1、_ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising there
2、from, is the sole responsibility of the user.” SAE reviews each technical report at least every five years at which time it may be revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments and suggestions. Copyright 2012 SAE International All rights reserved. No part of this p
3、ublication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: +1 724-776-497
4、0 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/ARP94910 AEROSPACE RECOMMENDED PRACTICE ARP94910 Issued 2012-12 Aerospace - Vehic
5、le Management Systems - Flight Control Design, Installation and Test of, Military Unmanned Aircraft, Specification Guide For RATIONALE This document is published for the following reasons: a. Address the need for standards and guide documents for Unmanned Aircraft onboard systems. b. Provide recomme
6、nded practices for the specification of the flight control related functions of military Unmanned Aircraft Vehicle Management Systems. c. Recommend a method for the specification of the appropriate level of flight control capability for an Unmanned Aircraft. d. Address the integration of the flight
7、control functions with all other elements of the vehicle. TABLE OF CONTENTS 1. SCOPE 4 1.1 Vehicle Management Systems . 4 1.2 Document Coverage . 4 1.3 Document Exclusions . 4 1.4 Related Document 4 1.5 Best Practices and Procuring Activity Approval 5 2. REFERENCES 5 2.1 Applicable Documents 5 2.1.1
8、 SAE Publications . 5 2.1.2 ASME Publications 6 2.1.3 ASTM Publications 6 2.1.4 FAA Publications . 6 2.1.5 IEEE Publications 6 2.1.6 International Standards Organization (ISO) Publications . 6 2.1.7 ICAO Publications . 6 2.1.8 National Aerospace Standards (NAS) Publications 6 2.1.9 RTCA Publications
9、 7 2.1.10 U.S. Government Publications 7 2.2 Abbreviations, Acronyms, Symbols and Their Definitions 10 2.3 Definitions . 12 2.3.1 UA Design and Operational Categorization Schemes 12 2.3.2 Flight Control Functional Classifications . 19 2.3.3 VMS Operational State Classifications . 20 2.3.4 VMS Critic
10、ality Classifications . 21 2.3.5 VMS Component Structural Classifications 21 SAE ARP94910 Page 2 of 113 2.3.6 Document Definitions 21 2.3.7 Definitions of Terminology for Precision Ship Board Landing 21 2.3.8 Safety and Operability Terminology Definitions 22 2.3.9 Definitions of Modal and Other Auxi
11、liaries 22 3. RECOMMENDATIONS . 23 3.1 General System Recommendations . 23 3.1.1 Safety and Operability Considerations . 23 3.1.2 Reliability Considerations 28 3.1.3 Redundancy Considerations . 29 3.1.4 Maintainability Considerations 31 3.1.5 Survivability Requirements . 32 3.1.6 Electromagnetic Int
12、erference (EMI) Limits 35 3.2 System Performance Recommended Requirements . 35 3.2.1 General VMS Flight Control Performance Recommendations . 35 3.2.2 Primary Flight Control Recommended Requirements 42 3.2.3 Secondary Flight Controls . 43 3.2.4 Ground Control Modes 44 3.2.5 Manual, Assisted and Auto
13、nomous Control Mode Performance Recommended Requirements 46 3.3 System Testability Recommendations 60 3.3.1 System Test and Monitoring Provisions . 60 3.3.2 Built-In-Test Equipment 60 3.3.3 Maintenance BIT . 61 3.3.4 Preflight or Pre-engage BIT 61 3.3.5 Preflight BIT Status Annunciation Support for
14、CS 61 3.3.6 Portable Test Equipment 61 3.3.7 Ground Power Requirements for System Test . 61 3.3.8 Protection Against Dormant Failures 61 3.4 System Design Recommended Requirements . 62 3.4.1 System General Design Recommended Requirements . 62 3.4.2 Mechanical VMS Design . 62 3.4.3 Fixed Wing V/STOL
15、Aircraft Requirements 63 3.4.4 Rotorcraft Requirements . 63 3.4.5 Electrical VMS Design 64 3.4.6 Computational Methods and Software 66 3.5 Subsystem Design Recommendations . 69 3.5.1 Subsystem General Design Recommended Requirements . 69 3.5.2 Electrical Power Subsystems 69 3.5.3 Hydraulic Power Sub
16、systems . 70 3.5.4 Pneumatic Power Subsystems . 70 3.5.5 Actuation Subsystems 70 3.5.6 Display and Annunciation . 84 3.5.7 Sensors . 84 3.6 Component Design and Fabrication Recommendations 85 3.6.1 General Component Recommended Requirements 85 3.6.2 Mechanical Components 86 3.6.3 Electrical and Elec
17、tronic Components 87 3.6.4 Assembly Design 90 3.6.5 Component Installation . 92 3.6.6 Component Fabrication . 93 4. VERIFICATION AND VALIDATION 94 4.1 General Recommendations 94 4.1.1 Methods for Demonstration of Compliance 94 4.2 Analysis Recommendations 95 4.2.1 Simulations 96 4.2.2 Reliability an
18、d Failure Mode, Effects and Criticality Analysis . 96 4.2.3 Vulnerability Analysis 96 SAE ARP94910 Page 3 of 113 4.2.4 Maintainability Analysis . 96 4.2.5 System Safety Analysis. 96 4.2.6 Operation in Turbulence Analysis . 97 4.2.7 Stability Analysis . 97 4.2.8 Nuclear Survivability Analysis . 97 4.
19、3 Software and Firmware Verification 97 4.4 Test Recommendations 98 4.4.1 General Test Recommended Requirements 98 4.4.2 Laboratory Tests . 99 4.4.3 Aircraft Ground Tests 100 4.4.4 Aircraft Flight Tests . 101 4.5 Qualification (Preproduction) Tests 101 4.5.1 Reliability Development Tests . 101 4.5.2
20、 Maintainability Demonstration . 101 4.5.3 Human Factors Engineering Verification Tests 101 4.5.4 Production/Acceptance Testing 102 4.6 Documentation 102 4.6.1 VMS Development Plan 102 4.6.2 VMS Specification . 103 4.6.3 Design and Test Data Recommendations 103 4.6.4 Software Documentation . 105 5.
21、NOTES 105 APPENDIX A RECOMMENDATION APPLICABILITY BY VMS TYPE . 106 FIGURE 1 UA SYSTEM FUNCTIONAL ARCHITECTURE 18 FIGURE 2 TYPICAL SYSTEMS INTERFACES WITH VMS FLIGHT CONTROLS . 19 FIGURE 3 SELECTION OF BASELINE VMS TYPE 27 TABLE 1 UNMANNED AIRCRAFT CATEGORIES . 13 TABLE 2 VMS QUANTITATIVE FLIGHT SAF
22、ETY REQUIREMENTS 24 TABLE 3 VMS TYPES 26 TABLE 4 UA OPERATING AREA 27 TABLE 5 SUGGESTED VMS TYPE BASED UPON UA CATEGORY AND OPERATING AREA 27 TABLE 6 REDUNDANCY EXAMPLES 30 TABLE 7 GAIN AND PHASE MARGIN REQUIREMENTS 37 TABLE 8 TURBULENCE INTENSITY EXCEEDANCE PROBABILITY . 39 TABLE 9 ROOT-MEAN-SQUARE
23、 GUST INTENSITIES FOR SELECTED CUMULATIVE EXCEEDANCE PROBABILITIES (FEET PER SECOND TRUE AIRSPEED) . 40 TABLE 10 FAILURE TRANSIENT CASES 42 SAE ARP94910 Page 4 of 113 1. SCOPE This document establishes recommended practices for the specification of general performance, design, test, development, and
24、 quality assurance requirements for the flight control related functions of the Vehicle Management Systems (VMS) of military Unmanned Aircraft (UA), the airborne element of Unmanned Aircraft Systems (UAS), as defined by ASTM F 2395-07. The document is written for military unmanned aircraft intended
25、for use primarily in military operational areas. The document also provides a foundation for considerations applicable to safe flight in all classes of airspace. 1.1 Vehicle Management Systems UA VMS include all components and functions used to sense vehicle position, velocity, speed, inertial attit
26、udes, rates and accelerations, heading and altitude, to generate flight path commands and to control aircraft force and moment producers to satisfy these commands. Guidance and navigation elements and functions of the VMS normally control aircraft altitude, airspeed, heading, attitude, aerodynamic o
27、r geometric configuration, and structural modes, including commands received from a remote operator. 1.2 Document Coverage The document recommends requirements for the general performance, design, test, development and quality assurance measures for the flight control of remotely controlled, augment
28、ed and autonomous UA. At the system performance level the document employs a functional emphasis. It recommends a practice for specifying the levels of flight control capability, particularly fault accommodation after failures, required for UA of differing size, function and operational strategy. It
29、 defines the boundaries of UA flight control to include hardware and functionality not typically considered core flight control elements in a manned aircraft, such as navigation sensors and flight path and engine power command generation. It also guides the specification of the flight control Interf
30、aces with all other systems and subsystems of the vehicle. At the subsystem and component levels the document addresses those aspects of hardware design that impact system performance. Among components included are the inertial sensors, global positioning sensors, air data sensors, test devices, act
31、uators, electrical power sources, hydraulic power sources, and signal transmission lines within the vehicle and dedicated to flight control. 1.3 Document Exclusions Because of the wide range of UA size and capability UA VMS hardware design architectures differ widely. At the system level the documen
32、t avoids any hardware emphasis and does not recommend particular hardware design approaches. The document provides guidance for the specification of elements of the UA vehicle only and not the other elements of the UAS such as the Control Station (CS). For example, it addresses the integration with
33、the up-link and down-link of the command loop but not the specification of these links. Also excluded are aerodynamic surfaces, engines and engine control systems, rotorcraft rotors and fire control devices. The requirements for UAS operation in non-segregated airspace include factors such as See an
34、d Avoid and other functions, beyond those considered for manned military aircraft. These requirements are still evolving and are beyond the scope of this document. 1.4 Related Document This Aerospace Recommended Practice (ARP) is closely related to the Aerospace Standard AS94900, for the flight cont
35、rol systems of manned aircraft and follows a similar format. SAE ARP94910 Page 5 of 113 1.5 Best Practices and Procuring Activity Approval This ARP is intended as a guide to standard practice and is subject to change to keep pace with experience and technical advances. Most of the technical concepts
36、 and approaches covered by the document represent industry “best practice“. They are based on sound and proven engineering practices and have demonstrated successful production experience. Others require specific approval from the procuring activity before use. This recommendation for approval is no
37、t intended to inhibit their use; but rather to ensure that the prime contractor has fully investigated their capability to perform reliably and to be sufficiently durable under the required conditions and that the prime contractor can present substantiating evidence for approval before the design is
38、 committed to. 2. REFERENCES 2.1 Applicable Documents The following publications form a part of this document to the extent specified herein. The latest issue of SAE publications shall apply. The applicable issue of other publications shall be the issue in effect on the date of the purchase order. I
39、n the event of conflict between the text of this document and references cited herein, the text of this document takes precedence. Nothing in this document, however, supersedes applicable laws and regulations unless a specific exemption has been obtained. 2.1.1 SAE Publications Available from SAE In
40、ternational, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or 724-776-4970 (outside USA), www.sae.org. ARP490 Electrohydraulic Servovalves ARP988 Electrohydraulic Mechanical Feedback Servoactuators AIR1083 Airborne Hydraulic and Control System Survivabi
41、lity for Military Aircraft ARP1281 Actuators: Aircraft Flight Controls, Power Operated, Hydraulic, General Specification For ARP4058 Actuators: Mechanical, Geared Rotary, General Specification For ARP4386 Terminology and Definitions for Aerospace Fluid Power, Actuation and Control Technologies ARP44
42、93 Aerospace - Direct Drive Servovalves ARP4761 Guidelines and Methods for Conducting the Safety Assessment Process on Civil Airborne Systems and Equipment AS5440 Hydraulic Systems, Military Aircraft, Design and Installation, Requirements For AS7997 Motor, Aircraft Hydraulic, Constant Displacement,
43、General Specification For AS8775 Hydraulic System Components, Aircraft and Missiles, General Specification For AS15002 Fitting, Lubrication, Hydraulic, Surface Check, Straight Threads, Steel, Type II AS35411 Fittings, Lubrication AS50881 Wiring Aerospace Vehicle AS94900 Aerospace - Flight Control Sy
44、stems - Design, Installation and Test of Piloted Military Aircraft, General Specification For SAE ARP94910 Page 6 of 113 2.1.2 ASME Publications Available from American Society of Mechanical Engineers, 22 Law Drive, P.O. Box 2900, Fairfield, NJ 07007-2900, Tel: 973-882-1170, www.asme.org. 2.1.3 ASTM
45、 Publications Available from ASTM International, 100 Barr Harbor Drive, P.O. Box C700, West Conshohocken, PA 19428-2959, Tel: 610-832-9585, www.astm.org. ASTM F 2395 - 07 Standard Terminology for Unmanned Aircraft Systems ASTM F 2501- 06 Standard Practices for Unmanned Aircraft System Airworthiness
46、2.1.4 FAA Publications Available from Federal Aviation Administration, 800 Independence Avenue, SW, Washington, DC 20591, Tel: 866-835-5322, www.faa.gov. Advisory Circular 120-29 Criteria for Approving Category I and Category II Weather Minima for Approach 2.1.5 IEEE Publications Available from Inst
47、itute of Electrical and Electronics Engineers, 445 Hoes Lane, Piscataway, NJ 08854-1331, Tel: 732-981-0060, www.ieee.org or http:/www.ieee.org/web/publications/home/index.html. IEEE 1394.3-2003 IEEE Standard for a High Performance Serial Bus Peer-to-Peer Data Transport Protocol (PPDT) 2.1.6 ISO Publ
48、ications Available from American National Standards Institute, 25 West 43rd Street, New York, NY 10036-8002, Tel: 212-642-4900, www.ansi.org or http:/webstore.ansi.org/ansidocstore/. ISO/IEC 12207 Systems and software engineering - Software life cycle processes ISO 22072 Aerospace - Electrohydrostat
49、ic actuator (EHA) - Characteristics to be defined in procurement specifications 2.1.7 ICAO Publications Available from the International Civil Aviation Organization, Document Sales Unit, 999 University Street, Montreal, Quebec H3C 5H7 Canada, Tel: +1-514-954-8022, http:/icaodsu.openface.ca/mainpage.ch2. Annex 11 to the Convention on International Civil Aviation, Air Traffic Services 2.1.8 NAS Publications Available from Aerospace Industri
