基于PID的陆区航路纵向碰撞风险控制

doi:10.16265/j.cnki.issn1003-3033.2023.09.1126

摘要/Abstract

摘要：

为提高陆区航路运行的安全性,减少间隔冲突隐患,仿真研究陆区航路纵向碰撞风险,首先,基于位置误差理论建立陆区航路的纵向碰撞风险数学模型,综合考虑飞行员干预时间,使用安全目标水平反推,确定航空器运行安全区域的前后边界;然后,使用Matlab软件的System Identification工具箱拟合辨识快速存取记录器(QAR)数据,得到反映发动机推力手柄角度和速度变化对应关系的传递函数,依此设计比例、积分与微分(PID)控制系统,将航空器纵向间隔控制在安全区域内;最后,使用Simulink搭建控制系统进行仿真,以验证控制系统功能。结果表明:在给定航路流量(50架/ h)条件下,该控制系统能够实时计算2机纵向安全间隔范围(3 326~16 674 m),并在产生间隔冲突时于70 s内将前后机间隔调整至标称值。PID控制系统能够将碰撞风险始终维持在安全目标水平之上,提高航空器运行的安全性。

关键词: 比例、积分与微分(PID)控制, 陆区航路, 纵向间隔, 碰撞风险, 定位误差

Abstract:

In order to improve the safety of land route operation and reduce the hidden danger of interval conflict, the longitudinal collision risk of land route was simulated. Firstly, based on the position error theory, the mathematical model of the longitudinal collision risk of land route was established. Considering the comprehensive influence of human factors, the front and back boundaries of the safe area for aircraft operation were determined by the target safety level. Then, using the System Identification toolbox of Matlab to fit and identify the quick access recorder (QAR) data, the transfer function that reflects the corresponding relationship between the angle of the thrust handle and the speed of the aircraft was obtained. Based on this, a PID control system to control the longitudinal spacing of the aircraft in a safe area was designed. Finally, Simulink was used to verify the function of the control system. The results show that under the given air route flow (50 aircrafts/h), the control system can calculate the longitudinal safety interval between two aircrafts (3 326-16 674 m) in real time, and adjust the interval between the front and rear aircrafts to the standard value within 70 seconds when there is an interval conflict. PID control system can always keep the collision risk above the target safety level, which improves the safety of aircraft operation.

Key words: proportional integral derivative(PID) control, land route, longitudinal interval, collision risk, positioning error

卢飞, 陈昊南. 基于PID的陆区航路纵向碰撞风险控制[J]. 中国安全科学学报, 2023, 33(9): 86-93.

LU Fei, CHEN Haonan. Longitudinal collision risk control in land route based on PID[J]. China Safety Science Journal, 2023, 33(9): 86-93.

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表1

仿真参数

纵向速度误差均值	纵向速度误差标准差	纵向定位误差均值
0.021 9	0.893	3.246
纵向定位误差标准差	纵向规章间隔/km	航路流量/ (架·h^-1)
390.2	10	50
前机巡航速度/kn	飞行员干预时间/s	机身长度 $λ x$ /m
400	12.6	44.1

表1

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