JPH01145295A - Auto-pilot device - Google Patents

Abstract

PURPOSE: To attain optimum control corresponding to flying conditions with simple constitution by detecting the altitude and speed of an airframe to perform gain control with an approximate function such as a quadratic-equilateral hyperbola function in an autopilot in guidance and control of a flying body. CONSTITUTION: With initial altitude input 13 and initial speed input 14, optimum function generators 11a-11h are selected by dynamic pressure band switches 12a-12d. A steering angle command is computed in relation to an input acceleration command 1 by amplifiers 2, 3, 5 and an integrator 4, and steering force output driving is performed by a steering servo device 6. The angular velocity and acceleration of an airframe are measured by a rate gyro 8 and an accelerometer 9 and fed back. The altitude and speed of the airframe are detected and computed by an inertia reference device 10, and the function generator selected on the basis of this output is gain-controlled with an approximate function such as a quadratic-equilateral hyperbola function. Optimum control corresponding to flying conditions can therefore be obtained with simple constitution.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an autopilot device for guiding and controlling a flying object.

[Conventional technology]

FIG. 2 shows a conventional autopilot device.

In the figure, 111 is an acceleration command input, (2) is an amplifier, (5a) to (3d) are amplifiers that switch gains depending on the altitude band, (4) is an integrator that integrates this output, and 151 is its output. (6) is a steering servo device that obtains the rudder angle in response to the rudder angle command; (7) is the response of the aircraft to the rudder angle; (81 is a rate gyro that detects the turning angular velocity of the aircraft; , (9) is an accelerometer that detects the acceleration of the aircraft.

Next, the operation will be explained.

Acceleration command +11 is amplified by amplifier (21) and is switched by amplifiers (3a) to (3) depending on the altitude band.
d). The output is then integrated by an integrator (4) and amplified by an amplifier (5) to become a steering angle command. In response to the steering angle command, the steering servo device (6) outputs a steering angle. (7) is the part that represents the transfer function of the aircraft to the rudder angle, and the turning angular velocity obtained thereby,
The acceleration is detected by a rate gyro (8) and an accelerometer (91), and the angular velocity is fed back before and after the integrator, and the acceleration is fed back after the amplifier (2).

[Problem that the invention seeks to solve]

Conventional autopilot devices are: 121. (4), (
The gain of the amplifier 51 was constant, and the gains (3a) to (3d) in front of the integrator (4) were changed depending on the altitude. Therefore, depending on the altitude before flying, (3a)
If any one of ~(3d) is set, the gain cannot be changed after 9 launches, and if the flight conditions change, the response of the 9 aircraft will change. Therefore, a gain-scheduled autopilot was studied, but according to this theory, the control gain is a function of the aerodynamic differential coefficient, which is a function of speed and altitude, and the calculation is performed by a processor. However, from the point of view of real-time processing, the processing capacity of the processor is limited, so it is necessary to reduce the load on the processor as much as possible. Furthermore, the control gain determined as a result of gain schedule calculation must always satisfy conditions for stabilizing the aircraft. For this purpose, it is necessary to perform gain schedule calculation optimally. This invention was made to solve the above problems, and is highly advanced.

The purpose is to optimally and easily perform gain scheduling based on speed.

[Means for solving problems]

The autopilot device according to the present invention detects the altitude and speed of the aircraft, and generates a control gain approximated by a simple (quadratic/rectangular hyperbolic) function using a function generator optimally selected by a dynamic pressure band switcher. It was designed to be obtained.

[For production]

In this invention, the initial altitude and initial velocity that are input when launching a flying object are input to the dynamic pressure band switching device, and the control gain is adjusted to the stability conditions of the aircraft using the optimal function generator selected by the dynamic pressure band switching device. Since it is always satisfied during flight and can be obtained as a simple function of speed and altitude, easy and optimal gain schedules are possible.

〔Example〕

Hereinafter, diagrams of embodiments of the present invention will be described.

In Fig. 1, 111 is an input acceleration command, +2
1°+31.141.151 is the gain (2) of the conventional autopilot.

(3a) to (3d), +41. This corresponds to t5+.

+61. +71 is the same as the conventional autopilot.

(8) is a rate gyro that measures the angular velocity of the aircraft, (9
: is an accelerometer that measures the acceleration of the aircraft, na is an inertial reference device that measures the altitude and speed of the aircraft, (++a
) to (+th) are function generators that generate altitude and speed functions, (12a) to (+2d) are dynamic pressure band switchers that select the optimal function generator by inputting initial altitude and initial speed. , σ3 is the initial altitude input, and α4 is the initial speed input.

Next, the operation will be explained.

In this autopilot device, first, by inputting the initial altitude at a3 and inputting the initial speed at (141), (12a) to (
+2d) The optimum function generator is selected from among (11a) to (11h) using the dynamic pressure band switcher. and.

As in conventional operation, the input acceleration command 111 becomes a steering angle command by passing through an amplifier and an integrator +21.131.141.151. At this time, the gain of the amplifier and integrator 121, 131.141.151 is (11a
) to (11h) are given as simple functions of speed and altitude by a function generator selected from among the following. (5)
The steering angle command, which is the output of the steering servo device (6), is output as a steering angle by the steering servo device (6). (7) is the transfer function of the aircraft, and the angular velocity and acceleration of the aircraft are measured by a 181°191 rate gyro and an accelerometer. In addition, the speed and position of one aircraft are calculated using the inertial reference device No., and the output is input to the function generator selected by the dynamic pressure band switcher among the function generators (11a) to (tth). .

Control gains approximated by simple functions of altitude and speed 121.131. (4) and (5) are obtained. Further, the turning angular velocity measured in (8) is fed back to the integrator (4) and the acceleration is fed back after the gain (2).

〔Effect of the invention〕

As described above, according to the present invention, the control gain, which is a simple function of aircraft speed and altitude, can be obtained using an optimal function generator while always satisfying the conditions for stabilizing one aircraft during flight. Therefore, the gain-scheduled autopilot device can be easily configured, and the accuracy is improved compared to the conventional autopilot device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a gain schedule type autopilot system according to an embodiment of the present invention. FIG. 2 is a block diagram of a conventional autopilot system that switches the gain according to the altitude band. In the figure, 11; is an input acceleration command, (2),
+31°151 is an amplifier, (41 is an integrator, (6
) is the steering servo device, (7) is the transfer function indicating the response of the aircraft, (8) is the rate gyro, (9) is the accelerometer, α1
is an inertial reference device. aυ is a function generator, α2 is a dynamic pressure band switch, +1
31 is the initial altitude input, and α is the initial speed input. In addition, in FIG. 1, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] a first amplifier for amplifying the acceleration command; a second amplifier for amplifying the difference between the output of this first amplifier and the output of the accelerometer; and an integral for integrating the difference between the output of this second amplifier and the output of the rate gyro. a third amplifier that amplifies the difference between the output of the integrator and the output of the rate gyro; a steering servo device that outputs a steering angle signal from the output of the third amplifier; a rate gyro that measures the turning angular velocity of the aircraft; An accelerometer that measures the acceleration of the aircraft, an inertial reference device that measures the speed and altitude of the aircraft, a dynamic pressure band switch that changes the switch based on the input of the aircraft's initial altitude and initial speed, and the dynamic pressure band switch that selects the An autopilot device comprising a function generator for obtaining gains of a first amplifier, a second amplifier, a third amplifier, and an integrator from the speed and altitude of the aircraft measured by an inertial reference device.