阅读说明：本技术 一种民用客机的飞行高度层改变控制装置及其控制方法 (Device and method for controlling change of flying height layer of civil airliner ) 是由 田明明 吴云燕 黄天鹏 王跃平 于 2021-09-01 设计创作，主要内容包括：本发明实施例公开了一种民用客机的飞行高度层改变控制装置及其控制方法,包括：基于能量管理的发动机油门控制器,将高度指令和速度指令转换为期望能量,并实时高度和速度转换为实时能量,通过发动机油门改变实时能量；基于最小垂速保护的俯仰控制器,飞机在爬升过程出现低头趋势,或者,飞机在下降过程出现抬头趋势时,退出控制飞机空速、切换为控制飞机垂速,等待飞机加速或减速到当前空速与指令空速的差值小于预设阈值时,退出控制飞机垂速、切换为控制飞机空速。本发明实施例解决了传统民用客机的高度改变控制方式,可能导致飞行过程飞机状态不稳定,或者可能导致飞机为了加速而低头以及为了减速而抬头的现象等问题。(The embodiment of the invention discloses a device and a method for controlling the change of a flying height layer of a civil airliner, wherein the device comprises the following components: the engine throttle controller based on energy management converts the height instruction and the speed instruction into expected energy, converts the height and the speed into real-time energy in real time, and changes the real-time energy through an engine throttle; based on the pitching controller protected by the minimum vertical speed, when the aircraft has a head-lowering trend in a climbing process or when the aircraft has a head-raising trend in a descending process, the aircraft quits from controlling the aircraft airspeed and is switched to controlling the aircraft vertical speed, and when the aircraft accelerates or decelerates to the time that the difference value between the current airspeed and the command airspeed is smaller than a preset threshold value, the aircraft quits from controlling the aircraft vertical speed and is switched to controlling the aircraft airspeed. The embodiment of the invention solves the problems that the state of the airplane is unstable in the flying process or the phenomena of head lowering for accelerating and head raising for decelerating of the airplane and the like caused by the height change control mode of the traditional civil passenger plane.)

1. A device for controlling the change of the flight level of a civil aircraft, comprising: an engine throttle controller based on energy management and a pitch controller based on minimum vertical speed protection;

the engine throttle controller based on energy management is used for converting the altitude instruction and the speed instruction into expected energy and converting the real-time altitude and speed of the airplane into real-time energy, so that the real-time energy is changed by controlling the engine throttle to enable the real-time energy to be the same as the expected energy;

the pitching controller based on the minimum vertical speed protection is used for quitting controlling the aircraft airspeed and switching to controlling the aircraft vertical speed when the aircraft has a head-lowering trend in a climbing process or a head-raising trend in a descending process, and quitting controlling the aircraft vertical speed and switching to controlling the aircraft airspeed when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value.

2. The device for controlling the change of the flying height level of a passenger aircraft according to claim 1, wherein the engine throttle controller based on energy management comprises:

the energy calculation unit is used for converting the altitude instruction and the speed instruction into expected energy and converting the real-time altitude and speed of the airplane into real-time energy;

and the energy control unit is used for carrying out proportional processing and integral processing on the energy difference value of the real-time energy and the expected energy to obtain an output value of the engine throttle.

3. The flying-height level changing control device for a passenger aircraft according to claim 2,

the energy calculation unit is further used for converting the altitude instruction and the speed instruction into an expected energy change rate and converting the real-time altitude and speed of the airplane into a real-time energy change rate;

the way of the energy control unit obtaining the output of the engine throttle is as follows:

and carrying out proportional processing and integral processing on the energy difference value of the real-time energy and the expected energy to obtain a proportional-integral channel value, carrying out gain amplification on the change rate difference value of the expected energy change rate and the real-time energy change rate to obtain a damping channel value, and summing the proportional-integral channel value and the damping channel value to obtain an output value of the engine throttle.

4. The flying height level changing control apparatus for a passenger aircraft according to claim 3, wherein the expected energy, the real-time energy, the expected energy change rate, and the real-time energy change rate calculated by the energy calculation unit are respectively:

wherein H_spTo a desired height, V_spDesired speed, H aircraft altitude, V aircraft speed;

the output value of the engine throttle obtained by the energy control unit is as follows:

wherein, T_spTo expect throttle output, E_spTo the desired energy value, E is the actual aircraft energy value, dE_spTo the desired energy rate of change, dE is the actual energy rate of change;andto control the gain.

5. The device for controlling the change of the flying height level of a passenger aircraft according to any one of claims 1 to 4, wherein the pitch controller based on the minimum vertical speed protection comprises:

the airspeed control unit is used for generating an airspeed command;

the vertical speed control unit is used for generating a vertical speed instruction;

and the minimum vertical speed protection unit is used for selectively outputting an airspeed command or a vertical speed command by the airplane.

6. The flying height level changing control apparatus for a civil aircraft as claimed in claim 5, wherein the minimum vertical speed protection unit selectively outputs either an airspeed command or a vertical speed command, comprising:

when the aircraft has a head-lowering trend in the climbing process or a head-raising trend in the descending process, the output is switched from the airspeed instruction to the vertical speed instruction, and when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value, the output is switched from the vertical speed instruction to the airspeed instruction.

7. The flying height level changing control device of a civil aircraft as claimed in claim 6, wherein an airspeed integrator is provided in the airspeed control unit;

when the airspeed control unit is switched off, the airspeed integrator is set to zero, and when the airspeed control unit is switched on, the airspeed integrator is initialized and assigned as follows:

wherein the content of the first and second substances,is the space velocityAnd (5) outputting a pitching angle instruction at the moment when the integrator is switched on.

8. The flying height level changing control device of a civil aircraft as claimed in claim 6, wherein a vertical speed integrator is provided in the vertical speed control unit;

when the vertical speed control unit is switched off, the vertical speed integrator is set to zero, and when the vertical speed control unit is switched on, the vertical speed integrator is initialized and assigned as follows:

wherein the content of the first and second substances,and outputting a command of the pitching angle of the upward beat at the moment when the airspeed integrator is switched on.

9. A method for controlling the change of the flying height level of a passenger aircraft, characterized in that the method is carried out using the flying height level change control device of a passenger aircraft according to any one of claims 1 to 8, and the method comprises:

step 1, executing an engine throttle control strategy based on energy management, comprising the following steps: converting the altitude command and the speed command into expected energy, and converting the real-time altitude and speed of the airplane into real-time energy, so that the real-time energy is changed by controlling an engine throttle to be the same as the expected energy;

step 2, executing a pitching control strategy based on minimum vertical speed protection, comprising the following steps: when the aircraft has a head-lowering trend in the climbing process or the aircraft has a head-raising trend in the descending process, the aircraft quits from controlling the airspeed and is switched to controlling the vertical speed of the aircraft, and when the aircraft accelerates or decelerates to the point that the difference value between the current airspeed and the command airspeed is smaller than a preset threshold value, the aircraft quits from controlling the vertical speed of the aircraft and is switched to controlling the airspeed of the aircraft.

Technical Field

The invention relates to the technical field of automatic flight control, in particular to a flight height layer change control device and a control method thereof for a civil passenger plane.

Background

The change of flying height layer is an automatic piloting mode for civil passenger plane, and features that the engine maintains a fixed rotation speed or thrust and the flying speed of airplane is controlled by lifting rudder. This mode of flight may also be referred to as maximum performance climb or descent, and the climb or descent state that the aircraft can maintain is a representation of the remaining energy of the engine in addition to maintaining speed.

The traditional control mode for changing the height layer is as follows: the engine may directly give a maximum climb throttle or idle speed to maintain the maximum or minimum energy state of the aircraft to achieve maximum climb or descent speed, but this simple energy management approach may cause the following problems:

on one hand, under the condition of small altitude difference, the rotating speed or the thrust of the engine is directly maximum or minimum, which may cause the aircraft to reach the preset altitude when the stable climbing or descending state is not established, at this time, the engine needs to be switched to a altitude keeping mode, the engine starts to enter a closed-loop control speed, but at this time, the engine is difficult to quickly recover to a proper output state due to the fact that the throttle of the engine is positioned on the left and right boundaries, and the aircraft state is unstable in the flying process; on the other hand, simply controlling the speed through the control surface may cause the aircraft to lower the head for acceleration or raise the head for deceleration because the engine throttle is not properly engaged.

Disclosure of Invention

The purpose of the invention is as follows: the embodiment of the invention provides a flight altitude layer change control device and a control method thereof for a civil passenger plane, which aim to solve the problems that the state of the plane is unstable in the flight process and the plane is likely to be lowered for acceleration or raised for deceleration due to the fact that the engine directly gives a maximum climbing accelerator or an idle speed in the altitude change control mode of the traditional civil passenger plane.

The technical scheme of the invention is as follows:

the embodiment of the invention provides a flight height layer change control device of a civil passenger plane, which comprises: an engine throttle controller based on energy management and a pitch controller based on minimum vertical speed protection;

the engine throttle controller based on energy management is used for converting the altitude instruction and the speed instruction into expected energy and converting the real-time altitude and speed of the airplane into real-time energy, so that the real-time energy is changed by controlling the engine throttle to enable the real-time energy to be the same as the expected energy;

the pitching controller based on the minimum vertical speed protection is used for quitting controlling the aircraft airspeed and switching to controlling the aircraft vertical speed when the aircraft has a head-lowering trend in a climbing process or a head-raising trend in a descending process, and quitting controlling the aircraft vertical speed and switching to controlling the aircraft airspeed when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value.

Optionally, in the apparatus for controlling a change of a flight level of a passenger aircraft as described above, the engine throttle controller based on energy management includes:

the energy calculation unit is used for converting the altitude instruction and the speed instruction into expected energy and converting the real-time altitude and speed of the airplane into real-time energy;

and the energy control unit is used for carrying out proportional processing and integral processing on the energy difference value of the real-time energy and the expected energy to obtain an output value of the engine throttle.

Alternatively, in the flight level change control device for a passenger aircraft of the civil type as described above,

the energy calculation unit is further used for converting the altitude instruction and the speed instruction into an expected energy change rate and converting the real-time altitude and speed of the airplane into a real-time energy change rate;

the way of the energy control unit obtaining the output of the engine throttle is as follows:

and carrying out proportional processing and integral processing on the energy difference value of the real-time energy and the expected energy to obtain a proportional-integral channel value, carrying out gain amplification on the change rate difference value of the expected energy change rate and the real-time energy change rate to obtain a damping channel value, and summing the proportional-integral channel value and the damping channel value to obtain an output value of the engine throttle.

Alternatively, in the apparatus for controlling a change in a flight level of a passenger aircraft as described above, the expected energy, the real-time energy, the expected energy change rate, and the real-time energy change rate calculated by the energy calculation unit are respectively:

wherein H_spTo a desired height, V_spDesired speed, H aircraft altitude, V aircraft speed;

the output value of the engine throttle obtained by the energy control unit is as follows:

wherein, T_spTo expect throttle output, E_spTo the desired energy value, E is the actual aircraft energy value, dE_spTo the desired energy rate of change, dE is the actual energy rate of change;andto control the gain.

Optionally, in the apparatus for controlling a change in a flight level of a passenger aircraft as described above, the pitch controller based on minimum vertical speed protection includes:

the airspeed control unit is used for generating an airspeed command;

the vertical speed control unit is used for generating a vertical speed instruction;

and the minimum vertical speed protection unit is used for selectively outputting an airspeed command or a vertical speed command by the airplane.

Alternatively, in the apparatus for controlling a change in a flying height layer of a passenger aircraft as described above, the minimum vertical speed protection unit selectively outputs an airspeed command or a vertical speed command, including:

when the aircraft has a head-lowering trend in the climbing process or a head-raising trend in the descending process, the output is switched from the airspeed instruction to the vertical speed instruction, and when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value, the output is switched from the vertical speed instruction to the airspeed instruction.

Optionally, in the flying height layer changing control device of the civil aircraft as described above, an airspeed integrator is disposed in the airspeed control unit;

when the airspeed control unit is switched off, the airspeed integrator is set to zero, and when the airspeed control unit is switched on, the airspeed integrator is initialized and assigned as follows:

wherein the content of the first and second substances,and outputting a command of the pitching angle of the upward beat at the moment when the airspeed integrator is switched on.

Optionally, in the flying height layer changing control device of the civil aircraft as described above, a vertical speed integrator is provided in the vertical speed control unit;

when the vertical speed control unit is switched off, the vertical speed integrator is set to zero, and when the vertical speed control unit is switched on, the vertical speed integrator is initialized and assigned as follows:

wherein the content of the first and second substances,and outputting a command of the pitching angle of the upward beat at the moment when the airspeed integrator is switched on.

The embodiment of the present invention further provides a method for controlling a change of a flying height level of a passenger aircraft, where the method for controlling a change of a flying height level of a passenger aircraft is implemented by using a device for controlling a change of a flying height level of a passenger aircraft according to any one of the above descriptions, and the method includes:

step 1, executing an engine throttle control strategy based on energy management, comprising the following steps: converting the altitude command and the speed command into expected energy, and converting the real-time altitude and speed of the airplane into real-time energy, so that the real-time energy is changed by controlling an engine throttle to be the same as the expected energy;

step 2, executing a pitching control strategy based on minimum vertical speed protection, comprising the following steps: when the aircraft has a head-lowering trend in the climbing process or the aircraft has a head-raising trend in the descending process, the aircraft quits from controlling the airspeed and is switched to controlling the vertical speed of the aircraft, and when the aircraft accelerates or decelerates to the point that the difference value between the current airspeed and the command airspeed is smaller than a preset threshold value, the aircraft quits from controlling the vertical speed of the aircraft and is switched to controlling the airspeed of the aircraft.

The invention has the advantages that: the embodiment of the invention provides a device and a method for controlling the change of a flying height layer of a civil passenger plane, aiming at the problem that in a traditional controller for the changing mode of the flying height layer of the civil passenger plane, the speed control and the height control are separated and are respectively controlled through two different channels, and the traditional control mode has the defects that the energy management of an engine is simple, and the maximum or minimum accelerator is generally set by an open loop; in addition, unexpected response problem can occur, which causes the situation that the aircraft lowers the head for acceleration or raises the head for deceleration, thereby reducing the control effect of the aircraft, influencing the flight safety and the like. In the implementation scheme of the change control of the flight altitude layer of the civil passenger plane based on the energy management and the minimum vertical speed protection, an engine throttle controller based on the energy management and a pitching controller based on the minimum vertical speed protection are arranged, so that on one hand, the control of the engine throttle based on the energy management is realized, the comparison between the current energy and the finally expected energy is carried out, a reasonable closed-loop engine throttle output is provided, and the phenomenon of unstable flight process caused by energy mismatching is eliminated; on the other hand, the control of the speed of the airplane is switched to control a lower descending vertical speed through the minimum vertical speed protection logic, the rest energy is used for reducing the speed, and when the energy is enough after the airplane is reduced, the vertical speed control is quitted and the speed of the airplane is controlled. By adopting the technical scheme of the embodiment of the invention, the two problems in the height change control mode of the traditional civil passenger plane are solved.

Description of the drawings:

FIG. 1 is a schematic diagram of a conventional civil aircraft flight level change control method;

fig. 2 is a schematic structural diagram of a flying height level change control device of a civil passenger aircraft according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of an engine throttle controller based on energy management in a flying height layer changing control device of a civil aircraft provided by an embodiment of the invention;

fig. 4 is a schematic structural diagram of a pitch controller package based on minimum vertical speed protection in a flying height layer change control device of a civil passenger plane provided by an embodiment of the invention;

fig. 5 is a schematic diagram of the minimum vertical speed protection logic of the pitch controller based on minimum vertical speed protection according to the embodiment of the present invention shown in fig. 4.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

As described in the above background art, the conventional height change control method for a passenger aircraft has two problems, one is that the aircraft state is unstable during flight, and the other is that the aircraft moves down for acceleration or moves up for deceleration.

Fig. 1 is a schematic diagram of a conventional civil aircraft flying altitude level change control mode, and fig. 1 illustrates an operating principle of a civil aircraft which is only connected with an automatic throttle to perform speed boundary protection. In the traditional control mode, speed control and altitude control are separated and are respectively controlled through two different channels, and the mode has the defects that the energy management of an engine is simple, the maximum throttle or the minimum throttle is given by an open loop generally, in addition, unexpected response problems can occur, the airplane heads down for acceleration or heads up for deceleration are caused, the control effect of the airplane is reduced, and the flight safety is influenced. In order to solve the above problems, an embodiment of the present invention provides a device for controlling a change of a flying height level of a passenger plane, where the device for controlling a change of a flying height level of a passenger plane is based on energy management and minimum vertical speed protection, and a corresponding control method, and can improve stability and controllability in a process of changing a flying height level of a passenger plane.

The following specific embodiments of the present invention may be combined, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic structural diagram of a flying height level change control device of a civil passenger aircraft according to an embodiment of the present invention. The invention provides a device for controlling the change of a flying height layer of a civil passenger plane, which comprises the following functional devices: an engine throttle controller based on energy management and a pitch controller based on minimum vertical speed protection.

In the structure of the flying height layer changing control device shown in fig. 2, the engine throttle controller based on energy management in the embodiment of the invention is used for converting the height command and the speed command into the expected energy and converting the real-time height and speed of the airplane into the real-time energy, so that the real-time energy is changed by controlling the engine throttle to be the same as the expected energy.

The pitching controller based on the minimum vertical speed protection in the embodiment of the invention is used for quitting controlling the aircraft airspeed and switching to controlling the aircraft vertical speed when the aircraft has a head-lowering trend in a climbing process or a head-raising trend in a descending process, and quitting controlling the aircraft vertical speed and switching to controlling the aircraft airspeed when the aircraft accelerates or decelerates until the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value.

In the embodiment of the invention, the control mode of the pitching controller based on the minimum vertical speed protection aims at: the airplane is prevented from lowering head for acceleration or raising head for deceleration. Specifically, when the aircraft is in a climbing state, if the aircraft has a head-lowering trend caused by the fact that the accelerator is not matched in place, the speed of the aircraft is controlled to be switched to a lower climbing vertical speed, the rest energy is accelerated, and when the aircraft is accelerated to be enough in energy, the aircraft is quitted from the vertical speed control and the speed of the aircraft is controlled; on the contrary, if the airplane has a head-up trend in the descending process, the speed of the airplane is controlled to be switched to a lower descending vertical speed through the minimum vertical speed protection logic, the rest energy is decelerated, and when the airplane is decelerated to be enough in energy, the vertical speed control is quitted and the airplane speed is controlled.

The embodiment of the invention provides a device for controlling the change of the flying height layer of a civil airplane based on energy management and minimum vertical speed protection, aiming at the problems of unstable flying state and unexpected response caused by simple energy management and single control quantity of the conventional civil airplane flying height layer change mode, and the stability and controllability of the civil airplane in the changing process of the flying height layer are realized through a fine energy management and minimum vertical speed protection mode.

Fig. 3 is a schematic structural diagram of an engine throttle controller based on energy management in a flying height level change control device of a civil passenger plane according to an embodiment of the invention.

As shown in FIG. 3, in one implementation manner of the embodiment of the present invention, a specific implementation manner of an engine throttle controller based on energy management may include:

an energy calculating unit for calculating the height command H_spAnd speed command V_spConversion to desired energy E_spConverting the real-time altitude H and the speed V of the airplane into real-time energy E;

an energy control unit for comparing the real-time energy E with the desired energy E_spAnd performing proportional processing and integral processing on the energy difference value to obtain an output value of the engine throttle.

In another implementation manner of the embodiment of the present invention, as shown in fig. 3, the energy calculating unit in the embodiment of the present invention is further configured to instruct the height H_spAnd speed command V_spTo a desired rate of energy change dE_spAnd converting the aircraft real-time altitude H and speed V into a real-time energy change rate dE.

In this implementation, the energy control unit obtains the output of the engine throttle by:

for real-time energy E and expected energy E_spThe energy difference value is subjected to proportional processing and integral processing to obtain a proportional-integral channel value, and the expected energy change rate dE is obtained_spAnd the change rate difference value of the real-time energy change rate dE is subjected to gain amplification to obtain a damping channel value, and the proportional integral channel value and the damping channel value are summed to be used as an output value of the engine throttle.

In a specific implementation of the embodiment of the present invention, the expected energy, the real-time energy, the expected energy change rate, and the real-time energy change rate calculated by the energy calculation unit are calculated in the following manners:

correspondingly, the output value of the engine throttle obtained by the energy control unit in the embodiment of the invention is as follows:

in the above formula, T_spTo expect throttle output, E_spTo the desired energy value, E is the actual aircraft energy value, dE_spTo the desired energy rate of change, dE is the actual energy rate of change;andto control the gain.

Fig. 4 is a schematic structural diagram of a pitch controller package based on minimum vertical speed protection in a flying height layer change control device of a civil passenger plane provided by an embodiment of the invention.

As shown in fig. 4, in an implementation manner of the embodiment of the present invention, a specific implementation manner of the pitch controller based on minimum vertical speed protection may include:

the airspeed control unit is used for generating an airspeed command;

the vertical speed control unit is used for generating a vertical speed instruction;

and the minimum vertical speed protection unit is used for selectively outputting an airspeed command or a vertical speed command by the airplane.

In this embodiment of the present invention, a specific implementation manner of the minimum vertical speed protection unit selectively outputting the airspeed command or the vertical speed command may include:

when the aircraft has a head-lowering trend in the climbing process or a head-raising trend in the descending process, the output is switched from the airspeed instruction to the vertical speed instruction, and when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value, the output is switched from the vertical speed instruction to the airspeed instruction.

In one implementation manner of the embodiment of the invention, an airspeed integrator is arranged in the airspeed control unit;

when airspeed control unit switches off, the airspeed integrator is set to zero, and when airspeed control unit switches on, the airspeed integrator is initialized to the assignment is:

wherein the content of the first and second substances,and outputting a command of the pitching angle of the upward beat at the moment when the airspeed integrator is switched on.

In another implementation manner of the embodiment of the present invention, a vertical speed integrator is disposed in the vertical speed control unit;

when the vertical control unit is switched off, the vertical integrator is set to zero, and when the vertical control unit is switched on, the vertical integrator is initialized and assigned as follows:

wherein the content of the first and second substances,and outputting a command of the pitching angle of the upward beat at the moment when the airspeed integrator is switched on.

Based on the apparatus for controlling a change of a flying height level of a passenger aircraft according to the above-mentioned embodiments of the present invention, an embodiment of the present invention further provides a method for controlling a change of a flying height level of a passenger aircraft, where the method for controlling a change of a flying height level of a passenger aircraft according to any of the above-mentioned embodiments of the present invention can be implemented by using the apparatus for controlling a change of a flying height level of a passenger aircraft according to any of the above-mentioned embodiments of the present invention, and the method for controlling a change of a flying height level can include:

step 1, executing an engine throttle control strategy based on energy management, comprising the following steps: converting the altitude command and the speed command into expected energy, and converting the real-time altitude and speed of the airplane into real-time energy, so that the real-time energy is changed by controlling an engine throttle to be the same as the expected energy; this step 1 may be performed by an engine throttle controller based on energy management in the control device.

Step 2, executing a pitching control strategy based on minimum vertical speed protection, comprising the following steps: when the aircraft has a head-lowering trend in the climbing process or the aircraft has a head-raising trend in the descending process, quitting controlling the aircraft airspeed and switching to controlling the aircraft vertical speed, and when the aircraft accelerates or decelerates to the state that the difference value between the current airspeed and the instruction airspeed is smaller than a preset threshold value, quitting controlling the aircraft vertical speed and switching to controlling the aircraft airspeed; this step 2 may be performed by the pitch controller of the control device based on minimum vertical speed protection.

It should be noted that the execution sequence of step 1 and step 2 is not limited in the embodiment of the present invention, and step 1 and step 2 may be executed in parallel, that is, engine throttle and pitch angle are controlled simultaneously to realize the change control of the flight level.

In the embodiment of the present invention, a specific implementation manner of executing the engine throttle control strategy based on energy management by the engine throttle controller based on energy management, and a specific implementation manner of executing the pitch control strategy based on minimum vertical speed protection by the pitch controller based on minimum vertical speed protection have been described in detail in the above embodiments, and therefore, no further description is given here.

The device and the method for controlling the change of the flying height level of the civil airliner provided by the embodiments of the invention separate speed control and height control in the conventional controller for the flying height level change mode of the civil airliner, and respectively control the speed control and the height control through two different channels, and the conventional control mode has the defects that the energy management of an engine is simple, and the maximum or minimum accelerator is generally set by an open loop; in addition, unexpected response problem can occur, which causes the situation that the aircraft lowers the head for acceleration or raises the head for deceleration, thereby reducing the control effect of the aircraft, influencing the flight safety and the like. In the implementation scheme of the change control of the flight altitude layer of the civil passenger plane based on the energy management and the minimum vertical speed protection, an engine throttle controller based on the energy management and a pitching controller based on the minimum vertical speed protection are arranged, so that on one hand, the control of the engine throttle based on the energy management is realized, the comparison between the current energy and the finally expected energy is carried out, a reasonable closed-loop engine throttle output is provided, and the phenomenon of unstable flight process caused by energy mismatching is eliminated; on the other hand, the control of the speed of the airplane is switched to control a lower descending vertical speed through the minimum vertical speed protection logic, the rest energy is used for reducing the speed, and when the energy is enough after the airplane is reduced, the vertical speed control is quitted and the speed of the airplane is controlled. By adopting the technical scheme of the embodiment of the invention, the two problems in the height change control mode of the traditional civil passenger plane are solved.

The following describes in detail embodiments of a device for controlling a change in the flying height level of a passenger aircraft according to embodiments of the present invention with reference to some specific embodiments.

The specific embodiment aims at the defects that in the mode of controlling the flying height layer change mode of the traditional civil passenger plane, the speed control and the height control are separated and are respectively controlled through two different channels, the energy management of an engine is simple, the unexpected response occurs and the like. This particular embodiment provides a flight level change control device for civil aircraft based on energy management and minimum vertical speed protection. The system is divided into two parts, namely an engine throttle controller based on energy management and a pitching controller based on minimum vertical speed protection. Referring to fig. 2 to 4, the embodiment of the present invention is implemented as follows:

(1) a first part: engine throttle controller based on energy management:

neglecting the heat energy dissipation brought by the friction force, the total energy of the airplane is the sum of the kinetic energy and the potential energy:

derivation of time yields the total energy consumption rate:

from the above formula, one can obtain:

for small trajectory angles γ, there are:

from the aircraft's equations of dynamics, the following relationship can be derived:

t and D are thrust and resistance. In horizontal flight, the initial thrust and drag are balanced, and the result of the thrust change is:

it can be seen that Δ T is equal toProportional, the throttle desired value should therefore be used as the total energy control.

Based on the above principle, the embodiment of the invention provides a specific structure of the engine throttle controller based on energy management as shown in fig. 3, and the general idea is to change the mode that the original traditional controller only controls a single state variable into the mode that the total energy of the airplane is controlled, and the airplane is considered to be changed into the mode that the airplane is changed into the mode that the energy is changed. Therefore, when the aircraft gives an altitude and speed instruction, the engine throttle controller based on energy management can compare the current energy with the finally expected energy to give a reasonable and closed-loop engine throttle output, and the traditional controller directly gives the throttle to the maximum or minimum to eliminate the unstable phenomenon of the flight process caused by energy mismatching.

The throttle output in the engine throttle controller based on energy management is calculated according to the following formula:

wherein, T_spTo expect throttle output, E_spTo the desired energy value, E is the actual aircraft energy value, dE_spTo the desired energy rate of change, dE is the actual energy rate of change;andto control the gain. The remaining variables are calculated as follows:

wherein, H_spTo a desired height, V_spDesired speed, H aircraft altitude, V aircraft speed.

(2) A second part: pitch controller based on minimum vertical speed protection:

the traditional flight level change pitch controller controls the speed only through a control surface, so that the situation that the airplane lowers for acceleration or raises for deceleration due to the fact that the engine throttle is not matched in place can be caused. For example, in a low altitude state such as fly-back, when a given speed command is too large, due to a speed increase requiring process, the pitch controller may generate a low-head pitch angle command at the beginning for a period of time, thereby sacrificing altitude and bringing about a great safety hazard. Therefore, a pitch controller based on minimum vertical speed protection is designed.

As shown in fig. 4, a specific structure of a pitch controller based on minimum vertical speed protection is illustrated, and the general idea is as follows: when the controller judges that the airplane is in a climbing state, if the airplane has a head-lowering trend caused by the fact that the accelerator is not matched in place, the speed of the airplane is controlled to be switched to a lower climbing vertical speed through a minimum vertical speed protection logic, the residual energy is accelerated, and when the airplane is accelerated to be enough, the controller quits the vertical speed control and controls the speed of the airplane; on the contrary, if the airplane has a head-up trend in the descending process, the speed of the airplane is controlled to be switched to a lower descending vertical speed through the minimum vertical speed protection logic, the rest energy is decelerated, and when the airplane is decelerated to be enough in energy, the vertical speed control is quitted and the airplane speed is controlled.

The pitch controller based on minimum vertical speed protection comprises two sets of control law structures, a speed control branch and a vertical speed control branch, and two independent pitch angle instructions V theta are generated_spAnd VS θ_spA, the generation mode is as follows:

andin order to control the gain of the speed control branch,andthe control gain of the branch is controlled for the vertical velocity.

As shown in fig. 5, a schematic diagram of a minimum vertical speed protection logic of a pitch controller based on minimum vertical speed protection according to the embodiment shown in fig. 4 of the present invention is shown, where the minimum vertical speed protection logic is: when the autopilot enters a flight altitude layer change mode, firstly, the altitude difference judgment is carried out, if the altitude difference is larger than delta H feet, the airplane is meant to climb, and if the altitude difference is smaller than-delta H feet, the airplane is meant to descend, and the situation that the initial altitude difference absolute value is smaller than delta H feet is not considered, because the situation can not be connected with the flight altitude layer change mode.

When the situation that the airplane needs to climb is judged, in order to protect the situation that the airplane is low because the accelerator is not matched with the airplane, the protective vertical speed is set to be a small positive vertical speed, the speed control branch integrator is switched on, the integrator of the vertical speed control branch is switched off, and the controller outputs a pitch angle instruction of the speed control branch, namely theta_sp＝Vθ_sp(ii) a If a pitching angle instruction VS theta generated by a vertical speed control branch circuit appears in the flying process_spGreater than the pitch angle command V θ generated by the speed control branch_spThen, the integrator of the speed control branch is switched off, the integrator of the vertical speed control branch is switched on, the integrator of the vertical speed control branch is initialized, and the controller outputs a pitch angle instruction of the vertical speed control branch, namely theta_sp＝VSθ_sp(ii) a If the pitching angle command VS theta generated by the horizontal speed control branch is continuously satisfied along with the increase of the airplane energy_spA pitch angle command V theta smaller than that generated by the speed control branch_spSwitching off the integrator of the speed control branch, switching on the integrator of the speed control branch, initializing the integrator of the speed control branch, and outputting a pitch angle instruction of the speed control branch, namely theta_sp＝Vθ_sp。

When the situation that the airplane is about to descend is judged, in order to protect the situation that the airplane heads up due to the fact that the accelerator is not matched in place, the protection vertical speed is set to be a small negative vertical speed, the speed control branch integrator is switched on, the integrator of the vertical speed control branch is switched off, and the controller outputs a pitch angle instruction of the speed control branch, namely theta_sp＝Vθ_sp(ii) a If a pitching angle instruction VS theta generated by a vertical speed control branch circuit appears in the flying process_spA pitch angle command V theta smaller than that generated by the speed control branch_spThen, the integrator of the speed control branch is switched off, the integrator of the vertical speed control branch is switched on, the integrator of the vertical speed control branch is initialized, and the controller outputs a pitch angle indicator of the vertical speed control branchLet, i.e. theta_sp＝VSθ_sp(ii) a If the pitch angle command VS theta generated by the horizontal speed control branch is continuously satisfied along with the reduction of the energy of the airplane_spGreater than the pitch angle command V θ generated by the speed control branch_spSwitching off the integrator of the speed control branch, switching on the integrator of the speed control branch, initializing the integrator of the speed control branch, and outputting a pitch angle instruction of the speed control branch, namely theta_sp＝Vθ_sp。

The initialization method of the integrator of the vertical speed control branch circuit is to initialize the vertical speed integrator at the moment when the vertical speed integrator is switched onAssigning a value according to:

wherein the content of the first and second substances,and outputting a pitching angle instruction at the moment when the integrator is switched on.

The initialization method of the integrator of the speed control branch circuit is to initialize the speed integrator at the moment when the speed integrator is switched onAssigning a value according to:

wherein the content of the first and second substances,and outputting a pitching angle instruction at the moment when the integrator is switched on.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.