The composition and control laws acs
Automatic control of the trajectory in the horizontal plane of the channel bank provides ACS aileron. The channel provides a predetermined yaw ACS directional stability and vibration damping yaw. For the withdrawal of the aircraft and the subsequent retention of desired path trajectory path ACS generates a signal given by one roll of the following laws
;
(3)
;
(4)
;
(5)
.
(6)
The composition of ACS include: aerobatic part, including the roll angle sensors and angular velocity of the roll, the calculator, the servo; Trajectory computer circuit that generates the signals given bank, for example, the laws of (3) ... (6);
separate
information
systems,
generates
signals
and
.
The dynamic properties of the system, "acs - the plane" in trajectory control in the horizontal plane
The
dynamic
properties
of the system
we
consider for
ACS
with
Jos,
which
manages
the
laws
(3)
and
(4).
Here
we assume
that
at each moment
of
time
ACS
provides
equality
.
This
reduction
is related to
the
fact that the
adjustment
time
for
roll
control
about
an order
less
than the time
of
regulation
for
trajectory
control.
The
equations
of
the control system
are
as follows:
;
;
;
or
.
Input control loop is the mismatch , and weekends - to change the current coordinate . Block diagrams of the control loop, the corresponding control law (3) and (4) are shown in Figure 7 and 8.
Structural patterns correspond to the following transfer function
(7)
.
(8)
The
transfer function
(7)
describes
the
dynamic properties
of
the "ACS
- LA"
in
the implementation
of
the law
in
ACS
(3),
and the transfer
function (8)
-
the law
(4).
Analysis
of
transfer functions
leads
to the following
conclusions:
the
assumptions made
in
the
denominator
of
the transfer function
is
of the second
order,
ie,
dynamic
properties of the
circuit
element
describes
the
second order;
dynamic
properties of the
circuit
parameters
are
determined primarily by
ACS
and
do not depend
on
the properties of
the
aircraft.
Choice
of
the
control law
can
ensure
the
required quality of
the
transition process.
In
this
vibration
damping
trajectory
provided
the
best
gear
ratios
or
,
a
resistance
movement
-
a
choice
;
vibration damping using the law (3) depends on the speed of flight. To ensure the high quality of the transition process when the speed must be changed and the transmission coefficient.
The work of acs in continuous-path mode in the horizontal plane
Consider
the dynamics of
the
aircraft
on
display
line
the
path.
Let
the
ACS
realized
Jos,
and the specified list
is
formed
according
to (6.4).
The
aircraft
is
flying
to
your course,
ie
,
and
zero
roll.
At
the initial time
in
ACS
received
a signal
to
transfer
the
aircraft
to
another line
path,
located to
the left of
the
same.
With
a control
signal
,
a
signal
proportional
to the
deviation.
ACS
rejects
the
ailerons
and
the airplane
will
roll
on the
left
wing.
The
flight
path
will
fulfill
a
given
signal
roll
.
In
this case,
return
the
ailerons
to
neutral.
When
heeled
appears
horizontal
component
of
lift,
which
will
slip
into
wings.
The
horizontal component
of
lift
will
bend
the
trajectory of
the
aircraft,
ie, rotate
the
velocity vector
to
the left.
In
addition,
sustained
in
the traveling
on
the
aircraft
will
yaw
moment,
which will expand
the
longitudinal axis of
the
aircraft
after
the
velocity
vector.
At
a turn
on
the course
in
the law (6.4)
component
appears
,
which
seeks to reduce
the
specified
bank.
Reduction and increase will decrease the set value of the angle of heel. At some point, these signals will be equal, given list will be equal to zero, while the maximum deviation of the exchange rate. Later ACS translates the plane to the right bank. The trajectory is bent in the other direction, the plane turns to the right, returning to a course. The result is a smooth transition to the desired trajectory plane with a given rate and zero roll. The aircraft is displayed on a new set point of the track without static error. This is evident from the expressions of the transfer functions:
,
ie
.