飞行管理计算机水平导航功能的建模与仿真研究
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摘要
本文针对飞行管理计算机的水平导航功能展开了如下几方面的研究:
首先根据飞行管理计算机水平导航系统的功能确定出了水平导航系统与飞行模拟器其它系统进行通讯的所有输入输出接口。
然后分析水平导航功能的输入输出接口间的内部联系,并将输入输出接口按功能及内部联系进行模块划分,建立了水平导航系统的八个子模块,即导航台数据库管理子模块,FMC速度计算子模块,FMC位置计算子模块,导航台调谐管理子模块,无线电位置计算子模块,高度特性点计算子模块,水平制导子模块,航路管理子模块等。这八个子模块既相互独立又相互联系。
接着分别对八个子模块的功能实现算法进行了深入研究,并给出了具体的实现算法。特别地,针对飞行管理计算机的侧向制导子模块,本文以飞机的动力学和运动学为基础,建立了飞机的侧向偏移数学模型,并结合状态反馈法和重定义输出变量法,确定出了飞机的侧向偏移控制律,完成了控制律收敛性的证明,给出了侧向航迹偏移和侧向航迹误差角的计算方法,最后还结合De Havilland Aircraft of Canada Ltd公司制造的单引擎、高翅、七座的金属飞机模型对飞行管理计算机的侧向制导功能进行了数字仿真。
最后用C++语言,结合动态链接库技术,对飞行管理计算机的水平导航功能进行了总体程序设计,并完成了程序单功能测试和综合功能测试。
Research on lateral navigation of flight management computer is done in this paper.
First, according to the function of flight managent computer, all the input-output ports of lateral navigation system are analysed, through which to communicate with other systems of simulator.
And then the internal relationship between all the input-output ports is researched, and they are divided into eight sub-models, which not only interrelate with each other, but also are independent, according to their functions and their internal relationship. The eight sub-models are database management of station model, FMC speed calculation model, FMC position calculation model, station tune and management model, radio position of aircraft calculation model, altitude property points calculation model, lateral control and guide model, route way management model.
Further more, according to their functions, deep study of the arithmetic for all of the eight sub-models is done and their detailed arithmetics are presented also. Specially, aiming at the problem of aircraft’s lateral control and guide, based on aircraft’kinematics and dynamics equation, aircraft’s lateral excursion mathematic model is built up, and based on state feedback and redefinition output variable its control law is also proposed. Not only the astringency of the control law is finished to be proved and the detailed arithmetic for trajectory error and trajectory angle error is expressed, but a digital simulation is done also, combining a single engine, high- wing, seven seats, metal aircraft which was manufactured by De Havilland Aircraft of Canada Ltd.
Finally, by using language C++ and combining the dynamic linkable library technology, the global lateral navigation system is programmed. And single function test and integrate function test for the lateral navigation program are also done.
首先根据飞行管理计算机水平导航系统的功能确定出了水平导航系统与飞行模拟器其它系统进行通讯的所有输入输出接口。
然后分析水平导航功能的输入输出接口间的内部联系,并将输入输出接口按功能及内部联系进行模块划分,建立了水平导航系统的八个子模块,即导航台数据库管理子模块,FMC速度计算子模块,FMC位置计算子模块,导航台调谐管理子模块,无线电位置计算子模块,高度特性点计算子模块,水平制导子模块,航路管理子模块等。这八个子模块既相互独立又相互联系。
接着分别对八个子模块的功能实现算法进行了深入研究,并给出了具体的实现算法。特别地,针对飞行管理计算机的侧向制导子模块,本文以飞机的动力学和运动学为基础,建立了飞机的侧向偏移数学模型,并结合状态反馈法和重定义输出变量法,确定出了飞机的侧向偏移控制律,完成了控制律收敛性的证明,给出了侧向航迹偏移和侧向航迹误差角的计算方法,最后还结合De Havilland Aircraft of Canada Ltd公司制造的单引擎、高翅、七座的金属飞机模型对飞行管理计算机的侧向制导功能进行了数字仿真。
最后用C++语言,结合动态链接库技术,对飞行管理计算机的水平导航功能进行了总体程序设计,并完成了程序单功能测试和综合功能测试。
Research on lateral navigation of flight management computer is done in this paper.
First, according to the function of flight managent computer, all the input-output ports of lateral navigation system are analysed, through which to communicate with other systems of simulator.
And then the internal relationship between all the input-output ports is researched, and they are divided into eight sub-models, which not only interrelate with each other, but also are independent, according to their functions and their internal relationship. The eight sub-models are database management of station model, FMC speed calculation model, FMC position calculation model, station tune and management model, radio position of aircraft calculation model, altitude property points calculation model, lateral control and guide model, route way management model.
Further more, according to their functions, deep study of the arithmetic for all of the eight sub-models is done and their detailed arithmetics are presented also. Specially, aiming at the problem of aircraft’s lateral control and guide, based on aircraft’kinematics and dynamics equation, aircraft’s lateral excursion mathematic model is built up, and based on state feedback and redefinition output variable its control law is also proposed. Not only the astringency of the control law is finished to be proved and the detailed arithmetic for trajectory error and trajectory angle error is expressed, but a digital simulation is done also, combining a single engine, high- wing, seven seats, metal aircraft which was manufactured by De Havilland Aircraft of Canada Ltd.
Finally, by using language C++ and combining the dynamic linkable library technology, the global lateral navigation system is programmed. And single function test and integrate function test for the lateral navigation program are also done.
引文
1陈建东.全球民用全飞行模拟机现状.民航经济与技术, 1998, 194:51~52
2熊端琴,刘宝善,郭西.现代飞行模拟的进展.人类功效学, 2004, 10(3):69~71
3王知中.浅谈飞行模拟器的发展及作用.航空科学技术, 1994, 2:18~19
4 White, D. (Thales Training and Simulation Ltd.). Flight Simulator Design and Performance Data Requirements Document. AIAA A03-22018
5 Zeyada. Computer-aided Assessment of Flight Simulator Fidelity.AIAA.2003. A03-18423
6 Sunjoo Advani, Ruud Hosman. A Full-Flight Simulator of the 1903 Wright Flyer. AIAA.2003
7杨振鹏,于宝峰,王行仁.空中交通管制仿真环境研究.北京航空航天大学学报, 2002, 28(4):391~394
8王郁琴.飞行仿真技术.飞行仿真技术. 1994, 13(4):43~45
9李本顺. Y7-100飞机飞行模拟器飞行体会.飞行力学. 1994, 12(4):82~87
10张大伟,陈曦,吕晓辉.综合导航系统的仿真.中国系统仿真学会学术年会论文, 2001:388~393
11马颖学,贾居海. MA60飞机飞行模拟机总体工作的剖析.第五届全国仿真器学术会论文集. 2004:40~43
12官颂. B737-300模拟机的功能开发.中国民航学院学报. 2003, 21(s2):214~218
13 CAE Inc. A320 Full Flight Simulator Soft Doduments. Navigation/Flight Instruments. Volume 1, 2002:30~31
14蒲宏斌,任江涛,孙金宏.飞行管理系统技术发展探讨.飞机工程, 2004, (1):51~69
15彭俊毅,贾荣珍.实时仿真飞行管理系统的研究.系统仿真学报, 1997, 9(3):88~92
16 Sam Liden. The Involution of Flight Management System.1994 IEEE:157~169
17钦庆生.飞行管理计算机系统.国防工业出版社, 1991:1~89
18 Boeing 737-300 Maintenance Training System for the Civil AviationInstitute of China. CAE .1998:24~69
19 H. I. Yang, Y. J. Zhao. Trajectory Planning for Autonomous Aerospace Vehicles Amid Known Obstacles and Conflicts. Journal of Guidance, Control, and Dynamics. 2004, 27(6):997~1008
20 J.Vannoy, J.Xiao. Real-Time Adaptive and Trajectory-Optimized Manipulator Motion Planning. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2004:497~502
21 I. T. Pietsch, O.Becker, M. Krefft. Time-optimal Trajectory Planning for Adaptive Control of Plane Parallel Robots. International Conference onControl and Automation, Fourth International Conference on Control and Automation, 2003:639~643
22 CHEN Shi-ru, XU Ding-jie, SUN Yao. Analysis and Comparision of Range-Range Positioning Mode and Hyperbolic Positioning Mode. Journal of Machine Science and Application. 2002, 1(1):60~64
23姜华男,宋东,王波,等. FMS导航与制导及系统数字仿真.电子测量技术, 2007, 30(11):6~9
24陈杰.无人飞行器智能鲁棒飞行控制系统研究.西北工业大学硕士学位论文, 2007:63~64
25吴森堂,费玉华.飞行控制系统.北京航空航天大学出版社, 2005:234~248
26王仲民.移动机器人路径规划及轨迹跟踪问题研究.河北工业大学博士学位论文. 2001:49~77
27 TAN Guan-zheng, WANG Yue-chao. Theoretical and experimentel research on Time-optimal trajectory planning and control of industrial robots. Control Theory & Applications, 2003, 20(2):185~192
28 Philippe Soueres, Andrea Balluchi, Antonio Bicchi. Optimal Feedback Control for Route Trackong with a Bounded-Curvature Vehicle. Proceedings of the 2000 IEEE International Conference on Robotics $ Automation, 2000:2473~2478
29 C. S. Chao. Optimal Control of Ship Maneuvers for Course Change, Sidestep and Collision Avoidance. Houston, Texas. 1999:74~88
30李铁山,杨盐生,郑云峰.不完全驱动船舶航迹控制输入输出线性化设计.系统工程与电子技术, 2004, 26(7):945~948
31周岗,姚琼荟,陈永冰,等.基于输入输出线性化的船舶全局直线航迹控制.控制理论与应用, 2007, 24(1):117~121
32 Kahina Guemghar. On the Use of Input-Output Feedback Linearization Techniques for the Control of Nonminimum-phase Systems. PhD University Paris XI, France
33 T. H. Lee, H. K. Lam. A Fast Path Planning-and-Tracking Control for Wheeled Mobile Robots. Proceeding of the 2001 IEEE International Conference on Robotics&Automation , Seoul, Korea, 2001:21~26
34席庆彪,袁冬莉,闫建国.无人机横侧向飞行控制系统研究.飞行力学, 2004, 22(4):16~18
35申安玉,申学仁,李云保,等.自动飞行控制系统.国防工业出版社, 2003:119~127
36 Marc Rauw. FDC 1.2– A Simulink Toolbox for Flight Dynamics and Control Analysis. 2001
37 Jon M. Schreur Smiths Industries Grands Rapids, Michigan. B737 Flight Management Computer Flight Plan Trajectory Computation and Analysis. Proceedings of the American Control Conference. 1995
38李乐奇.无人机横侧向姿态控制研究.中南大学硕士学位论文, 2006:32~51
39 Charles J Packard. RAH266 Comanche Helicopter Flight Test Simulation Station (FTSS). American Helicopter Society 55th Annual Forum. 1999
40 Frederico R.Garza. A Collection of Nonlinear Aircraft Simulations in Matlab. NASA. TM-2003-212145
41 The Mathsworks. Aerospace Blockset for Simulink. The Mathsworks, 2002
42 The Mathsworks. Real-Time Workshop for Use with Simulink. Mathsworks, 2002
43谭浩强. C程序设计.清华大学出版社. 2002:1~327
44张耀仁. C++程序设计与应用.华中科技大学出版社, 2002
2熊端琴,刘宝善,郭西.现代飞行模拟的进展.人类功效学, 2004, 10(3):69~71
3王知中.浅谈飞行模拟器的发展及作用.航空科学技术, 1994, 2:18~19
4 White, D. (Thales Training and Simulation Ltd.). Flight Simulator Design and Performance Data Requirements Document. AIAA A03-22018
5 Zeyada. Computer-aided Assessment of Flight Simulator Fidelity.AIAA.2003. A03-18423
6 Sunjoo Advani, Ruud Hosman. A Full-Flight Simulator of the 1903 Wright Flyer. AIAA.2003
7杨振鹏,于宝峰,王行仁.空中交通管制仿真环境研究.北京航空航天大学学报, 2002, 28(4):391~394
8王郁琴.飞行仿真技术.飞行仿真技术. 1994, 13(4):43~45
9李本顺. Y7-100飞机飞行模拟器飞行体会.飞行力学. 1994, 12(4):82~87
10张大伟,陈曦,吕晓辉.综合导航系统的仿真.中国系统仿真学会学术年会论文, 2001:388~393
11马颖学,贾居海. MA60飞机飞行模拟机总体工作的剖析.第五届全国仿真器学术会论文集. 2004:40~43
12官颂. B737-300模拟机的功能开发.中国民航学院学报. 2003, 21(s2):214~218
13 CAE Inc. A320 Full Flight Simulator Soft Doduments. Navigation/Flight Instruments. Volume 1, 2002:30~31
14蒲宏斌,任江涛,孙金宏.飞行管理系统技术发展探讨.飞机工程, 2004, (1):51~69
15彭俊毅,贾荣珍.实时仿真飞行管理系统的研究.系统仿真学报, 1997, 9(3):88~92
16 Sam Liden. The Involution of Flight Management System.1994 IEEE:157~169
17钦庆生.飞行管理计算机系统.国防工业出版社, 1991:1~89
18 Boeing 737-300 Maintenance Training System for the Civil AviationInstitute of China. CAE .1998:24~69
19 H. I. Yang, Y. J. Zhao. Trajectory Planning for Autonomous Aerospace Vehicles Amid Known Obstacles and Conflicts. Journal of Guidance, Control, and Dynamics. 2004, 27(6):997~1008
20 J.Vannoy, J.Xiao. Real-Time Adaptive and Trajectory-Optimized Manipulator Motion Planning. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2004:497~502
21 I. T. Pietsch, O.Becker, M. Krefft. Time-optimal Trajectory Planning for Adaptive Control of Plane Parallel Robots. International Conference onControl and Automation, Fourth International Conference on Control and Automation, 2003:639~643
22 CHEN Shi-ru, XU Ding-jie, SUN Yao. Analysis and Comparision of Range-Range Positioning Mode and Hyperbolic Positioning Mode. Journal of Machine Science and Application. 2002, 1(1):60~64
23姜华男,宋东,王波,等. FMS导航与制导及系统数字仿真.电子测量技术, 2007, 30(11):6~9
24陈杰.无人飞行器智能鲁棒飞行控制系统研究.西北工业大学硕士学位论文, 2007:63~64
25吴森堂,费玉华.飞行控制系统.北京航空航天大学出版社, 2005:234~248
26王仲民.移动机器人路径规划及轨迹跟踪问题研究.河北工业大学博士学位论文. 2001:49~77
27 TAN Guan-zheng, WANG Yue-chao. Theoretical and experimentel research on Time-optimal trajectory planning and control of industrial robots. Control Theory & Applications, 2003, 20(2):185~192
28 Philippe Soueres, Andrea Balluchi, Antonio Bicchi. Optimal Feedback Control for Route Trackong with a Bounded-Curvature Vehicle. Proceedings of the 2000 IEEE International Conference on Robotics $ Automation, 2000:2473~2478
29 C. S. Chao. Optimal Control of Ship Maneuvers for Course Change, Sidestep and Collision Avoidance. Houston, Texas. 1999:74~88
30李铁山,杨盐生,郑云峰.不完全驱动船舶航迹控制输入输出线性化设计.系统工程与电子技术, 2004, 26(7):945~948
31周岗,姚琼荟,陈永冰,等.基于输入输出线性化的船舶全局直线航迹控制.控制理论与应用, 2007, 24(1):117~121
32 Kahina Guemghar. On the Use of Input-Output Feedback Linearization Techniques for the Control of Nonminimum-phase Systems. PhD University Paris XI, France
33 T. H. Lee, H. K. Lam. A Fast Path Planning-and-Tracking Control for Wheeled Mobile Robots. Proceeding of the 2001 IEEE International Conference on Robotics&Automation , Seoul, Korea, 2001:21~26
34席庆彪,袁冬莉,闫建国.无人机横侧向飞行控制系统研究.飞行力学, 2004, 22(4):16~18
35申安玉,申学仁,李云保,等.自动飞行控制系统.国防工业出版社, 2003:119~127
36 Marc Rauw. FDC 1.2– A Simulink Toolbox for Flight Dynamics and Control Analysis. 2001
37 Jon M. Schreur Smiths Industries Grands Rapids, Michigan. B737 Flight Management Computer Flight Plan Trajectory Computation and Analysis. Proceedings of the American Control Conference. 1995
38李乐奇.无人机横侧向姿态控制研究.中南大学硕士学位论文, 2006:32~51
39 Charles J Packard. RAH266 Comanche Helicopter Flight Test Simulation Station (FTSS). American Helicopter Society 55th Annual Forum. 1999
40 Frederico R.Garza. A Collection of Nonlinear Aircraft Simulations in Matlab. NASA. TM-2003-212145
41 The Mathsworks. Aerospace Blockset for Simulink. The Mathsworks, 2002
42 The Mathsworks. Real-Time Workshop for Use with Simulink. Mathsworks, 2002
43谭浩强. C程序设计.清华大学出版社. 2002:1~327
44张耀仁. C++程序设计与应用.华中科技大学出版社, 2002