CN106828860A - The remote control system and its control method of a kind of stratospheric airship - Google Patents
The remote control system and its control method of a kind of stratospheric airship Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/24—Arrangement of propulsion plant
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to the remote control system and its control method of a kind of stratospheric airship, the control system is divided into four levels：Decision-making level, the selection and switching of offline mode are remotely controlled according to actual working state data, send corresponding mode instruction；Planning layer, the mode instruction Dynamic Programming sent according to decision-making level, generation dirigible motor driving instruction；Execution level, the motor driving instruction according to planning layer realizes the drive control to dirigible motor；Sensing layer, completes monitor in real time and the data acquisition of dirigible working condition, and the initial data of dirigible working condition is provided for decision-making level.Four levels control system architecture design of the invention simplifies control device, improves control efficiency, fundamentally solves function, efficiency and the integrity problem of near space aerostatics ground and aircraft mounted control system.
Description
Technical field
The present invention relates near space aerostatics control field, and in particular to a kind of stratospheric airship remote control system and
Its control method.
Background technology
Stratospheric airship provides lift by its buoyancy, can the skyborne advantage of extended stationary periods become and serve as advection
The optimal selection of layer information platform carrier.Occur a variety of control method researchs on stratospheric airship both at home and abroad at present, and
And achieve some applications of result.
Most of stratospheric airship propulsion systems are relied on using the combination for promoting mainly motor plus vector posture adjustment motor at present
Promoting mainly motor drives dirigible to advance, and completes the task such as speed adjustment and wind resistance flight, by vector posture adjustment motor adjustment dirigible
Attitude and course.Its advantage one is that dirigible still has controllability high and high maneuverability at low speeds；Two is that dirigible can be fast
Speed changes navigation direction, realizes quick posture adjustment；Three is to decouple the speed control of dirigible and gesture stability, simplify control process.
The kinetic characteristic and control effect of stratospheric airship are directly affected due to the design level of vector propulsion system, thus people grind
Many different stratospheric airship control methods are studied carefully.
Because stratospheric airship flight environment of vehicle is complicated, energy requirement is big, energy resource supply deficiency or system office easily occurs
The problem of portion's failure, along with the nonlinear system for itself being exactly close coupling so that whole control problem becomes extremely complex
With difficulty.Conventional dirigible method for remotely controlling, more using single centerized fusion mode, i.e., is completed to dirigible by main control platform
The centralized Control of all propulsion electric machines and vector motor, control passage is single.This control mode makes the work of main control computer
Make task very heavy, it is less efficient, and once a certain motor breaks down, and can directly influence the smooth and effect of overall control
Really, System Error-tolerance Property is poor.It is traditional with the variation of complication and the user's request of stratospheric airship self-propelled system
Single centerized fusion method cannot meet the demand of stratospheric airship control system development.
The content of the invention
It is an object of the invention to provide a kind of stratospheric airship remote control system and its control method, it is mainly used in solution
Certainly following technical problem：(1) dirigible remote control system general frame design；(2) design of remote control mode standard；(3) remote control
Combine the design of posture adjustment pattern；(4) design of remote control trouble pattern.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of remote control system of stratospheric airship, the control system is divided into four levels：
Decision-making level, the actual working state data according to stratospheric airship are remotely controlled the selection and switching of offline mode,
Send corresponding mode instruction, and complete the three-dimensionalreconstruction of airship flight state, the event occurred in recording control system, and
Playback demonstration is carried out to record event；
Planning layer, the mode instruction Dynamic Programming sent according to decision-making level, generation dirigible motor driving instruction, and in coordination
Data communication between lower floor；
Execution level, the motor driving instruction according to planning layer realizes the drive control to dirigible motor；
Sensing layer, completes monitor in real time and the data acquisition of dirigible working condition, after gathered data is carried out into information fusion,
The initial data of dirigible working condition is provided for decision-making level.
Further, the decision-making level includes：
Intelligent decision module, intelligent decision is carried out according to integrated descending monitoring information, realizes dirigible remote control distributor pattern
Selection and switching, generate corresponding mode instruction and be simultaneously sent to planning layer；
Multimedia messages integration module, up command information and descending monitoring information are carried out it is integrated in order, and will be integrated
Information is sent to intelligent decision module, while completing airship flight state three-dimensionalreconstruction according to the descending monitoring information；It is described
Descending monitoring information includes the airship flight status data sent from sensing layer, mobile system operating state data, closes on sky
Between atmospheric environment data；
Record and playback module, the event to occurring in control system are recorded, and complete corresponding playback demonstration machine
System.
Further, the planning layer reads the mode instruction that decision-making level sends, and mode instruction is calculated using numerical solution
Method is resolved, and is generated each propulsion electric machine and is rotated driving instruction and each vector motor angle driving instruction, and by propulsion electric machine
Rotate driving instruction and vector motor angle driving instruction is sent to execution level.
Further, the execution level includes propulsion electric machine driving chip and vector motor drive ic, and vector motor drives
Dynamic chip is connected with 2 road vector motors, and propulsion electric machine driving chip is connected with 6 road propulsion electric machines, propulsion electric machine driving chip with
Vector motor drive ic receives propulsion electric machine driving instruction and vector motor driving instruction from planning layer respectively, according to drive
The rotation of dynamic instruction real-time control propulsion electric machine and vector motor.
Further, the sensing layer is a multi-sensor data collection and processing workstation, including core processor
With multiple sensors, the core processor by down channel by the sensing data after fusion treatment for passing to decision-making
Layer, core processor is nested with sensor drive module, motor speed and angle processing module, Data Fusion of Sensor module,
The multiple sensor includes state of flight sensor, motor operating state sensor, energy resource supply state sensor, closes on sky
Between atmospheric environment sensor, the multiple sensor is connected with sensor drive module, gathered data transmitted to sensor
Whether drive module, motor speed judges electrical fault with angle processing module according to motor operating state data, sensor number
Fusion treatment is carried out to the data for being gathered according to Fusion Module.
Further, the remote control distributor pattern includes：
Mode standard, for normal flight, promote mainly into throttle lever be in single-engine operation pattern, control left and right four promote mainly into
Device is rotated with same rotational speed；Control stick controls afterbody vector motor yaw rate, control stick Throttle Opening Control vector propeller to turn
Speed；
Combination posture adjustment pattern, for wind resistance flight, promotes mainly into throttle lever and is in single-engine operation pattern, and control main thruster is left
Right hair reference rotation speed；Control stick controls vector motor yaw rate and to promote mainly revolution speed of propeller poor；Promote mainly into revolution speed of propeller
Value and control stick controlling value sum, control stick Throttle Opening Control vector revolution speed of propeller on the basis of real output value；
Fault mode, flight when being broken down for propulsion system is promoted mainly into throttle lever and is in double hair mode of operations, left
Right throttle lever controls main propulsion motor or so to send out reference rotation speed respectively；Control stick controls afterbody vector motor yaw rate；Behaviour
Vertical pole Throttle Opening Control vector revolution speed of propeller.
The present invention further includes following technical scheme：
A kind of control method of the remote control system of stratospheric airship as described above, comprises the following steps：
S1, sensing layer carry out monitor in real time and data acquisition to dirigible actual working state, and gathered data is entered into row information
Decision-making level is sent to after fusion；
The data ordered set that S2, decision-making level provide sensing layer carries out intelligent decision after, realizes dirigible remote control distributor mould
The selection of formula and switching, generation mode instruction are sent to planning layer；
S3, planning layer read the mode instruction that sends of decision-making level and go forward side by side Mobile state planning, generate dirigible motor driving instruction,
It is sent to execution level；
S4, execution level work according to the driving instruction motor of planning layer.
Further, the step S1 is specifically included：
Multiple sensors gather Flight Condition Datas, motor operating state data, energy resource supply status data and close on sky
Between atmospheric environment data, and the sensor drive module that the data transfer of collection to core processor is nested with；
The motor speed that core processor is nested with judges motor with angle processing module according to motor operating state data
Whether is failure；
The Data Fusion of Sensor module that core processor is nested with carries out fusion treatment to the data for being gathered, and will place
Data after reason pass to decision-making level by down channel.
Further, the step S2 is specifically included：
Multimedia messages integration module receives the descending monitoring information come from down channel transmission, and received data is carried out
It is integrated in order, and integrated information is sent to intelligent decision module；
Intelligent decision module carries out intelligent decision according to integrated descending monitoring information, realizes dirigible remote control distributor pattern
Selection and switching, generate corresponding mode instruction and are sent to planning layer.
Further, the step S2 is further included：
Multimedia messages integration module completes airship flight state three-dimensionalreconstruction according to the descending monitoring information；
Record and playback module are recorded to the event occurred in control system, and complete corresponding playback demonstration machine
System.
The advantage of the invention is that：(1) compared with traditional stratospheric airship concentrates single-mode to control, the invention provides
Three kinds of dirigible remote control modes：Mode standard, combination posture adjustment pattern and fault mode, according to airship flight state, motor movement
The real-time switching control pattern of state, energy resource supply state, system fault condition so that the flight control of dirigible is not by outside operating mode
Change and the limitation of its own system failure, significantly improve the environmental suitability and itself fault-tolerance of dirigible control, when strengthening long
Control effect.(2) four hierarchical system architecture designs simplify control device, improve control efficiency, fundamentally solve to close on sky
Between the function of aerostatics ground and aircraft mounted control system, efficiency and integrity problem.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as limitation of the present invention.In the accompanying drawings：
Fig. 1 is the integrated stand composition of the remote control system of stratospheric airship of the invention.
Fig. 2 is the propulsion system layout of stratospheric airship of the invention.
Fig. 3 is the design principle figure of remote control mode standard of the invention.
Fig. 4 is the design principle figure that posture adjustment pattern is combined in remote control of the invention.
Fig. 5 is the design principle figure of remote control trouble pattern of the invention.
Wherein：1,2,3,4,5,6- propulsion electric machine, 7,8- vector motors.
Specific embodiment
With reference to embodiment and accompanying drawing, the invention will be further described.
Referring to Fig. 1, the remote control system of stratospheric airship of the invention is divided into four levels：Decision-making level, planning
Layer, execution level and sensing layer.Each level is made up of single CPU and multi -CPU, by the mutually coordinated of four levels with merge,
Realize the near space dirigible control mode switch task of the semi-autonomous high efficient and reliable of closed loop.Decision-making level, according to stratospheric airship
Actual working state data be remotely controlled the selection and switching of offline mode, send corresponding mode instruction, and complete dirigible
The three-dimensionalreconstruction of state of flight, the event occurred in recording control system, and playback demonstration is carried out to record event；Planning
Layer, the mode instruction Dynamic Programming sent according to decision-making level, generation dirigible motor driving instruction, and coordinate the number between levels
According to communication；Execution level, the motor driving instruction according to planning layer realizes the drive control to dirigible motor；Sensing layer, it is complete
Monitor in real time and data acquisition into dirigible working condition, after gathered data is carried out into information fusion, for decision-making level provides dirigible
The initial data of working condition.
Decision-making level of the invention is mainly comprising intelligent decision system, multimedia messages integrated system and record and playback system
System, wherein, the information that intelligent decision system can send according to multimedia messages integrated system carries out intelligent decision, realizes to closing on
Space airship flight control model is selected and switched.During normal flight, offline mode is switched to mode standard, to save energy
Source；During wind resistance flight, offline mode is switched to combination posture adjustment pattern, to obtain optimal movement effect；A propulsion system part
When failure or not enough energy resource supply, fault mode is switched to, realizes fault-tolerant flight.According to real flight conditions, intelligent decision
System generates corresponding mode instruction, and by instruction write-in planning layer dual port RAM.Multimedia messages integrated system can be to upper
Row command information and descending monitoring information carry out it is integrated in order, wherein, uplink information is mainly the transmission of command centre control command,
The order includes conventional speech transmission medium and text and video, and descending monitoring information includes that what is sent and come from sensing layer flies
The Flight Condition Data of ship (obtains position, velocity information, direction is obtained by double antenna and gyroscope by inertial navigation and GPS
With attitude information), (whether propulsion electric machine rotating speed, vector motor angle, electric machine operation state for the operating state data of mobile system
Normally, each energy subsystem voltage, electric current, dump energy and each work it is whether normal, utricule superpressure or under-voltage condition
Deng) and near space atmospheric environment data, all of operating state data is integrated under the system framework, and is sent to intelligence
Decision system, analysis is controlled for it, meanwhile, Three-dimensional Animation Software causes that the flight coordinate of near space dirigible, attitude exist
Presentation in three dimensions, the state of flight of aircraft can be accurately reacted with reference to information such as the landform in live-action map, knot
Closing the equipment such as airborne radar, communication equipment and earth observation device can realize the work(such as distant early warning, reconnaissance and surveillance and communication relay
Energy.Record carries out true accurate recording with playback system to the event occurred in system, while completing corresponding playback demonstration machine
System, to whole commander's record and playback system, is capable of achieving manipulation process playback function, be conducive to commanding further summarize with
Adjustment.The switching of all of control model of near space dirigible is completed with selection by decision-making layer analysis.
Planning layer of the invention is mainly a control task planning station, is responsible for resolving the control mould that decision-making level sends
Formula is instructed, while carrying out Dynamic Programming to the driving of dirigible motor and coordinating the data communication between levels so that whole dirigible
Propulsion system works according to the task scheduling that control model gives.Planning layer is one by STM32 chips and corresponding peripheral hardware
The mission planning work station that interface is constituted, the mode instruction sent according to decision-making level (mode standard, combination posture adjustment pattern, failure
Pattern) dirigible motor is driven carry out Dynamic Programming and coordinate the data communication between levels.Dynamic Programming module passes through
STM32 chips are read to dual port RAM decision-making address space, obtain decision instruction.Meanwhile, calculated by corresponding resolving
Method, is resolved according to decision instruction using numerical solution algorithm, generates each propulsion electric machine rotating speed driving instruction and each vector
Motor angle driving instruction.In propeller task implementation procedure, mission planning work station can carry out dynamic task
Update to ensure that airborne task and pop-up mission are consistent.Additionally, be encapsulated as driving instruction by CAN controller module
After CAN packets, it is put into bus communication layer.Fed back by the two-way coordination of planning layer and decision-making level and coordinated, realize dirigible control
The smooth switching of molding formula.
Order-driven that execution level of the invention is sent according to planning layer it is related promote mainly motor and vector posture adjustment motor turns
It is dynamic.Execution level using STM32 chips as core processor, by vector motor drive ic and 2 road vector motors 7,8 phases
Even, realized to the drive control of 6 road propulsion electric machines 1,2,3,4,5,6 using propulsion electric machine driving chip, realize propulsion electric machine with
Vector motor is electrically isolated completely to.Whole propulsion system layout is as shown in Fig. 2 four propulsion electric machines 1,2,3,4 are distributed two-by-two
In dirigible or so, for driving dirigible to advance, two propulsion electric machines 5,6 are fixed on vector motor 7,8, with vector motor 7,8
Tail after dirigible is together fixed on, for adjusting airship flight direction and attitude.The mission planning work station will by CAN
Propulsion electric machine driving instruction is separately input to corresponding propulsion electric machine driving chip and vector motor with vector motor driving instruction
On driving chip, each motor is driven to complete default propulsion task, the rotation of real-time control vector motor and propulsion electric machine.
Sensing layer of the invention is a sensor data acquisition and processing workstation, is mainly adopted comprising airship flight state
Storage, motor operating state collector, energy resource supply state acquisition device and near space atmospheric environment collector.Sensing layer is adopted
With digital signal processor STM32 as core processor, processor is nested with sensor drive module, motor speed and angle
Processing module, Data Fusion of Sensor module, and be connected with CAN by interface on piece, for data to be passed through into descending letter
Road passes to multimedia messages integrated system, the monitor in real time of state of flight is completed, while being the switching of decision-making level's remote control mode
Initial data is provided.In whole sensing layer, inertial navigation, GPS, three-axis gyroscope, double antenna are used to gather state of flight, including position
Put, speed, acceleration, attitude, angular speed, angular acceleration etc.；Light electric switch and angular displacement sensor are used to detect propulsion electric machine
The angular displacement of rotating speed and vector motor, while whether detecting electrical fault；Energy module related sensor predominantly detects energy confession
To normally whether, and dump energy size.Various kinds of sensors information by the corresponding interface of multi-channel-CAN expansion board and
STM32 Master control chips complete data transfer, on the one hand data message are sampled and encapsulated, then is sent to by wave producer long
The status display system of ground decision-making level, another aspect recalls information blending algorithm produces data needed for intelligent decision system.
By the mutually coordinated of this four levels with merge so that whole ground command and control platform is organic with ship carrying platform
With reference to, the coordinated allocation of control task can be realized, ensure that the integrality of system.
Fig. 3 is the design principle figure of remote control mode standard.Remote control distributor mode standard is preset mode, the advantage of the pattern
Be can energy saving, but its wind loading rating is weak.Therefore it is working properly in propulsion system, and can realize being selected when wind resistance and Heading control
With operating mainly in the environment of normaling cruise.
The scene of mode standard selection：Promote mainly working properly into left and right engine and afterbody vector engine, and fly
Ship can realize the quick adjustment in dirigible course separately through afterbody deflection vector.Now selection standard pattern.
Promoted mainly under remote control distributor mode standard into throttle lever be in single-engine operation pattern, control left and right four main thrusters with
Same rotational speed rotates；Input revolution speed of propeller is defined by left hair oil door rod aperture.It is inclined separately through control stick control afterbody vector
Tarnsition velocity, control stick Throttle Opening Control vector revolution speed of propeller.
Fig. 4 is the design principle figure that posture adjustment pattern is combined in remote control.Remote control distributor combination posture adjustment pattern is standby mode, is being pushed away
Enter system working properly, and can realize that wind resistance flies, but selected during the weaker situation of course regulating power.
Combine the scene of posture adjustment model selection：Promote mainly, but tail working properly into left and right engine and afterbody vector engine
Portion's vector has deflected into extreme position, and tail undercarriage is worked with maximum (top) speed, still cannot now realize dirigible
Heading control, but can realize that wind resistance flies.Now selection combination posture adjustment pattern.
Promote mainly into throttle lever and be in single-engine operation pattern, control main thruster or so hair reference rotation speed；Control stick control arrow
Amount motor yaw rate is with to promote mainly revolution speed of propeller poor；Promote mainly value and control stick on the basis of revolution speed of propeller real output value
Controlling value (being directly proportional to control stick rod volume, coefficient can adjust) sum.Control stick Throttle Opening Control vector revolution speed of propeller.By closing
The Differential Driving of left and right propeller is realized in suitable manipulation, and tie tail vector completes the Heading control of dirigible.
Fig. 5 is the design principle figure of remote control trouble pattern.Remote control distributor fault mode is contingency mode, is gone out in propulsion system
Enabled during existing failure.
The scene of fault mode selection：If promoting mainly into left and right engine, afterbody vector engine and afterbody vector, have
One executing agency breaks down, then use fault mode；
Promote mainly into throttle lever and be in double hair mode of operations, left and right throttle lever controls main propulsion motor or so to send out benchmark turn respectively
Speed；Control stick controls afterbody vector motor yaw rate；Control stick Throttle Opening Control vector revolution speed of propeller.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.
Claims (10)
1. a kind of remote control system of stratospheric airship, the control system is divided into four levels：
Decision-making level, the actual working state data according to stratospheric airship are remotely controlled the selection and switching of offline mode, send
Corresponding mode instruction, and the three-dimensionalreconstruction of airship flight state is completed, the event occurred in recording control system, and to note
Copyist's part carries out playback demonstration；
Planning layer, the mode instruction Dynamic Programming sent according to decision-making level, generation dirigible motor driving instruction, and coordinate levels
Between data communication；
Execution level, the motor driving instruction according to planning layer realizes the drive control to dirigible motor；
Sensing layer, completes monitor in real time and the data acquisition of dirigible working condition, after gathered data is carried out into information fusion, for certainly
The initial data of plan layer offer dirigible working condition.
2. control system according to claim 1, the decision-making level includes：
Intelligent decision module, intelligent decision is carried out according to integrated descending monitoring information, realizes the choosing of dirigible remote control distributor pattern
Select and be simultaneously sent to planning layer with switching, the corresponding mode instruction of generation；
Multimedia messages integration module, up command information and descending monitoring information are carried out it is integrated in order, and by integrated information
Intelligent decision module is sent to, while completing airship flight state three-dimensionalreconstruction according to the descending monitoring information；It is described descending
Airship flight status data that monitoring information includes sending from sensing layer, mobile system operating state data, near space are big
Gas environmental data；
Record and playback module, the event to occurring in control system are recorded, and complete corresponding playback demonstration mechanism.
3. control system according to claim 1, the mode instruction that the planning layer reading decision-making level sends, refer to pattern
Order is resolved using numerical solution algorithm, is generated each propulsion electric machine and is rotated driving instruction and each vector motor angle drive finger
Order, and propulsion electric machine rotation driving instruction and vector motor angle driving instruction are sent to execution level.
4. control system according to claim 1, the execution level includes that propulsion electric machine driving chip and vector motor drive
Dynamic chip, vector motor drive ic is connected with 2 road vector motors, and propulsion electric machine driving chip is connected with 6 road propulsion electric machines, pushes away
Stepper motor driving chip and vector motor drive ic receive propulsion electric machine driving instruction and vector electricity from planning layer respectively
Machine driving instruction, according to the rotation of driving instruction real-time control propulsion electric machine and vector motor.
5. control system according to claim 1, the sensing layer is a multi-sensor data collection and treatment work
Stand, including core processor and multiple sensors, the core processor is for the sensing data after fusion treatment to be passed through
Down channel passes to decision-making level, and core processor is nested with sensor drive module, motor speed and angle processing module, passes
Sensor data fusion module, the multiple sensor includes state of flight sensor, motor operating state sensor, energy resource supply
State sensor, near space atmospheric environment sensor, the multiple sensor are connected with sensor drive module, will gather
Data transfer to sensor drive module, motor speed judges motor event with angle processing module according to motor operating state data
Whether hinder, Data Fusion of Sensor module carries out fusion treatment to the data for being gathered.
6. the control system according to any one of claim 1-5, the remote control distributor pattern includes：
Mode standard, for normal flight, promote mainly into throttle lever be in single-engine operation pattern, control left and right four main thrusters with
Same rotational speed rotates；Control stick controls afterbody vector motor yaw rate, control stick Throttle Opening Control vector revolution speed of propeller；
Combination posture adjustment pattern, for wind resistance flight, promotes mainly into throttle lever and is in single-engine operation pattern, control main thruster or so hair
Reference rotation speed；Control stick controls vector motor yaw rate and to promote mainly revolution speed of propeller poor；Promote mainly into revolution speed of propeller reality
Value and control stick controlling value sum, control stick Throttle Opening Control vector revolution speed of propeller on the basis of output valve；
Fault mode, flight when being broken down for propulsion system is promoted mainly into throttle lever and is in double hair mode of operations, left and right oil
Door rod controls main propulsion motor or so to send out reference rotation speed respectively；Control stick controls afterbody vector motor yaw rate；Control stick
Throttle Opening Control vector revolution speed of propeller.
7. a kind of control method of control system according to any one of claim 1-6, comprises the following steps：
S1, sensing layer carry out monitor in real time and data acquisition to dirigible actual working state, and gathered data is carried out into information fusion
After be sent to decision-making level；
The data ordered set that S2, decision-making level provide sensing layer carries out intelligent decision after, realizes dirigible remote control distributor pattern
Selection and switching, generation mode instruction are sent to planning layer；
S3, planning layer read the mode instruction that sends of decision-making level and go forward side by side Mobile state planning, generate dirigible motor driving instruction, send
To execution level；
S4, execution level work according to the driving instruction motor of planning layer.
8. control method according to claim 7, the step S1 is specifically included：
Multiple sensor collection Flight Condition Datas, motor operating state data, energy resource supply status data and near space are big
Gas environmental data, and the sensor drive module that the data transfer of collection to core processor is nested with；
The motor speed that core processor is nested with judges electrical fault with angle processing module according to motor operating state data
Whether；
The Data Fusion of Sensor module that core processor is nested with carries out fusion treatment to the data for being gathered, and by after treatment
Data decision-making level is passed to by down channel.
9. control method according to claim 7, the step S2 is specifically included：
Multimedia messages integration module receives the descending monitoring information come from down channel transmission, and received data is carried out in order
It is integrated, and integrated information is sent to intelligent decision module；
Intelligent decision module carries out intelligent decision according to integrated descending monitoring information, realizes the selection of dirigible remote control distributor pattern
With switching, generate corresponding mode instruction and be sent to planning layer.
10. the control method stated according to claim 9, the step S2 is further included：
Multimedia messages integration module completes airship flight state three-dimensionalreconstruction according to the descending monitoring information；
Record and playback module are recorded to the event occurred in control system, and complete corresponding playback demonstration mechanism.
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Inventor after: Zhao Lei Inventor after: Guo Ta Inventor before: Zhao Lei |