基于DSP的数字航姿模拟器设计

航姿模拟器是在对机栽设备进行地面测试时用来仿真飞机航姿信号的专门设备。传统航姿模拟器通用性差、控制精度低且不易与自动测试系统（ATE）接口。为此设计了基于DSP的数字航姿模拟器。该模拟器能同时输出航向、横滚及俯仰信号，可与计算机接口或直接嵌入自动测试系统，具有跟踪速度快、精度高、控制简单等特点。该模拟器在某型机载雷达ATE中获得应用。     

基于DSP的数字航姿模拟器设计

航姿模拟器是在对机载设备进行地面测试时用来仿真飞机航姿信号的专门设备。传统航姿模拟器通用性差、控制精度低且不易与自动测试系统(ATE)接口。为此设计了基于DSP的数字航姿模拟器。该模拟器能同时输出航向、横滚及俯仰信号,可与计算机接口或直接嵌入自动测试系统,具有跟踪速度快、精度高、控制简单等特点。该模拟器在某型机载雷达ATE中获得应用。     

An experimental study of pilots' control characteristics for flight of an STOL aircraft in backside of drag curve at approach and landing.

In general, most vehicles can be modelled by a multi-variable system which has interactive variables. It can be clearly shown that there is an interactive response in an aircraft's velocity and altitude obtained by stick control and/or throttle control. In particular, if the flight conditions fall to backside of drag curve in the flight of an STOL aircraft at approach and landing then the ratio of drag variation to velocity change has a negative value (delta D/delta u less than 0) and the system of motion presents a non-minimum phase. Therefore, the interaction between velocity and altitude response becomes so complicated that it affects to pilot's control actions and it may be difficult to control the STOL aircraft at approach and landing. In this paper, experimental results of a pilot's ability to control the STOL aircraft are presented for a multi-variable manual control system using a fixed ground base simulator and the pilot's control ability is discussed for the flight of an STOL aircraft at backside of drag curve at approach and landing.     

组合导航系统模拟器中的卡尔曼滤波设计

组合导航系统模拟器是飞行训练模拟系统的关键部件,在分别设计了惯性导航系统模拟器以及卫星导航模拟器的基础上,为了提高模拟器的真实性,针对如何实现两个系统最优组合,为其它系统提供准确可靠的导航数据的问题,参照现代飞机组合导航系统的组成结构及工作原理,设计了组合导航卡尔曼滤波器,建立了松组合和紧组合两种组合导航方式的方程和量测方程,并与纯惯性导航系统的结果进行对比分析,证明了所设计的组合导航系统卡尔曼滤波器的有效性.     

Pilot Response in Flight and Simulated Flight

This paper describes an experiment in which an attempt was made to assess the value of two types of response, control activity and physiological activity, as indications of the effect on simulator fidelity of adding pitch motion cues. The investigation used a general-purpose research simulator and a two-seater Hunter T7 aircraft. The responses of nine experienced pilots were compared when, flying on instruments, they undertook the same flight plan under three different conditions. Namely:

flight in he Hunter T7 aircraft:

simulated flight in the simulator with pitch motion present;.

simulated flight in the same simulator without motion.     

Hardware-In-the-Loop Simulation with X-Plane of Attitude Control of a SUAV Exploring Atmospheric Conditions

The attitude control law for fixed-wing small unmanned aircraft proposed in this paper is constructed based on two phases of a flight: stable flight and maneuvering flight. In the maneuvering flight, the aircraft deflects the main control surfaces (ailerons and elevator), whereas on the stable flight only the trim tabs are deflected. The switch between the two flights is done when the aircraft enters a zone in which the difference between the aircraft’s attitude and the reference value that the airplane needs to reach is greater than a predetermined value. The control laws are implemented on an on-board computer and are validated though Hardware-In-the-Loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. The paper proves that this implementation can reduce the rise time and the overshoot, compared with traditional PID implementations. In order to analyze the behavior of the SUAV in these situations, it was performed simulations with Wind Gust and levels of Turbulence, using the X-Plane features.     

An experimental study of pilots' control characteristics for flight of an STOL aircraft in backside of drag curve at approach and landing

Abstract

In general, most vehicles can be modelled by a multi-variable system which has interactive variables. It can be clearly shown that there is an interactive response in an aircraft's velocity and altitude obtained by stick control and/or throttle control. In particular, if the flight conditions fall to backside of drag curve in the flight of an STOL aircraft at approach and landing then the ratio of drag variation to velocity change has a negative value (ΔD/Δu<0) and the system of motion presents a non-minimum phase. Therefore, the interaction between velocity and altitude response becomes so complicated that it affects to pilot's control actions and it may be difficult to control the STOL aircraft at approach and landing.

In this paper, experimental results of a pilot's ability to control the STOL aircraft are presented for a multi-variable manual control system using a fixed ground base simulator and the pilot's control ability is discussed for the flight of an STOL aircraft at backside of drag curve at approach and landing.     

涵道尾座式垂直起降飞行器全包线飞行控制

本文针对一种新型涵道尾座式垂直起降飞行器的非线性控制问题, 提出一种全包线飞行控制方案. 在设计 的控制框架中, 采用统一的坐标系描述该飞行器的多模态特性. 对于不可测量的外部力矩, 设计了辅助系统进行观 测及自适应律进行补偿; 对于可测的合外力, 设计了一种基于加速度测量的拉力/姿态几何解耦方法; 同时, 给出了 保证闭环系统全局指数稳定的充分条件. 最后, 所述控制方案成功应用于一小型涵道尾座式无人机上, 并完成了飞 行器垂直/水平模态转换飞行试验, 验证了所提出方法的有效性.     

大型运输机综合训练器虚拟仿真环境的设计

某型运输机综合训练模拟器具有飞行场景复杂、仿真仪表多、人机交互信息量大等特点.虚拟仿真环境的建立,是开发该模拟器的关键.介绍了综合训练模拟器的体系结构和虚拟仿真环境的开发方法.采用对全包线范围内的气动参数进行动态插值的方法,建立了兼顾模拟精度的准定常六自由度全量飞机运动模型;阐述了场景建模的方法和视景驱动程序的框架;给出了虚拟仪表的开发路线和人机交互的实现方法.与整个系统联调表明,该系统结构合理可靠,采用的运动模型和仿真算法满足了系统的实时性和精确度要求,图像显示效果逼真.     

一种航天器推进剂补加飞控模拟器设计

推进剂补加飞控模拟器是飞控中心用来验证推进补加程序和地面测控方案、训练操作人员的模拟仿真系统,为系统演练构造一个尽量逼真的任务环境;提出了一种用于推进剂在轨补加任务准备的飞控模拟器设计,详细介绍了系统结构和原理, 给出了系统信息流向、软件设计,最后对主要技术难点及解决措施进行了说明,该模拟器具有真实性高、通用性高及灵活性高的特点,可以实现对推进剂在轨补加过程的动态模拟,在我国首次推进剂补加任务准备中得到了充分的应用和验证,取得了较好的效果。     

Central Processing Unit for an Autopilot: Description and Hardware-In-the-Loop Simulation

This paper describes the architecture of the Central Processing Unit (CPU) of Pegasus AutoPilot, which is an academic autopilot, in the developmental stage, for small Unmanned Aerial Vehicles (UAVs). The data manager process and control laws, implemented on dedicated hardware, are described. In order to verify, validate, and optimize the system a Hardware-In-the-Loop (HIL) simulation, between the CPU and the flight simulator X-Plane is performed. X-Plane simulates the other systems of the autopilot, such as the sensors and actuators. The system is designed to facilitate the disconnection of the flight simulator and the connection of the real navigation hardware and control surface manager drive, as a plug and play device. The described control loops, consisting of inner and outer loops, controls the aircraft’s attitude and maintains a constant altitude, direction, and speed. The work presented can also be used as a guide for those who wants to begin to use Hardware-In-the-Loop Simulations using X-Plane.     

Multiobjective optimization–based fault‐tolerant flight control system design

The loss of measurements used for controller scheduling or envelope protection in modern flight control systems due to sensor failures leads to a challenging fault‐tolerant control law design problem. In this article, an approach to design such a robust fault‐tolerant control system, including full envelope protections using multiobjective optimization techniques, is proposed. The generic controller design and controller verification problems are derived and solved using novel multiobjective hybrid genetic optimization algorithms. These algorithms combine the multiobjective genetic search strategy with local, single‐objective optimization to improve convergence speed. The proposed strategies are applied to the design of a fault‐tolerant flight control system for a modern civil aircraft. The results of an industrial controller verification and validation campaign using an industrial benchmark simulator are reported.     

教学飞行仿真模拟器的开发与应用

飞行模拟器在Windows环境下，用Vc＋＋和Open GL、Open GVS等软件开发工具，采用面向对象的程序设计方法实现仪表仿真、视景仿真、飞行方程仿真和控制台仿真的系统仿真功能。多功能飞行模拟器采用具有真实驾驶杆、油门杆、脚蹬和各种按钮开关的驾驶舱，以一台工控机为主控机外挂几台微机组成，通过网络协议完成实时信息传递，数据交换和条件设置。此设备既具有良好的人机交互功能，又可作为本科生演示和相关专业研究生的实验设备，也可以利用此平台进行仪表、视景等系统的继续开发工作，因此具有良好的可扩展性。     

Invariant Aircraft Control Under Wind Disturbances

A method is developed for compensating the effect of wind disturbances on the flight path of an aircraft. Computer modeling of the method is performed. An approach is considered based on methods of the theory of absolute nonlinear invariance. The results of computer modeling of the method developed for compensating the influence of turbulent atmosphere on the flight of an aircraft are presented with a view to comparing its efficiency with that of an existing method for compensating the influence of turbulent atmosphere. The use of the conception of aircraft control based on the theory of absolute nonlinear invariance in designing automatic control systems will make it possible to implement an efficient method for flight control under uncertainty and external disturbances that has advantages over existing methods and will provide the comfort of passengers and safety of flights.     

基于二次稳定的仿真转台鲁棒控制器设计

针对摩擦力矩干扰,系统参数摄动等非线性扰动环节对仿真转台控制系统的影响,提出了基于二次稳定理论的仿真转台鲁棒控制器设计思想。分析了二次稳定理论的基本原理及设计方法,给出了某型飞行仿真转台基于二次稳定的状态反馈控制器和PID鲁棒控制器设计实例。仿真结果表明,基于二次稳定理论的控制器克服了摩擦力矩干扰以及转动惯量摄动对仿真转台的影响,实现了转台转角的精确控制,动态指标优越,满足了高精度飞行仿真转台系统的鲁棒控制要求。     

The Feasibility of Using an Adaptive Technique in Flight Simulator Training

This study explores the feasibility of using an adaptive technique in flight simulator training to improve piloting skills. An operational flight simulator is used to simulate a jet fighter aircraft. Eighteen non-jet-experienced pilots are assigned to two groups for the purpose of receiving equivalent amounts of practice in the task of maintaining a constant altitude program during simulated air turbulence. One group is trained using an adaptive technique and the other is trained under conditions more representative of conventional training. The hypothesis is that an adaptive technique is feasible if adaptively trained pilots are more proficient than conventionally trained pilots when transferred to a flight simulation representative of an aircraft in turbulent air. Resulting data support the hypothesis.     

Kinetic characteristics analysis of aircraft during heavy cargo airdrop

Airdrop is the most important approach for crisis transaction and unexpected events, it is necessary to investigate the flight characteristics of transport aircraft during the dropping process. This paper mainly focuses on the stability, controllability and model simplification of large aircraft with heavy cargo airdrop. In this process, the primary elements which have impact on force and moment are studied theoretically, the role of cargo mass, moving parameters and other factors on dynamical characteristics have been assessed by simulation and analysis. And then the aircraft model simplification is completed for control system designing in future.All the work above shows that the parameters of cargo moving play a dominant role in flight characteristics and the flight equations can be simplified to reduce the design complexity.     

飞行仿真转台的完全跟踪控制

针对飞行仿真转台中传统插值和前馈方法对系统性能的限制问题,引入了完全跟踪控制策略.论述了飞行仿真转台完全跟踪控制器的设计方法.本文利用多速率采样系统的特性构造转台系统状态传递函数矩阵的精确逆矩阵,从而避免了采用近似逆模型的传统方案以及插值带来的限制,实现完全跟踪.利用鲁棒内回路补偿器理论以及系统动态跟踪误差的解析式分析...     

基于雷达测距的飞行器交会对接误差补偿控制技术

为解决由视线倾角、视线偏角过大造成的飞行器对接存在误差的问题,实现飞行器交会轨迹的精准对接,提出基于雷达测距的飞行器交会对接误差补偿控制技术。建立空间参考坐标系,根据轨道根数计算结果,推导动力学状态方程,实现对飞行器交会对接过程中的动力学作用分析。按照雷达测距原理,计算飞行器的理论飞行时长及雷达装置作用距离,再联合相关参数指标,确定精度极限的取值范围,实现基于雷达测距的对接误差控制。在三坐标测量机结构模型中,定义飞行位姿拟合条件,再根据位姿误差求解结果,实现对误差参数的补偿修正处理,完成基于雷达测距的飞行器交会对接误差补偿控制方法的设计。对比实验结果表明,应用所提方法可以同时将视线倾角、视线偏角的取值控制在0°-45.0°的数值范围之内,能够较好解决飞行器错误对接的问题,符合精准对接飞行器交会轨迹的实际应用需求。     

Aircraft post-upset flight risk region prediction for aviation safety management

Flight trajectory prediction is a vital tool for enhancing the national airspace system (NAS) safety management, especially with the rapid increase in flight density. In-flight uncertainties during aircraft upset events significantly impair the flight path trajectory prediction, hence a robust uncertainty quantification study is needed for realistic flight path risk region construction upon such upset events. The NASA transport class model (TCM) is implemented as a high-fidelity flight dynamics simulator to mimic post-upset aircraft response. Take-off and high-altitude stall scenarios are considered, due to their major contribution to aircraft loss of control in-flight incidents, where stochasticity is introduced in the TCM upset-triggering parameters. Automated recovery algorithm is developed and applied into TCM framework to control the rate of elevator surface deflection and/or throttle level, leading to flight path nominal conditions recovery. Monte Carlo simulations are performed to estimate a stochastic risk region in terms of confidence ellipsoid for both non-recovery and recovery simulated cases, where a relatively larger uncertainty level is observed during the recovery process. Additionally, a data-driven deep-learning surrogate model is developed to enhance the computational feasibility of such risk region estimation, which is essential for in-situ NAS safety assessment. Finally, the wind speed effect on the risk region and flight dynamics response prediction during high-altitude post-upset recovery cases is investigated.