier aircraft landing stage as an optimization target, and correcting undetermined parameters in the autopilot through optimizing the step response of the autopilot to the high-degree change rate deviation instruction;
step 6, fixing the parameter correction results obtained in the step 4 and the step 5, correcting the APCS parameters of the approach power compensation system, mainly adjusting KeAnd KαPTwo control gains;
step 7, fixing the parameter correction result obtained in the step 6, then performing the step 5, and then repeating the operations of the steps 6 and 5 until the response of the altitude change rate and the response of the attack angle reach the parameter correction target;
and 8, fixing the parameter correction result obtained in the step 7, and correcting the guidance law parameter K by optimizing the step response of the approach height of the carrier-based aircraftH。
The technical scheme provided by the invention shows that the method is simple, convenient and efficient, and the automatic carrier landing flight control system has good longitudinal control performance and higher practical value.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a parameter acquisition method of an automatic landing longitudinal flight control system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a simulation result after all loop parameters in the automatic landing longitudinal flight control system of the embodiment of the invention are acquired.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the present invention will be further described in detail with reference to the accompanying drawings, and as shown in fig. 1, a schematic flow chart of a parameter acquisition method of an automatic landing flight control system provided by the embodiment of the present invention is shown, where the method includes:
step 1, taking a linear small disturbance model describing carrier landing longitudinal motion of a carrier-based aircraft as a controlled object, and constructing an automatic carrier landing longitudinal flight control system model based on an F/A-18A carrier-based aircraft automatic carrier landing longitudinal control law;
in the step, a linear small disturbance model capable of describing the carrier-based aircraft landing longitudinal motion is specifically adopted as a controlled object, and the expression is as follows:
wherein:
x＝[ΔvI ΔαI Δq Δθ Δh]T，u＝[Δδe Δδc Δδp]T，vIrepresenting ground speed, i.e. inertial velocity, m/s; alpha is alphaIRepresenting the ground speed angle of attack or inertial angle of attack, rad; q represents the pitch angular velocity, rad/s; θ represents pitch angle, rad; h represents height, m; n iszRepresents normal overload, g; gamma denotes the track angle, rad; 3 components in the control vector u sequentially represent disturbance quantities of an elevator deflection angle, a canard wing deflection angle and an effective accelerator opening, and the unit is degrees; Δ denotes the deviation of the physical quantity from its reference value (nominal value), and the subscript "" denotes the reference value (nominal value) of the variable, e.g. vI*70m/s, the same applies below; the constant value matrices a-F are specifically shown in table 1:
the F/A-18A carrier-based aircraft automatic landing longitudinal flight control law consists of an autopilot, an Approach Power Compensation System (APCS) and an outer loop guidance law 3, wherein the autopilot control law comprises a pitch angle rate control loop. The APCS of the F/A-18A adopts an accelerator control strategy for maintaining a constant attack angle, and after the F/A-18A carrier-based accelerator control law in the prior art is properly simplified, the expression of the APCS control law is obtained as follows:
in the formula, deltaecFor elevator pitch command, KαP、KαI、Ke、Kq、KnzAre all control gains.
In addition, theBecause the F/A-18A carrier-based aircraft takes the variation rate of the approach altitude as the direct control state of the autopilot, the speed of the carrier-based aircraft in the landing stage is basically kept unchanged, so thatAs can be seen from the disturbance expression (3), controlEquivalent to controlling gamma. Control of the vertical acceleration (normal overload) of the carrier aircraft is also necessary to improve system damping.
TABLE 1 coefficient matrix A-F of the linear motion model of the carrier-based aircraft
Step 2, setting a parameter correction target of an automatic carrier landing longitudinal flight control system according to the precision requirement of carrier landing control of the carrier-based aircraft and by referring to an F/A-18A carrier-based aircraft automatic carrier landing performance test result;
in a specific implementation, the set calibration targets are shown in table 2 below;
TABLE 2 System parameter calibration targets
Step 3, calculating a transfer function of the pitch angle rate control loop based on the constructed model, and reducing a pitch angle rate control loop parameter K according to a stability criterion in a control theoryQ、KIAnd KPThe value range of (a);
in this step, the gain K is controlledQAnd lag-lead filter (parameter T)1And T2And specifies T1＞T2) In series, both in a pitch rate feedback loop, and KIAnd KPRespectively, integral gain and proportional gain of the forward channel transfer function of the pitch rate control loop.
Step 4, optimizing the step response of the pitch angle rate control loop to the amplitude 0.01rad angle rate instruction, and stopping optimization when the optimization result is similar to the performance test condition of the F/A-18A carrier-based aircraft automatic landing pitch angle rate control loop to obtain the parameters of the pitch angle rate control loop;
before optimization, a parameter value range is selected according to a calculation result in the step 3, and the performance index of the step response is set as: the adjusting time is not more than 3s, the steady-state error is 1 percent, and the overshoot is less than 200 percent;
after the step is executed, the parameters of the pitch angle rate control loop are obtained as follows:
KQ＝1.174 KI＝522.268 KP＝362.242 T1＝1.766 T2＝0.766
step 5, fixing the parameter correction result obtained in the step 4, taking the vertical speed response performance of the F/A-18A carrier aircraft landing stage as an optimization target, and correcting undetermined parameters in the autopilot through optimizing the step response of the autopilot to the high-degree change rate deviation instruction;
in this step, it is necessary to correct the parameters of the autopilotAndthe feedback loops are respectively in a track angle feedback loop and a normal overload feedback loop of the carrier-based aircraft; the correction method is similar to the first two steps, firstly calculatingAnd the responding transfer function reduces the value range of the undetermined parameter according to a stability criterion in the control theory, and sets step performance indexes such as overshoot within 15%, 4.5s of adjusting time, 1% steady-state error and the like to optimize the step response of the automatic pilot to the high-degree change rate deviation instruction.
Step 6, fixing the parameter correction results obtained in the step 4 and the step 5, correcting the APCS parameters of the approach power compensation system, and mainly adjusting KeAnd KαPTwo control gain parameters;
in the step, according to the attack angle control capability of the F/A-18A carrier aircraft in the landing stage, a correction target is set as follows: the time for the attack angle of the carrier-based aircraft to return to the nominal value after responding to the altitude change rate step command is not more than 5 s;
all parameters needing to be corrected in the step are given by an equation (2), and according to a relational equation (4) among attack angle disturbance delta alpha, track angle disturbance delta gamma and pitch angle disturbance delta theta of a shipboard aircraft, the previous parameter correction process cannot ensure that the delta alpha converges to 0, and in addition, the step response of the delta alpha to a high-degree change rate deviation instruction cannot be defined by conventional indexes, and the high-order attribute of the control system is considered, so that the APCS parameters are difficult to optimize by means of software tools or theoretical calculation, can be completed based on empirical debugging, and mainly adjust KeAnd KαPTwo control gains.
Δθ＝Δα+Δγ (4)
In addition, due to the existence of coupling among control loops of the system, the parameter correction effect of the step 5 is likely to be reduced, namely the adverse effect on the vertical speed response performance of the carrier-based aircraft is likely to be caused.
Step 7, fixing the parameter correction result obtained in the step 6, then performing the step 5, and then repeating the operations of the steps 6 and 5 until the response of the altitude change rate and the response of the attack angle reach the parameter correction target;
the step is mainly to improve the comprehensive control effect of the system on the altitude change rate and the attack angle, when the attack angle response meets the requirement, the APCS parameter obtained in the step 6 is fixed, and then the parameter is optimized in the step 5Andthe autopilot parameters are then fixed and the APCS parameters are again adjusted … for several iterationsAnd 5, designing all parameters of the inner loop of the automatic landing longitudinal flight control system through the operations of the steps 5 and 6, so that the response of the altitude change rate and the attack angle of the carrier-based aircraft can meet the parameter correction target.
For example, the parameter correction result after the step is executed is as follows, and the corresponding simulation result is shown in fig. 2, and it is obvious that after the step is executed, the response condition of the system to the high degree change rate instruction is better than the test result of the F/a-18A carrier aircraft.
Kq＝120Ke＝4KαI＝40KαP＝-95Knz＝20。
And 8, fixing the parameter correction result obtained in the step 7, and correcting the guidance law parameter K by optimizing the step response of the approach height of the carrier-based aircraftH。
In the step, according to the general requirement of carrier-based aircraft landing track deviation correction, the step response performance index is selected to be within 3% of overshoot, the adjusting time is not more than 8s, and the steady-state error is within 1%, and the overshoot and the adjusting time of the state response are comprehensively considered to finally determine the guidance law parameters. After this step is performed, the parameter correction results shown in table 3 are obtained:
TABLE 3 Pilot Law parameter correction results
It is noted that those skilled in the art will recognize that embodiments of the present invention are not described in detail herein.
In summary, the method of the embodiment of the present invention has the following advantages:
(1) according to the general requirements of carrier aircraft landing control and the actual measurement data of the F/A-18A carrier aircraft automatic landing system for instruction response, the parameter correction target is quantized, and the parameter correction efficiency and the practicability of the parameter design result are improved;
(2) the value range of the undetermined parameter is reduced through the stability criterion in the automatic control theory, the workload of parameter correction is greatly saved, and the parameter correction efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method for acquiring parameters of an automatic landing longitudinal flight control system is characterized by comprising the following steps:
step 1, taking a linear small disturbance model describing carrier landing longitudinal motion of a carrier-based aircraft as a controlled object, and constructing an automatic carrier landing longitudinal flight control system model based on an F/A-18A carrier-based aircraft automatic carrier landing longitudinal control law;
step 2, setting a parameter correction target of an automatic carrier landing longitudinal flight control system according to the precision requirement of carrier landing control of the carrier-based aircraft and by referring to an F/A-18A carrier-based aircraft automatic carrier landing performance test result;
step 3, calculating a transfer function of the pitch angle rate control loop based on the constructed model, and reducing a pitch angle rate control loop parameter K according to a stability criterion in a control theoryQ、KIAnd KPThe value range of (a);
step 4, optimizing the step response of the pitch angle rate control loop to the amplitude 0.01rad angle rate instruction, and stopping optimization when the optimization result is close to the performance test condition of the F/A-18A carrier-based aircraft automatic landing pitch angle rate control loop to obtain the parameters of the pitch angle rate control loop;
step 5, fixing the parameter correction result obtained in the step 4, taking the vertical speed response performance of the F/A-18A carrier aircraft landing stage as an optimization target, and correcting undetermined parameters in the autopilot through optimizing the step response of the autopilot to the high-degree change rate deviation instruction;
step 6, fixing step 4, and step 5The obtained parameter correction result is used for correcting the APCS parameter of the approach power compensation system, mainly adjusting KeAnd KαPTwo control gains;
step 7, fixing the parameter correction result obtained in the step 6, then performing the step 5, and then repeating the operations of the steps 6 and 5 until the response of the altitude change rate and the response of the attack angle reach the parameter correction target;
and 8, fixing the parameter correction result obtained in the step 7, and correcting the guidance law parameter K by optimizing the step response of the approach height of the carrier-based aircraftH。
2. The parameter acquisition method of the automatic carrier landing longitudinal flight control system according to claim 1, wherein in step 1, the taking of the linear small disturbance model describing the carrier aircraft landing longitudinal motion as the controlled object specifically comprises:
a linear small disturbance model capable of describing the carrier landing longitudinal motion of a carrier-based aircraft is adopted as a controlled object, and the expression is as follows:
wherein:
x＝[ΔvI ΔαI Δq Δθ Δh]T，u＝[Δδe Δδc Δδp]T，vIto represent
The ground speed; alpha is alphaIRepresenting the ground speed attack angle or inertial attack angle; q represents a pitch angular velocity; θ represents a pitch angle; h represents height; n iszIndicating a normal overload; gamma represents the track angle; 3 components in the control vector u sequentially represent disturbance quantities of elevator deflection, canard wing deflection and effective accelerator opening; Δ represents the deviation of the physical quantity from its reference value, and the subscript "-" represents the reference value of the variable; the matrices a-F are all constant value matrices.
3. The parameter acquisition method of the automatic landing longitudinal flight control system according to claim 1, wherein in step 1, an outer loop of the F/a-18A carrier-based aircraft automatic landing longitudinal control law is a guidance law, and an inner loop comprises an autopilot and an Approach Power Compensation System (APCS), wherein the autopilot comprises a pitch angle rate control loop;
the expression of the APCS control law is as follows:
in the formula, deltaecA pitch instruction for the elevator; kαP、KαI、Ke、Kq、KnzAre all control gains.
4. The parameter acquisition method of the automatic landing longitudinal flight control system according to claim 1, wherein in step 4, before optimization, a parameter value range is selected according to the calculation result of step 3, and the performance index of the step response is set as: the adjusting time is not more than 3s, the steady-state error is 1%, and the overshoot is less than 200%.
5. The parameter acquisition method of the automatic carrier landing longitudinal flight control system according to claim 1, wherein in step 6, according to the attack angle control capability of the F/a-18A carrier aircraft in a carrier landing stage, a correction target is set as follows: the time for the attack angle of the carrier-based aircraft to return to the nominal value after responding to the high-degree change rate step command does not exceed 5 s.
6. The parameter acquisition method of the automatic landing longitudinal flight control system according to claim 1, wherein in step 8, according to the general requirement of carrier aircraft landing trajectory deviation correction, the step response performance index is selected to be within 3% of overshoot, the adjustment time is not more than 8s, and the steady-state error is within 1%, and the overshoot and the adjustment time of the state response are comprehensively considered to finally determine the guidance law parameter KH。
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| CN114942649B (en) * | 2022-06-06 | 2022-12-06 | 北京石油化工学院 | Airplane pitching attitude and track angle decoupling control method based on backstepping method |
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