Aircraft control system, aircraft, aircraft control method, and program
An aircraft control system includes a target instruction value calculation unit configured to acquire a target instruction value to set an aircraft in a target state, a reference velocity calculation unit configured to input, to a reference model in which a reference velocity corresponding to a reference value of an aircraft velocity is set uniquely as an output value according to an input value, a value based on the target instruction value as the input value. A relative velocity calculation unit is configured to calculate a relative velocity of the aircraft to a target position. An estimated disturbance quantity calculation unit is configured to calculate an estimated disturbance quantity acting on the aircraft, based on a difference between the relative and reference velocities, and a correction target instruction value calculation unit is configured to correct the target instruction value, based on the estimated disturbance quantity calculated at a previous time.
1. An aircraft control system comprising:
a target instruction value calculation unit configured to acquire a target instruction value to set an aircraft in a target state;
a reference velocity calculation unit configured to input, to a reference model in which a reference velocity corresponding to a reference value of an aircraft velocity is set uniquely as an output value in accordance with an input value, a value based on the target instruction value as the input value, to calculate the reference velocity;
a relative velocity calculation unit configured to calculate a relative velocity of the aircraft to a target position, the relative velocity being for control of the aircraft;
an estimated disturbance quantity calculation unit configured to calculate an estimated disturbance quantity acting on the aircraft, based on a difference between the relative velocity and the reference velocity;
a correction target instruction value calculation unit configured to correct the target instruction value based on the estimated disturbance quantity calculated at a previous time; and
a flight control unit configured to perform flight control of the aircraft according to a correction target instruction value that is the corrected target instruction value.
2. The aircraft control system according to claim 1 , wherein the relative velocity calculation unit is configured to calculate the relative velocity based on a relative position of the aircraft to the target position.
3. The aircraft control system according to claim 1 , wherein the reference model includes an element of a time delay of a change of the output value relative to a change of the input value.
4. The aircraft control system according to claim 1 , wherein the estimated disturbance quantity calculation unit is configured to convert the relative velocity into the aircraft velocity and calculate the estimated disturbance quantity based on a difference between the converted velocity and the reference velocity.
5. The aircraft control system according to claim 4 , further comprising a correction command calculation unit configured to convert the estimated disturbance quantity into the same parameter as the target instruction value to calculate a correction command,
wherein the correction target instruction value calculation unit is configured to correct the target instruction value with the correction command.
6. The aircraft control system according to claim 1 , wherein the target instruction value is a target value for an attitude of the aircraft.
7. The aircraft control system according to claim 6 , wherein the reference model includes: (i) a first reference model that takes the value based on the target instruction value as the input value and in which a reference value of the attitude of the aircraft is set uniquely; and (ii) a second reference model that takes the reference value of the attitude of the aircraft set in the first reference model as the input value and in which the reference velocity of the aircraft is set uniquely.
8. An aircraft comprising the aircraft control system according to claim 1 .
9. An aircraft control method comprising:
acquiring a target instruction value to set an aircraft in a target state;
inputting, to a reference model in which a reference velocity corresponding to a reference value of an aircraft velocity is set uniquely as an output value in accordance with an input value, a value based on the target instruction value as the input value, to calculate the reference velocity;
calculating a relative velocity of the aircraft to a target position, the relative velocity being used in control of the aircraft;
calculating an estimated disturbance quantity acting on the aircraft, based on a difference between the relative velocity and the reference velocity;
correcting the target instruction value, based on the estimated disturbance quantity calculated at a previous time; and
performing flight control of the aircraft according to a correction target instruction value that is the corrected target instruction value.
10. A non-transitory computer-readable storage medium storing a program causing a computer to execute:
acquiring a target instruction value to set an aircraft in a target state;
inputting, to a reference model in which a reference velocity corresponding to a reference value of an aircraft velocity is set uniquely as an output value in accordance with an input value, a value based on the target instruction value as the input value, to calculate the reference velocity;
calculating a relative velocity of the aircraft to a target position, the relative velocity being used in control of the aircraft;
calculating an estimated disturbance quantity acting on the aircraft, based on a difference between the relative velocity and the reference velocity;
correcting the target instruction value, based on the estimated disturbance quantity calculated at a previous time; and
performing flight control of the aircraft according to a correction target instruction value that is the corrected target instruction value.