The control unit angular movement of the aircraft with fixed thrust

 

(57) Abstract:

The invention relates to techniques for aircraft control with fixed thrust in terms of the perturbations. The device includes a unit of measure, three of the integrator, two block coefficients, the block of formation of the program, two adder, a control object, Executive bodies, the unit calculation software values of apparent velocity. The device provides control of aircraft with significant perturbations. Due to constant binding to the program changes the pitch angle is achieved by reduction of the methodical error control and improving the accuracy of tracking the care of the center of mass of the aircraft from its optimum path. 4 Il.

The invention relates to control systems of angular movement of the aircraft and can be used to control the aircraft with fixed thrust under perturbations.

A device (Fig.1) exercising control of the angular movement of the aircraft with fixed thrust, which provides control care center-of-mass energy from the optimal trajectory (enta) in Meters: machinery, 1976 S. 31).

This unit contains the unit of measure 1, the first integrator 2, the navigation unit 3, the shaping unit 4, second 5 and 6 third integrators, the first 7 and second 8 block of coefficients, the adder 9, the Executive bodies 10 and the control object 11, the first output unit of measure 1 is connected to the inputs of the navigation unit 3 and the first integrator 2, and the second to the input of the first block of coefficients 7, the output of the first integrator 2 is connected to the input of the processing unit 4, the outputs of which are connected to the input of the first block of coefficients 7, the output of the navigation unit 3 is connected to the input of the third integrator 6, the output of which is connected to the input of the second integrator 5 and the second block of coefficients 8, while the output of the second integrator 5 is also connected to the input of the second block of coefficients 8, the output of which, as well as the output of the first block of coefficients 7, is connected to the input of the adder 9, the output of which is connected with the Executive bodies 10 that are connected with the control object 11, which is connected to the input of the block measures 1.

The disadvantage of the prototype is the inability to control with acceptable accuracy the deviation of the center of mass of the object from its wholesale energy < / BR>
(Fig. 1) allows you to work only pulse perturbations, thus eliminating the deviation only on acceleration and not controlling deviations in speed and coordinate that does not guarantee the finding of the aircraft near an optimum trajectory and, consequently, the achievement of management objectives. In the second stage of control because of the presence of errors in speed and coordinate, not eliminated at the first stage, violated the terms of linearization and control

< / BR>
(Fig. 1) ensure the development of large disturbances with unacceptable errors.

The purpose of the invention is to reduce methodological error control and, therefore, improve the accuracy of tracking the care of the center of mass of the aircraft from its optimum path under large disturbances.

The required technical result is achieved that the device containing the block measures 1, the first integrator 2, the forming unit 3, the first 4 and second 5 block of coefficients, the adder 6, the Executive bodies 7, the control object 8, the second 10 and third 12 integrators, the first output unit of measure 1 is connected to the inputs of the first 2 and the second is the house of the second block of coefficients 5, the output of the first integrator 2 is connected to the input of the processing unit 3, the outputs of which are connected to the input of the first block of coefficients 4, the output of which, as well as the output of the second block of coefficients 5, is connected to the input of the adder 6, the output of which is connected with the Executive bodies of 7 connected with the control object 8, which is connected to the input of block gauges 1, inputs of the second adder 11, and flow calculation software values of apparent velocity 9, with one input of the second adder 11 is connected to the output of the second integrator 10, the second unit output calculation program values the apparent velocity 9, an input connected to the first output unit of measure 1, the first output of the second adder 11 is connected to the input of the third integrator 12, and the second input of the second block of coefficients 5 (Fig.2).

Comparative analysis with the prototype showed that a new technical solution is distinguished by the introduction instead of the navigation unit of the second adder 11 and the block calculation software values of apparent velocity 9 to ensure that the control effectthe integral of the difference between the real and the appropriate program vertical components of apparent scoie Therefore the claimed invention meets the criterion of "novelty".

Prior to the filing date of the patent and scientific literature is unknown to this set of essential features required to solve this technical problem, which speaks to the level of invention technical solutions.

Structural diagram of the inventive device shown in Fig. 2.

The device (Fig.2) contains a connected in series unit of measure 1, the first integrator 2, the forming unit 3, the first block of coefficients 4, a second input connected with the second output unit of measure 1, the first adder 6, the Executive bodies 7, the control object 8, the output of which is connected to the input unit of measure 1, the second integrator 10, and flow calculation software values of apparent velocity 9, the inputs of which are connected to the outputs unit of measure 1, and the outputs from the input of the second adder 11, the outputs of which are connected with inputs of the second block of coefficients 5 and the third integrator 12, the output of which is also connected to the input of the second block of coefficients 5, the output of which is connected to the input of the first adder 6.

The control unit angular movement of the aircraft with fixed thrust works as follows.

the range of center of mass. Next, this information comes in the contour of the production program, the control circuit care center of mass of the aircraft from its optimum path and block the formation of the control.

The path to developing a program consists of the first integrator 2 and block production program 3 and provides for the formation and transfer in block formation control program values of pitch angle and pitch rate.

The contour control care center of mass of the aircraft from its optimum path includes the second 10 and third 12 integrators, a second adder 11, and flow calculation software values of apparent velocity 9 and ensures that the control effectthe integral of the difference between the real and the appropriate program vertical components of the apparent velocity and the difference.

The unit forming a control action consisting of the first 4 and second 5 block coefficients and the first adder 6, transmits the PA Executive bodies 7 control commands for testing of object control program of the pitch angle and ensure the movement of the aircraft on its energy Opti is raised, where in Fig.3 shows the flight path of the aircraft, the tube of trajectories, due to the dispersion characteristics of fuel burning solid-propellant engine, the tube of trajectories, due to the presence of fuel supply, a graph of velocity head large random external influences, the distribution density of the random characteristics of y (the distance from the center of mass of the aircraft to enta) for algorithms that generated the existing (Fig. 1) and developed (Fig.2) devices. Analysis of the density distribution (Fig.3) leads to the conclusion that to provide a narrowing of the tube perturbed trajectories, to prevent the departure of the aircraft from the program PA interval effects of large disturbances are possible by reducing the distance y of the center of mass from its optimum path.

In order to reduce care center of mass from the program on the interval of large perturbations (see Fig.3), the claimed device provides a condition where

< / BR>
by implementing the control action (see Fig.2)

< / BR>
where S = (WA1-W*A2)dt;

< / BR>
WA1and WA2real and relevant program of vertical sostav the software and the real values of pitch speed.

Due to the constant monitoring of the departure of the aircraft from an optimum trajectory by taking into account the control effectsthe integral of the difference between the real and the appropriate program vertical components of the apparent velocity, additional methodical error control is small compared with the error (Fig.4) characteristic of the device of the prototype (Fig.1) that ensures the preservation of a permanent binding of the aircraft to its energy-optimal trajectory.

The control unit angular movement of the aircraft with fixed thrust that contains the unit of measure 1, the first integrator 2, the forming unit 3, the first 4 and second 5 blocks of coefficients, the adder 6, the Executive bodies 7, the control object 8, the second 10 and third 12 integrators, the first output unit of measure 1 is connected to the inputs of the first 2 and 10 second integrator and the second input of the first block of coefficients 4, the output of the third integrator 12 is connected to the input of the second block of coefficients 5, the output of the first integrator 2 is connected to the input of the processing unit 3, the outputs of which are connected to the input of the first block CoE is yhod which is connected with the Executive bodies 7, United also with the control object 8, which is connected to the input of block gauges 1, characterized in that it additionally introduced the second adder 11, and flow calculation software values of apparent velocity 9, with one input of the second adder 11 is connected to the output of the second integrator 10, the second unit output calculation program values the apparent velocity 9, an input connected to the first output unit of measure 1, the first output of the second adder 11 is connected to the input of the third integrator 12, and the second input of the second block of coefficients 5.

 

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Dirigible // 2385818

FIELD: transport.

SUBSTANCE: invention refers to air navigation equipment. Dirigible includes a frame with the covering forming a cavity, ballonets with lighter-than-air gas, which are attached to the frame, stabiliser, propeller, crew compartment, passenger compartment and mooring device. In lower part of cavity there horizontally located are at least two rotors rotating in opposite directions. Rotors can be installed across the axis and lie in one and the same plane. Also rotors can be installed along the axis or one above the other.

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