基于鲁棒伺服 LQR的无人机横航向自动着陆控制律设计

针对无人机自动着陆过程中外部不确定性强,影响控制精度和飞行安全的问题,提出一种基于鲁棒伺服线性二次型(Linear Quadratic Regulator,LQR)的横航向自动着陆控制律设计方法。基于鲁棒伺服LQR设计滚转姿态保持内回路,设计航向保持/预选模态和航向信标(Localizer,LOC)截获与跟踪模态,实现横航向轨迹的稳定与精确跟踪。数字仿真结果表明,该方法具有较好的控制效果。     

舰载机理想着舰点垂直运动的预估与补偿

理想着舰点的垂直运动是影响着舰精度和安全的一个主要因素,因此必须加强舰载机对理想着舰点垂直运动的同步跟踪能力.为此,提出对理想着舰点垂直运动的位置和速度信号进行预估和补偿的方法,将垂直运动的位置和速度信号经过预估和补偿后分别引入到纵向自动着舰引导系统和飞控系统的垂向速度通道中,使得舰载机可以准确跟踪理想着舰点的垂直运动,以减小甲板运动对着舰的影响.针对不同海况条件,对设计的补偿器和预估器进行仿真验证,并与其他方法进行比较.结果表明本文提出的理想着舰点垂直运动预估与补偿方法可有效地补偿由甲板运动引起的着舰误差,显著提高了着舰的安全性和精确性.     

The use of modern robust control design methods in the autoland system design process - the REAL project

The REAL project dealt with the inclusion of advance robust control techniques in the process of development of autoland systems, in order to reduce the non-recuring costs. New design approaches were set up. Although they can still be improved, e.g. automated, these processes have already demonstrated the potential to shorten the design time considerably while achieving satisfactorily robust autoland controllers. Autoland systems were developed for and flight tested on DLR's ATTAS VFW 614 aircraft in the summer 2000 period.     

垂直着陆中直升机旋翼动力学行为研究

提出了直升机垂直着陆撞击激起旋翼扰动的动力学模型,为预估粗暴着陆时起落架载荷和旋翼液压阻尼器轴向速度幅值给出了一种数值模拟方法。以弹性轴承旋翼直升机为例,对垂直着陆时直升机机体、起落架、旋翼桨叶及阻尼器的动力响应进行了数值模拟,分析了着陆撞击引起机体和旋翼扰动的力学机理,可知在起落架触地后的第1个振荡周期中,各片桨叶将经历其不同的摆振幅值,并激起旋翼摆振后退型响应。着陆撞击引起桨叶的大扰动,将冲开阻尼器的定压安全活门,严重降低其等效阻尼。随机着陆时,起落架触地速度及过载系数、旋翼挥舞及摆振幅度和阻尼器速度峰值等动态参数由于着陆时机体的姿态角及角速度不同呈现很大的分散性,其分散性与着陆高度有关。     

垂直起降固定翼无人机的翼尖垂尾设计分析

垂直起降固定翼无人机兼具固定翼飞机速度快、航程远和多旋翼无人机垂直起降、可悬停作业的优点,研究其翼尖垂尾对整机气动特性的影响具有重要意义。垂直起降固定翼无人机采用翼尖下垂尾的设计可以在充当垂尾使用的同时兼具翼尖小翼和起落架的作用。对比下垂尾、上垂尾、翼梢端板和常规布局四种翼尖设计,采用LBM-LES算法、壁面自适应局部涡粘大涡模拟湍流模型对四种设计的气动特性进行仿真模拟分析。结果表明:翼尖下垂尾在平飞状态时比其他三种设计气动效率更高,在垂直起降或悬停状态时,抗侧风稳定性更好。     

考虑杆臂效应与挠曲变形的全自动着舰技术

联合精确进近和着陆系统（JPALS）舰载组件旨在为最终进近阶段的舰载机提供自动着舰能力。针对由于舰船杆臂效应与挠曲变形的存在导致舰载机着舰定位精度下降的问题,开发了一种基于卫星引导的全自动着舰非线性化参数误差模型,结合舰船甲板运动及舰载机纵向飞行控制模型,评估舰船结构挠曲和姿态不确定性对着舰落点精度的影响。结果表明,杆臂效应与挠曲变形对着舰落点精度有显著影响,利用建立的误差模型以及飞行控制模型,能够将着舰落点精度有效控制在着舰标准之内。     

直升机起落架着陆载荷及参数影响分析

建立了直升机起落架着陆时的动力学分析模型,对起落架冲击载荷进行了动态仿真。计算分析了着陆下沉速度、旋翼拉力系数、轮胎压力及缓冲支柱通油孔面积等参数对起落架冲击载荷的影响。结果表明,直升机下沉速度提高时,起落架参数应作相应调整以降低冲击载荷。     

三维机身起落架着陆冲击力学模型

 本文根据起落架系统的几何、运动学及动力学特性,推导出目前广泛使用的三维机身式起落架,并具有柔性支柱系统的着陆冲击力学模型。并对其初始条件、对称着陆及不对称着陆情况作了动力学分析。     

一种无人直升机自动起降控制策略

无人直升机起降的关键是纵横向姿态保持和滑移控制,以及垂向升降速度的平稳性控制,避免纵横向滑移时受地面约束而引起倾翻和垂向近地颠簸。提出一种无人直升机自动起降控制策略,纵横向利用地面支撑力、姿态和滑移构成反馈控制,垂向利用地面支撑力判断离地和着陆,并通过高度指令牵引控制升降速度。引入地面支撑力反馈控制确保离地瞬时纵横向力和力矩平衡,使无人直升机离地时失去地面约束后能够垂直起飞,引入姿态和滑移反馈抑制无人直升机起降过程中姿态变化和滑移,两者本质上构成并联控制。该策略在某无人直升机试飞试验中获得了成功应用,为无人直升机自动起降技术发展提供有益的借鉴经验。     

Hybridizing contemporary glide slopes to provide vertical guidancefor GPS approaches

Vertical guidance for an instrument approach to landing during conditions of reduced visibility is a crucial element with respect to safety of flight. It is noteworthy that this vertical component-to be most useful and safe-must desirably provide the pilot with no more than several feet of uncertainty. Unfortunately, with GPS the vertical portion of the position information supplied the pilot by GPS signals is the least precise because of geometries involved. Augmentation for enhancement of accuracy is quite important and the assertion is that it is necessary for totally safe vertical guidance. Evidence from approximately 60 years of experience with electronic landing systems serving the public is that there has been no aircraft accident due to a defective vertical guidance signal. Visibilities as low as 600 feet horizontally can exist at certain airports and landings can still be accomplished. These landings, while not common, are being accomplished flawlessly by contemporary aircraft and equipment. Many aspects of the contemporary UHF glide slope have been studied during its half-century of use. This paper reports on advances, some of them quite recent, that make it realistic to claim that a glide slope can be sited for Category I operation at any runway that meets the physical requirements for this type of operation. For the UHF glide slope, siting imperfections are accommodated by using one of five available types of contemporary glide slope systems or derivatives thereof. This paper reviews how accommodations are achieved in practical cases. Results from earlier tests are identified which show hybridizing of UHF glide slopes and GPS can be used to provide good approach guidance to aircraft making fully automatic approaches to touchdown     

垂直起降运载火箭返回轨迹不确定性优化

针对垂直起降运载火箭一子级在返回着陆的过程中存在的参数不确定性,提出了一种基于非侵入式多项式混沌展开的序列优化和可靠度评估的返回轨迹不确定性优化方法。首先,建立了返回多飞行段轨迹在确定性条件下的优化模型。然后,为同时兼顾轨迹的鲁棒性和可靠性,建立了由鲁棒最优目标函数、基于可靠度的路径约束和鲁棒等式约束组成的不确定性返回轨迹优化模型。最后,基于非侵入式多项式混沌展开方法对鲁棒目标函数和等式约束进行量化处理,将原随机鲁棒优化问题转化为高维状态空间中的等价确定性优化问题;为提高路径约束的可靠度评估效率,基于非侵入式多项式混沌展开方法对最可能点法进行改进,进一步发展了序列优化和可靠度评估策略。数值仿真结果表明,所提出的不确定性优化方法具有较好的鲁棒性,可以满足工程可靠性指标要求,同时还具有较高的精度和计算效率。     

轮胎参数对双轮式起落架刹车耦合振动影响研究

目前对飞机起落架低频刹车耦合振动问题的研究主要停留在考虑轮胎参数影响的起落架纵向单自由度振动特性分析，对于多自由度低频刹车耦合振动的特性研究不足。基于Simcenter 3D 动力学分析软件建立双轮支柱式起落架刚柔耦合整机滑跑刹车分析模型，研究轮胎竖向刚度和侧偏刚度对双轮支柱式起落架低频刹车纵向、横向和扭转的多自由度耦合振动的影响。结果表明：轮胎的竖向刚度对起落架横向和扭转方向上的振动影响较大，轮胎竖向刚度变化33%，横向和扭转方向上的振动变化5% 左右；轮胎的侧偏刚度对起落架低频刹车横向上的振动影响较大，轮胎侧偏刚度变化33%，横向上的振动变化15% 左右。     

High accuracy navigation and landing system using GPS/IMU systemintegration

In this paper, the accuracy, integrity and continuity of function requirements for automatic landing systems using satellite navigation systems are discussed. Such a landing system is the integrated navigation and landing system (INLS) developed by Deutsche Aerospace (DASA/Ulm, Germany). The system concepts of the INLS are presented. It is shown how an INLS, based on system integration of a satellite navigation system (e.g., GPS) in realtime differential mode with an inertial measurement unit (IMU) in the accuracy class of an attitude and heading reference system (AHRS), can meet the requirements: the results given are mainly devoted to the accuracy issues. Using Kalman filter techniques, an in-flight calibration of the IMU is performed. The advantage of system integration, especially in dynamic flight conditions and during phases of flight with satellite masking, is explained. The accuracy, integrity and continuity of function of the INLS were proven by means of flight tests in a commuter aircraft using a laser tracker as a reference. These flight tests have shown that the short-term accuracy (<60 seconds) of the AHRS used within the INLS has been improved from low cost sensor quality to the accuracy of a high quality laser inertial navigation system (LNIS). With the presented INLS, a landing at any airfield, not equipped with conventional Instrument Landing System (ILS) or Microwave Landing System (MLS), is possible by using a very cost effective system. The INLS is a high accuracy navigation and landing system designed to be used instead of conventional landing systems at small airfields and to fill operational gaps of conventional navigation and landing systems in cruise and approach on large airports     

舰载飞机着舰精确轨迹跟踪控制研究

根据着舰运动及Ｈ∞控制方法概念对用Ｈ∞控制方法设计舰载飞机自动着舰导引系统进行了研究;并按着舰导引系统的性能要求,确定了Ｈ∞控制综合模型的结构,给出了权阵的选取准则。以ＡＤ－４飞机为例进行了仿真验证,仿真结果表明,所设计的自动着舰导引系统能满足着舰要求,并有效地提高了导引系统着舰轨迹跟踪精度及抗气流扰动的能力。     

某型登陆舰的舰面流场仿真与分析

舰载直升机是登陆舰实现"垂直登陆"的主要武器,研究舰面流场特性对直升机安全性能与操纵性都有重要意义。建立了某型登陆舰的三维模型,以风向角为30°,风速为15m/s的流场为例,通过数值仿真得到了飞行甲板上方的气流分布,经分析机库陡壁效应引起的下冲气流分量在机库后方形成了涡流区,在直升机的起降过程中应避免通过该涡流区,以保障直升机的安全起降、平稳飞行。     

地效飞行器双断阶机腹着水砰击过载分析

地效飞行器着水过程中，断阶着水产生的冲击易导致结构表面屈曲或破坏。基于ALE 有限元法，通过罚函数法处理两相界面流固耦合问题，对地效飞行器着水过程进行数值模拟，分析不同前飞速度、下沉速度、俯仰角等参数变化对浸水深度、砰击过载等的影响。结果表明：在研究工况下，机体着水产生的压力峰值均出现在断阶处；随着俯仰角增加水平过载峰值减小，垂向过载峰值先增大后减小，俯仰角为7°时垂向过载峰值最大，是最低过载峰值（俯仰角为15°时）的1.4 倍；前飞速度增加致使水平过载峰值增大，而对垂向过载峰值影响不明显，但垂向过载峰值与垂向速度的平方近似呈线性关系，下沉速度越大，砰击过载峰值越大。     

舰载飞机纵向逃逸性能仿真研究

建立了舰载飞机的逃逸动力学分析模型，对飞机在不同着舰条件下的逃逸性能和起落架载荷进行了数值仿真。结果表明，着舰速度越大、发动机推力加速性越好，对飞机的逃逸越有利；舰艇运动会使飞机着舰点偏离理想着舰点并增大起落架载荷；舰尾流对逃逸性能的影响不大，但会使飞机着舰点偏离理想着舰点，不利于飞机的着舰安全。     

直升机起落架抗坠毁性能的有限元仿真评估

 建立了直升机起落架抗坠毁有限元模型,模拟硬着陆和坠毁过程,以考察起落架在坠毁事故发生时的吸能能力。有限元建模使用真实的几何模型,用一个虚拟的框架代替机身把起落架连接起来,全机质量折算为减缩质量并分布到该框上。缓冲器用弹簧—阻尼器单元替代,其参数由性能曲线给出。使用非线性瞬态动力学的显式解法求解冲击问题。对两种情况进行了仿真:分别以6.0m/ s 和10.2m/ s 的垂直速度撞击地面。坠毁实验表明仿真结果与实验结果具有较好的一致性。     

着水初始条件对水陆两栖飞机着水性能的影响

针对着水初始条件对水陆两栖飞机静水面降落性能影响的问题,使用非定常雷诺平均Navier-Stokes方程和标准k-ω两方程模型求解非定常流场,耦合流体体积模型捕捉自由液面,结合改进的流场域网格划分策略,并借助任意拉格朗日欧拉方法处理机体、网格和水气交界面三者关系。基于上述方法,探讨初始姿态角、下降速度和前飞速度对着水性能的影响,其中驾驶舱与重心位置加速度、气动力与水动力、俯仰角与吃水深度等参数变化被考虑在内,逐步得到最优着水初始条件。结果表明：增大初始姿态角有利于减缓飞机各位置除初次触水过载峰值外过载峰值的变化。当飞机俯仰力矩出现极值时,驾驶舱垂向过载显著大于其他方向和位置过载。减小初始下降速度,各加速度值也随之减小,值得注意的是重心垂向加速度值与初始垂向下降速度平方值存在线性变化关系。着水前飞速度的选取应使得气动升力略大于重力,飞机才能获得更佳的着水性能。     

Microwave Landing System

The National Microwave Landing Systems (MLS) program is a joint DOT/DOD/NASA effort to implement a common civil/military precision landing system to replace the current Instrument Landing System (ILS). The MLS will be capable of providing precision landing guidance down to Category III minimum while allowing for complex approach paths in both the horizontal and vertical planes. The system is based on the Time Reference Scanning Beam (TRSB) technique which was selected by the International Civil Aviation Organization (ICAO) in April 1978 as the new international landing system standard. MLS is less susceptible to interference from the surrounding area and provides a greater signal coverage area than ILS.