CN108190012A - Aircraft and its control method - Google Patents
Aircraft and its control method Download PDFInfo
- Publication number
- CN108190012A CN108190012A CN201810088683.9A CN201810088683A CN108190012A CN 108190012 A CN108190012 A CN 108190012A CN 201810088683 A CN201810088683 A CN 201810088683A CN 108190012 A CN108190012 A CN 108190012A
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- Prior art keywords
- controller
- aircraft
- instruction
- target
- verts
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of aircraft, rotor, the first controller and second controller including being set on body, rotor includes blade and the power reclining device being sequentially connected with blade, first controller sends first object and verts and instructs to second controller for receiving elevating control instruction and when aircraft be in fixed-wing offline mode；Control aircraft is instructed to rise or fall according to elevating control；Second controller verts instruction for receiving first object, and is verted instruction control power reclining device operation according to first object, and aircraft is made to be switched to rotor flying pattern；Power reclining device for being run under the control of second controller, is verted with the blade for driving rotor.The invention also discloses a kind of flying vehicles control methods.The present invention realizes aircraft and integrally controls the independence controlled with rotor flying pattern switching, improves the whole control efficiency of aircraft, ensures the offline mode of aircraft and can switch in time, improves the flying quality of aircraft.
Description
Technical field
The present invention relates to vehicle technology field more particularly to aircraft and flying vehicles control method.
Background technology
Common flight device mainly include two kinds of Fixed Wing AirVehicle and rotor craft, wherein rotor craft can low speed hang down
Straight landing, it is of less demanding to airfield runway, but speed of a ship or plane voyage is not as good as Fixed Wing AirVehicle；Fixed Wing AirVehicle has usually been required for
Longer runway provides the power to take off, takes off limited.With the development of electronics technology, occur at present while equipped with rotor
With the compound aircraft of fixed-wing, can the rotor of aircraft and fixed-wing offline mode be switched according to different flight progress,
To improve adaptability of the aircraft to different flight environment of vehicle.
But the control method of compound aircraft flight is less efficient at present, fixed-wing and rotor flying pattern are cut
All manipulations changed and flown all are realized in same flight control system, are made flight control system load big, are caused to fly
Row device control efficiency is relatively low, prevent aircraft fixed-wing and rotor flying pattern from switching in time.
The above is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that the above is existing skill
Art.
Invention content
It is a primary object of the present invention to provide a kind of aircraft, it is intended to improve the whole control efficiency of aircraft, ensure
The offline mode of aircraft can switch in time, improve the flying quality of aircraft.
To achieve the above object, the present invention provides a kind of aircraft, and the aircraft includes body, set on the body
Rotor and fixed-wing and flight control system, the flight control system include the first controller and second controller,
The rotor includes blade and the power reclining device being sequentially connected with the blade, the second controller and the described first control
Device communication processed is connected and is electrically connected with the power reclining device, wherein：
First controller, for receiving, elevating control instructs and the aircraft is in fixed-wing offline mode
When, transmission first object, which verts, to be instructed to the second controller；It is controlled on the aircraft according to elevating control instruction
It rises or declines；
The second controller verts instruction for receiving the first object, and is verted finger according to the first object
It enables and controls the power reclining device operation, the aircraft is made to be switched to rotor flying pattern；
The power reclining device, for being run under the control of the second controller, to drive the paddle of the rotor
Leaf verts.
Optionally, it is additionally operable to instruct the target flight height for determining the aircraft according to the elevating control, and obtain
The current flying height of the aircraft；When the current flying height reaches the target flight height, second is sent
Target, which is verted, to be instructed to the second controller；
The second controller is additionally operable to receive second target and verts instruction, and verted according to second target
Instruction controls the power reclining device operation, and the aircraft is made to be switched to fixed-wing offline mode.
Optionally, when first controller is additionally operable to receive the control instruction of yaw or roll or pitching, judge institute
Aircraft is stated whether in rotor flying pattern；It is instructed if so, sending third target and verting to the second controller；According to
The yaw or the control instruction of roll or pitching control the operation of the aircraft；
The second controller is additionally operable to receive the third target and verts instruction, and is verted finger according to the third target
It enables and controls the power reclining device operation, the blade to be driven to vert, the aircraft is made to be switched to fixed-wing flight mould
Formula.
Optionally, first controller is additionally operable to vert instruction or second target sending the first object
It verts instruction or the third target is verted before instruction, send transition and vert instruction to the second controller；It is receiving
Judging result when being equal to transition tilt angle for the first tilt angle, obtain the current flight speed of the aircraft, and institute
When stating current flight speed equal to pre-set flight speed, send that the first object verts instruction or second target is verted finger
It enables or the third target is verted and instructed to the second controller；
The second controller is additionally operable to receive the transition and verts instruction, and is verted instruction control according to the transition
The power reclining device operation；The first current tilt angle of the blade is obtained, whether judges first tilt angle
Equal to transition tilt angle, and it will determine that result feeds back to first controller.
In addition, to achieve these goals, the present invention also proposes a kind of flying vehicles control method, based on such as any one above
The aircraft, the flying vehicles control method include the following steps：
When the first controller receives elevating control instruction and the aircraft is in fixed-wing offline mode, send
First object, which verts, to be instructed to second controller；
The second controller receives the first object and verts instruction, and verted according to the first object and instruct control
The power reclining device operation, is verted with the blade for driving rotor, the aircraft is made to be switched to rotor flying pattern；
First controller controls the aircraft to rise or fall according to elevating control instruction.
Optionally, the step that first controller rises or falls according to the elevating control instruction control aircraft
After rapid, further include：
First controller instructs the target flight height for determining the aircraft according to the elevating control, and obtains
The current flying height of the aircraft；
When the current flying height reaches the target flight height, first controller sends the second target
It verts and instructs to the second controller；
The second controller receives second target and verts instruction, and verted according to second target and instruct control
The power reclining device operation, the blade to be driven to vert, makes the aircraft be switched to fixed-wing offline mode.
Optionally, the flying vehicles control method further includes：
When first controller receives the control instruction of yaw or roll or pitching, judge whether the aircraft is located
In rotor flying pattern；
If so, the first controller transmission third target is verted and is instructed to the second controller；
The second controller receives the third target and verts instruction, and verted according to the third target and instruct control
The power reclining device operation, the blade to be driven to vert, makes the aircraft be switched to fixed-wing offline mode；
First controller controls the operation of the aircraft according to the yaw or the control instruction of roll or pitching.
Optionally, first controller sends that first object verts instruction or the second target is verted instruction or third target
It verts before instruction to the step of second controller, further includes：
The first controller transmission transition, which is verted, to be instructed to the second controller；
The second controller receives the transition and verts instruction, and is verted the instruction control power according to the transition
Reclining device is run；
The second controller obtains the first current tilt angle of the blade；
The second controller judges whether first tilt angle is equal to transition tilt angle, and will determine that result is anti-
It is fed to first controller；
When the judging result is when being, the first controller obtains the current flight speed of the aircraft；
When the current flight speed is equal to pre-set flight speed, first controller sends the first object and inclines
Turn instruction or second target verts instruction or third target verts instruction to the second controller.
Optionally, the flying vehicles control method further includes：
When first tilt angle is less than described preset equal to the transition tilt angle and the current flight speed
During flying speed, first controller controls the aircraft Accelerating running.
Optionally, the second controller receives the first object and verts instruction, and is verted according to the first object
Instruction controls the power reclining device operation, is verted with the blade for driving rotor, the aircraft is made to be switched to rotor flying
After the step of pattern, further include：
The second controller obtains the second current tilt angle of the blade；
The second controller judges whether the rotor flying pattern switches successfully according to second tilt angle, and
It will determine that result feeds back to first controller；
When first controller receives the judging result to switch successfully, then the first controller root is performed
The step of aircraft being controlled to rise or fall according to elevating control instruction.
A kind of aircraft that the embodiment of the present invention proposes, the aircraft flight device include body, the rotation set on the body
The wing and fixed-wing and flight control system set the first controller and second controller in flight control system, the
One controller transmission first object when receiving elevating control instruction and aircraft be in fixed-wing offline mode verts instruction
To second controller, second controller verts according to first object instructs the operation of control power reclining device, and vert aircraft
The blade of rotor makes aircraft be switched to rotor flying pattern, in addition, the first controller instructs control flight according to elevating control
Device rises or falls.Whole control carries out aircraft by the first controller, second controller control rotor blade verts,
It realizes aircraft and integrally controls the independence controlled with rotor flying pattern switching, mitigate the load of the first controller, improve and fly
The whole control efficiency of row device, ensureing the offline mode of aircraft can switch in time, improve the flying quality of aircraft.
Description of the drawings
Fig. 1 is the hardware architecture diagram of the aircraft of the embodiment of the present invention；
Fig. 2 is flying vehicles control method first pass schematic diagram of the embodiment of the present invention；
Fig. 3 is flying vehicles control method second procedure schematic diagram of the embodiment of the present invention；
Fig. 4 is flying vehicles control method third flow diagram of the embodiment of the present invention；
Fig. 5 is the 4th flow diagram of flying vehicles control of embodiment of the present invention method；
Fig. 6 is the 5th flow diagram of flying vehicles control of embodiment of the present invention method.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The aircraft of the embodiment of the present invention can be specially the aircraft such as unmanned plane.
In the present embodiment, which includes body 1, fixed-wing 400 and flight control system 2.As shown in Figure 1,
The flight control system 2 includes rotor 100,300 and first controller 200 of second controller.The fixed-wing 400 and rotor
100 are set on the body 1 of aircraft.Wherein, rotor 100 includes blade 110 and the power reclining device being sequentially connected with blade 110
120, the second controller 300 communicates connection with first controller 200 and is electrically connected with the power reclining device 120
It connects.
First controller 200, for receive elevating control instruction when and aircraft be in fixed-wing offline mode
When, it sends first object and verts instruction to the second controller 300, the aircraft is controlled according to elevating control instruction
It rises or falls.
The second controller 300 verts instruction for receiving the first object, and is verted according to the first object
Instruction controls the power reclining device 120 to run, and the aircraft is made to be switched to rotor flying pattern；
The power reclining device 120, for being run under the control of the second controller 300, to drive the rotation
The blade 110 of the wing 100 verts；
Rotor 100 can according to actual demand be equipped with it is multiple, multiple rotors 100 can be about fixation on the body 1 of aircraft
The axisymmetrical of the wing 400 is distributed in the both sides of fixed-wing 400.Each rotor 100 includes blade 110 and is driven with blade 110
The power reclining device 120 of connection.Power reclining device 120 may particularly include power plant and drive mechanism, drive mechanism point
It is not connect with steering engine and blade 110.Power plant operates and drives verting for blade 110, the paddle of rotor 100 by drive mechanism
Leaf 110, which is tilted to different angle, makes aircraft that can switch between fixed-wing offline mode and rotor flying pattern two, such as
The blade 110 of rotor 100 vert to it is vertical with fixed-wing 400 when, aircraft is in fixed-wing offline mode, the paddle of rotor 100
Leaf 110 vert to it is parallel with fixed-wing 400 when, aircraft is in rotor flying pattern.It should be noted that power reclining device
120 can also only include power plant, blade 110 directly with the output axis connection of power plant.Wherein, power plant 120 can have
Body is steering engine.
Wherein, the first controller 200 is the control device for controlling the operation of entire aircraft, such as the side of aircraft
To, speed, position, flight attitude etc., up and down, yaw, roll, pitching of specific controllable control aircraft etc.；Second
Controller 300 be for control power reclining device 120 operation control device, realize aircraft fixed-wing offline mode and
The switching of rotor flying pattern.
The controller of aircraft aircraft need to be controlled to take off on ground, risen or fallen from a certain flying height or need
When control aircraft drops to ground, elevating control instruction can be sent out to the first controller 200, if controller with first by controlling
The ground control unit of 200 wireless telecommunications of device connection processed sends elevating control instruction to the first controller 200.
When first controller 200 receives elevating control instruction, whether aircraft is judged in fixed-wing offline mode, if
It is no, show that aircraft is in rotor flying pattern, then directly control aircraft is instructed to rise or fall according to elevating control, such as existed
Aircraft ground is received when taking off instruction or when receiving landing instruction during declining；If so, according to receiving
Elevating control instruction sends first object and verts instruction to second controller 300, such as aircraft with fixed-wing offline mode in sky
In a certain altitude when receive the control instruction risen or fallen.
Second controller 300 receives first object and verts instruction and to vert dress according to the first object instruction control power that verts
120 operation is put, the blade for the rotor being sequentially connected in power reclining device 120 is driven to vert, is switched to the aircraft
Rotor flying pattern.Specifically, second controller 300 can be electrically connected with the power plant in power reclining device 120, the second control
Device 300 processed can vert the first operation of power plant in the parameter generation power reclining device 120 in instruction according to first object
Parameter, such as the power of steering engine, steering, the first operating parameter that second controller 300 is generated can be by the form of electric signal
The power plant being connected electrically is sent to, realizes that the blade 110 of rotor 100 verts by the operating for controlling power plant, makes
Aircraft is switched to rotor flying pattern.
Specifically, first object verts, instruction may include the first default rotation direction and the first goal-selling angle.Wherein,
Incline needed for the blade 110 of rotor 100 when first default rotation direction switches to rotor flying pattern for preset aircraft
The direction turned, such as clockwise or counterclockwise；Blade 110 when first goal-selling angle is switched to rotor flying pattern for aircraft
The required angle verted, such as 90 degree, in addition, when output axis connection of the blade 110 directly with power plant (such as steering engine), first
Default rotation direction is alternatively the direction of verting of power plant, and the first goal-selling angle is alternatively the tilt angle of power plant
Degree.
Wherein, elevating control instruction includes rising control instruction and declines control instruction.When the first controller 200 receives
When rising control instruction, control aircraft rises after aircraft successful switch is rotor flying pattern；When the first controller 200
When receiving decline control instruction, control aircraft declines after aircraft successful switch is rotor flying pattern.
Second controller 300 receives first object and verts instruction and to vert dress according to the first object instruction control power that verts
120 operation is put, driving blade 110 verts according to the first default rotation direction to the first goal-selling angle, makes the flight
Device is switched to rotor flying pattern.Specifically, second controller 300 can be electrically connected with the power plant in power reclining device 120
It connects, second controller 300 can vert power plant in the parameter generation power reclining device 120 in instruction according to first object
First operating parameter, such as the power of steering engine, steering, the first operating parameter that second controller 300 is generated can pass through telecommunications
Number form be sent to the power plant being connected electrically, by control power plant operating realize rotor 100 blade 110
It verts, aircraft is made to be switched to rotor flying pattern.
In the present embodiment, in the rotor 100 including body 1, set on the body 1 and fixed-wing 400 and aircraft
In the aircraft of control system 2, the first controller 200 and second controller 300 are set, the first controller 200 is receiving liter
When dropping control instruction and when aircraft is in fixed-wing offline mode, transmission first object, which verts, to be instructed to second controller
300, second controller 300 verts according to first object instructs the operation of control power reclining device 120, aircraft rotor of verting
100 blade 110, makes aircraft be switched to rotor flying pattern, is controlled in addition, the first controller 200 is instructed according to elevating control
Aircraft processed rises or falls.Whole control, the control rotation of second controller 300 carry out aircraft by the first controller 200
100 blade 110 of the wing verts, and realizes aircraft and integrally controls the independence controlled with rotor flying pattern switching, mitigates first
The load of controller 200 improves the whole control efficiency of aircraft, ensures the offline mode of aircraft and can switch in time, carries
The flying quality of high aircraft.
Further, first controller 200 is additionally operable to instruct the determining aircraft according to the elevating control
Target flight height, and obtain the current flying height of the aircraft；When the current flying height reaches the target
During flying height, the second target of transmission, which is verted, to be instructed to the second controller 300；
The second controller 300 is additionally operable to receive second target and verts instruction, and inclined according to second target
Turning instruction controls the power reclining device 120 to run, and the aircraft is made to be switched to fixed-wing offline mode.
Wherein, the current height of aircraft can pass through GPS or the barometer for being arranged on body 1 etc. and the first controller 200
The height detecting device of communication connection is detected.
First controller 200 compares the current flying height of aircraft and the target flight height in elevating control instruction
Size, when equal, the second target of the first controller 200 transmission, which is verted, to be instructed to the second controller 300.
Specifically, the second target is verted, instruction may include the second default rotation direction and the second goal-selling angle.Wherein,
When second default rotation direction switches to fixed-wing offline mode for preset aircraft needed for the blade 110 of rotor 100
The direction verted, such as clockwise or counterclockwise；Paddle when second goal-selling angle is switched to fixed-wing offline mode for aircraft
The angle verted needed for leaf 110, such as 90 degree.It should be noted that when output of the blade 110 directly with power plant (such as steering engine)
During axis connection, the second default rotation direction is alternatively the direction of verting of power plant, and the second goal-selling angle is alternatively power
The tilt angle of device.
Second controller 300 receives the second target and verts instruction and to vert dress according to the second target instruction control power that verts
120 operation is put, driving blade 110 verts according to the second default rotation direction to the second goal-selling angle, makes the flight
Device is switched to fixed-wing offline mode.Specifically, second controller 300 can be with the power plant electricity in power reclining device 120
Connection, second controller 300 can vert power plant in the parameter generation power reclining device 120 in instruction according to the second target
The second operating parameter, such as the power of steering engine, turn to, the second operating parameter that second controller 300 is generated can pass through electricity
The form of signal is sent to the power plant being connected electrically, and the blade of rotor 100 is realized by the operating for controlling power plant
110 vert, and aircraft is made to be switched to fixed-wing offline mode.
In the present embodiment, the first controller 200 reaches target flight height during rising or decline on board the aircraft
When, it sends the second target and verts instruction to second controller 300, second controller 300 verts according to the second target instructs control
The operation of power reclining device 120, the blade 110 of aircraft rotor of verting 100 make aircraft be switched to fixed-wing flight mould
Formula, it can be automatically fixed-wing offline mode from rotor flying pattern switching to realize aircraft, further improve the whole of aircraft
Body control efficiency, the fixed-wing 400 and rotor flying pattern for ensureing aircraft can switch in time.
In addition, when first controller 200 is additionally operable to receive the control instruction of yaw or roll or pitching, institute is judged
Aircraft is stated whether in rotor flying pattern；It is instructed if so, sending third target and verting to the second controller 300；
The operation of the aircraft is controlled according to the yaw or the control instruction of roll or pitching.
The second controller 300 is additionally operable to receive the third target and verts instruction, and inclined according to the third target
Turning instruction controls the power reclining device 120 to run, and the blade 110 to be driven to vert, is switched to the aircraft solid
Determine wing offline mode；
The controller of aircraft, can be to first when that need to adjust the flight attitude of aircraft (such as yaw, roll or pitching)
Controller 200 sends yaw or the control instruction of roll or pitching.Whether the aircraft is judged in rotor flying pattern, if
It is then to send third target to vert instruction to second controller 300, second controller 300 verts instruction according to third target will
Aircraft is switched to fixed-wing offline mode；If it is not, then aircraft keeps current fixed-wing offline mode flight.
Specifically, third target is verted, instruction may include that third presets rotation direction and third goal-selling angle.Wherein,
Third is preset when rotation direction switches to fixed-wing offline mode for preset aircraft needed for the blade 110 of rotor 100
The direction verted, such as clockwise or counterclockwise；Paddle when third goal-selling angle is switched to fixed-wing offline mode for aircraft
The angle verted needed for leaf 110, such as 90 degree.It should be noted that when output of the blade 110 directly with power plant (such as steering engine)
During axis connection, third presets the direction of verting that rotation direction is alternatively power plant, and third goal-selling angle is alternatively power
The tilt angle of device.
Second controller 300 receives third target and verts instruction and to vert dress according to the third target instruction control power that verts
120 operation is put, driving blade 110 presets rotation direction according to third and verts to third goal-selling angle, makes the flight
Device is switched to fixed-wing offline mode.Specifically, second controller 300 can be with the power plant electricity in power reclining device 120
Connection, second controller 300 can vert power plant in the parameter generation power reclining device 120 in instruction according to third target
Third operating parameter, such as the power of steering engine, turn to, the third operating parameter that second controller 300 is generated can pass through electricity
The form of signal is sent to the power plant being connected electrically, and the blade of rotor 100 is realized by the operating for controlling power plant
110 vert, and aircraft is made to be switched to fixed-wing offline mode.
When in the current offline mode of aircraft be fixed-wing offline mode or successful switch is fixed-wing offline mode, the
One controller 200 is conducive to improve aircraft according to yaw or the operation of the control instruction of roll or pitching control aircraft
Cruising ability.
Further, first controller 200 is additionally operable to vert instruction or described second sending the first object
Target verts instruction or the third target is verted before instruction, sends transition and verts instruction to the second controller 300；
When the judging result received is equal to transition tilt angle for the first tilt angle, the current flight speed of the aircraft is obtained
Degree, and the current flight speed be equal to pre-set flight speed when, send the first object vert instruction or second mesh
Mark verts instruction or the third target verts instruction to the second controller 300；
The second controller 300 is additionally operable to receive the transition and verts instruction, and is verted instruction control according to the transition
The power reclining device 120 is made to run；The first current tilt angle of the blade 110 is obtained, judges that described first verts
Whether angle is equal to transition tilt angle, and will determine that result feeds back to first controller 200.
Aircraft need to switch between fixed-wing offline mode and rotor flying pattern, and weight of aircraft itself compared with
When small or aircraft is in decline process, the first controller 200 can directly transmit first object vert instruction or the second target
It verts instruction or third target verts instruction to second controller 300.If aircraft weight itself is larger or aircraft is in
It need to be switched between fixed-wing offline mode and rotor flying pattern during uphill process, then the first controller 200 is being sent
First object verts instruction or the second target verts instruction or third target is verted and is transmitted across before instruction to second controller 300
It crosses to vert and instruct to second controller 300.
Wherein, transition instruction of verting may include the 4th default rotation direction and transition tilt angle.Wherein, the 4th default turn
Instruction that dynamic direction and first object vert instruction or second target is verted or the third target are verted default in instruction
Rotation direction is consistent, transition tilt angle less than first object vert instruction or second target vert instruction or the third
Target vert instruction in goal-selling angle.
The reception transition of second controller 300, which verts to instruct and verted according to transition, instructs control power reclining device 120
Operation, driving blade 110 vert according to the 4th default rotation direction to transition tilt angle.Second controller 300 can be by setting
It puts the angular transducer on power reclining device 120 or blade 110 and obtains the first current tilt angle of blade 110, and sentence
Whether the first current tilt angle of disconnected blade 110 is equal to transition tilt angle, and will determine that result feeds back to the first controller
200。
When the judging result that the first controller 200 receives is when being, obtains the current flight speed of aircraft, judging ought
Whether preceding flying speed is equal to pre-set flight speed, if current flight speed is equal to pre-set flight speed, the first controller 200
Just send that the first object verts instruction or second target verts instruction or third target verts instruction to described second
Controller 300 makes the blade 110 of rotor 100 continue to vert to goal-selling angle.Wherein, the current flight speed of aircraft
It can be detected, can also had by obtaining aircraft in the memory of current control parameter by being arranged on the sensor of body 1
It obtains.
When the judging result that the first controller 200 receives is no, the second control can be sent a command to according to parameter preset
Device 300 processed continues that blade 110 is controlled to be tilted to transition tilt angle.
If current flight speed is less than pre-set flight speed, the first controller 200 control aircraft Accelerating running, until
The speed of aircraft be equal to pre-set flight speed when, the first controller 200 just send the first object vert instruction or second
Instruction that target verts instruction or third target is verted makes the blade 110 of rotor 100 continue to vert to the second controller 300
To goal-selling angle.
By the above-mentioned means, aircraft weight itself can be made larger or when aircraft is in uphill process need to be in fixed-wing
When being switched between offline mode and rotor flying pattern, first pass through transition vert instruction control blade 110 be tilted to
Transition tilt angle and when reaching pre-set flight rate request, just by first object verts instruction or the second target is verted instruction
Or the third target instruction control blade 110 that verts is tilted to goal-selling angle, when so that the aircraft is switched to target flight mode
There are enough flying speeds to ensure the stability that aircraft flies in the air, avoid causing aircraft due to the switching of offline mode
It is unbalance in the air to fall.
Further, second controller 300 is additionally operable to vert instruction, and according to described first receiving the first object
Target, which verts to instruct, controls the power reclining device 120 to run, and is verted with the blade 110 for driving rotor 100, makes the flight
Device was switched to after the step of rotor flying pattern, obtained the second current tilt angle of the blade 110；According to described second
Tilt angle judges whether the rotor flying pattern switches successfully, and will determine that result feeds back to first controller 200；
When first controller 200 is additionally operable to receive judging result to switch successfully, then the first controller root is performed
The step of aircraft being controlled to rise or fall according to elevating control instruction.
It runs according to the first object instruction control power reclining device 120 that verts in second controller 300 and drives rotor
100 blade 110 verts, and it is current to obtain blade 110 after the control to power reclining device 120 for second controller 300
The second tilt angle, judge the second tilt angle whether with first object vert instruction in goal-selling angle it is equal, if
The rotor flying pattern switching success for showing aircraft, if it is not, then show the rotor flying pattern switching of aircraft not into
Work(.
First controller 200 receives judging result, when judging result is switches successfully, is instructed and controlled according to elevating control
Aircraft rises or falls；It, can be according to parameter preset or other control methods after supervention when judging result is switches unsuccessful
Instruction is sent to adjust the tilt angle of blade 110 to second controller 300, the tilt angle of blade 110 is enable to reach rotor flying
Angle value required by pattern.
By the above-mentioned means, it can ensure that aircraft can be risen or fallen with rotor flying pattern, to ensure that aircraft rises
Or decline during flying quality raising.
In addition, second controller 300 can be additionally used in receiving, the second target verts instruction or third target is verted instruction, and
Instruction is verted according to the second target or the instruction of verting of third target controls the power reclining device 120 to run, to drive rotor
After the step of 100 blade 110 verts, the aircraft is made to be switched to fixed-wing offline mode, fly with above-mentioned judgement rotor
Whether row pattern, which switches successfully same method, judges whether successful switch for fixed-wing offline mode and feeds back to aircraft
One controller 200, if successful switch is fixed-wing offline mode, 200 ability of the first controller is according to control instruction execution and admittedly
Determine the relevant yaw of wing offline mode or roll or pitching or maintain the flying vehicles controls operation such as current state flight.Pass through this side
Formula, it is ensured that aircraft can control the skyborne flight attitude of aircraft with fixed-wing offline mode, to ensure aircraft in sky
In in the flight course that need not rise or fall flying quality raising.
With reference to Fig. 2, the embodiment of the present invention provides a kind of flying vehicles control method, and the flying vehicles control method includes：
Step S10, when the first controller 200 receive elevating control instruction when and the aircraft fly in fixed-wing
During row pattern, transmission first object, which verts, to be instructed to second controller 300；
Step S20, the second controller 300 receive the first object and vert instruction, and inclined according to the first object
Turning instruction controls the power reclining device 120 to run, and is verted with the blade 110 for driving rotor 100, switches the aircraft
For rotor flying pattern；
Step S30, first controller control the aircraft to rise or fall according to elevating control instruction.
Rotor 100 can according to actual demand be equipped with it is multiple, multiple rotors 100 can be about fixation on the body 1 of aircraft
The axisymmetrical of the wing 400 is distributed in the both sides of fixed-wing 400.Each rotor 100 includes blade 110 and is driven with blade 110
The power reclining device 120 of connection.Power reclining device 120 may particularly include power plant and drive mechanism, drive mechanism point
It is not connect with steering engine and blade 110.Power plant operates and drives verting for blade 110, the paddle of rotor 100 by drive mechanism
Leaf 110, which is tilted to different angle, makes aircraft that can switch between fixed-wing offline mode and rotor flying pattern two, such as
The blade 110 of rotor 100 vert to it is vertical with fixed-wing 400 when, aircraft is in fixed-wing offline mode, the paddle of rotor 100
Leaf 110 vert to it is parallel with fixed-wing 400 when, aircraft is in rotor flying pattern.It should be noted that power reclining device
120 can also only include power plant, blade 110 directly with the output axis connection of power plant.Wherein, power plant 120 can have
Body is steering engine.
Wherein, the first controller 200 is the control device for controlling the operation of entire aircraft, such as the side of aircraft
To, speed, position, flight attitude etc., up and down, yaw, roll, pitching of specific controllable control aircraft etc.；Second
Controller 300 be for control power reclining device 120 operation control device, realize aircraft fixed-wing offline mode and
The switching of rotor flying pattern.
The controller of aircraft aircraft need to be controlled to take off on ground, risen or fallen from a certain flying height or need
When control aircraft drops to ground, elevating control instruction can be sent out to the first controller 200, if controller with first by controlling
The ground control unit of 200 wireless telecommunications of device connection processed sends elevating control instruction to the first controller 200.
When first controller 200 receives elevating control instruction, whether aircraft is judged in fixed-wing offline mode, if
It is no, show that aircraft is in rotor flying pattern, then directly control aircraft is instructed to rise or fall according to elevating control, such as existed
Aircraft ground is received when taking off instruction or when receiving landing instruction during declining；If so, according to receiving
Elevating control instruction sends first object and verts instruction to second controller 300, such as aircraft with fixed-wing offline mode in sky
In a certain altitude when receive the control instruction risen or fallen.
Second controller 300 receives first object and verts instruction and to vert dress according to the first object instruction control power that verts
120 operation is put, the blade for the rotor being sequentially connected in power reclining device 120 is driven to vert, is switched to the aircraft
Rotor flying pattern.Specifically, second controller 300 can be electrically connected with the power plant in power reclining device 120, the second control
Device 300 processed can vert the first operation of power plant in the parameter generation power reclining device 120 in instruction according to first object
Parameter, such as the power of steering engine, steering, the first operating parameter that second controller 300 is generated can be by the form of electric signal
The power plant being connected electrically is sent to, realizes that the blade 110 of rotor 100 verts by the operating for controlling power plant, makes
Aircraft is switched to rotor flying pattern.
Specifically, first object verts, instruction may include the first default rotation direction and the first goal-selling angle.Wherein,
Incline needed for the blade 110 of rotor 100 when first default rotation direction switches to rotor flying pattern for preset aircraft
The direction turned, such as clockwise or counterclockwise；Blade 110 when first goal-selling angle is switched to rotor flying pattern for aircraft
The required angle verted, such as 90 degree, in addition, when output axis connection of the blade 110 directly with power plant (such as steering engine), first
Default rotation direction is alternatively the direction of verting of power plant, and the first goal-selling angle is alternatively the tilt angle of power plant
Degree.
Wherein, elevating control instruction includes rising control instruction and declines control instruction.When the first controller 200 receives
When rising control instruction, control aircraft rises after aircraft successful switch is rotor flying pattern；When the first controller 200
When receiving decline control instruction, control aircraft declines after aircraft successful switch is rotor flying pattern.
Second controller 300 receives first object and verts instruction and to vert dress according to the first object instruction control power that verts
120 operation is put, driving blade verts according to the first default rotation direction to the first goal-selling angle, cuts the aircraft
It is changed to rotor flying pattern.Specifically, second controller 300 can be electrically connected with the power plant in power reclining device 120, the
Two controllers 300 can vert first of power plant in the parameter generation power reclining device 120 in instruction according to first object
Operating parameter, such as the power of steering engine, steering, the first operating parameter that second controller 300 is generated can be by electric signal
Form is sent to the power plant being connected electrically, and realizes that the blade 110 of rotor 100 inclines by the operating for controlling power plant
Turn, aircraft is made to be switched to rotor flying pattern.
In the present embodiment, in the rotor 100 including body 1, set on the body 1 and fixed-wing 400 and aircraft
In the aircraft of control system 22, the first controller 200 and second controller 300 are set, the first controller 200 is receiving liter
When dropping control instruction and when aircraft is in fixed-wing offline mode, transmission first object, which verts, to be instructed to second controller
300, second controller 300 verts according to first object instructs the operation of control power reclining device 120, aircraft rotor of verting
100 blade 110, makes aircraft be switched to rotor flying pattern, is controlled in addition, the first controller 200 is instructed according to elevating control
Aircraft processed rises or falls.Whole control, the control rotation of second controller 300 carry out aircraft by the first controller 200
100 blade 110 of the wing verts, and realizes aircraft and integrally controls the independence controlled with rotor flying pattern switching, mitigates first
The load of controller 200 improves the whole control efficiency of aircraft, ensures the offline mode of aircraft and can switch in time, carries
The flying quality of high aircraft.
Further, as shown in figure 3, first controller 200 controls the flight according to elevating control instruction
After the step of device rises or falls, further include：
Step S41, first controller 200 instruct the target flight for determining the aircraft according to the elevating control
Highly, and the current flying height of the aircraft is obtained；
Step S42, when the current flying height reaches the target flight height, first controller 200
It sends the second target and verts instruction to the second controller 300；
Step S43, the second controller 300 receive second target and vert instruction, and according to second target
Instruction of verting controls the power reclining device 120 to run, and the blade 110 to be driven to vert, is switched to the aircraft
Fixed-wing offline mode.
Wherein, the current height of aircraft can pass through GPS or the barometer for being arranged on body 1 etc. and the first controller 200
The height detecting device of communication connection is detected.
First controller 200 compares the current flying height of aircraft and the target flight height in elevating control instruction
Size, when equal, the second target of the first controller 200 transmission, which is verted, to be instructed to the second controller 300.
Specifically, the second target is verted, instruction may include the second default rotation direction and the second goal-selling angle.Wherein,
When second default rotation direction switches to fixed-wing offline mode for preset aircraft needed for the blade 110 of rotor 100
The direction verted, such as clockwise or counterclockwise；Paddle when second goal-selling angle is switched to fixed-wing offline mode for aircraft
The angle verted needed for leaf 110, such as 90 degree.It should be noted that when output of the blade 110 directly with power plant (such as steering engine)
During axis connection, the second default rotation direction is alternatively the direction of verting of power plant, and the second goal-selling angle is alternatively power
The tilt angle of device.
Second controller 300 receives the second target and verts instruction and to vert dress according to the second target instruction control power that verts
120 operation is put, driving blade 110 verts according to the second default rotation direction to the second goal-selling angle, makes the flight
Device is switched to fixed-wing offline mode.Specifically, second controller 300 can be with the power plant electricity in power reclining device 120
Connection, second controller 300 can vert power plant in the parameter generation power reclining device 120 in instruction according to the second target
The second operating parameter, such as the power of steering engine, turn to, the second operating parameter that second controller 300 is generated can pass through electricity
The form of signal is sent to the power plant being connected electrically, and the blade of rotor 100 is realized by the operating for controlling power plant
110 vert, and aircraft is made to be switched to fixed-wing offline mode.
In the present embodiment, the first controller 200 reaches target flight height during rising or decline on board the aircraft
When, it sends the second target and verts instruction to second controller 300, second controller 300 verts according to the second target instructs control
The operation of power reclining device 120, the blade 110 of aircraft rotor of verting 100 make aircraft be switched to fixed-wing flight mould
Formula, it can be automatically fixed-wing offline mode from rotor flying pattern switching to realize aircraft, further improve the whole of aircraft
Body control efficiency, the fixed-wing offline mode and rotor flying pattern for ensureing aircraft can switch in time.
Further, as shown in figure 4, the flying vehicles control method further includes：
Step S51, when first controller 200 receives the control instruction of yaw or roll or pitching, described in judgement
Whether aircraft is in rotor flying pattern；If so, perform step S52.
Step S52, the transmission of the first controller 200 third target, which is verted, to be instructed to the second controller 300；
Step S53, the second controller 300 receive the third target and vert instruction, and according to the third target
Instruction of verting controls the power reclining device 120 to run, and the blade 110 to be driven to vert, is switched to the aircraft
Fixed-wing offline mode；
Step S54, first controller 200 fly according to the yaw or the control of the control instruction of roll or pitching are described
The operation of row device.
The controller of aircraft, can be to first when that need to adjust the flight attitude of aircraft (such as yaw, roll or pitching)
Controller 200 sends yaw or the control instruction of roll or pitching.Whether the aircraft is judged in rotor flying pattern, if
It is then to send third target to vert instruction to second controller 300, second controller 300 verts instruction according to third target will
Aircraft is switched to fixed-wing offline mode；If it is not, then aircraft keeps current fixed-wing offline mode flight.
Specifically, third target is verted, instruction may include that third presets rotation direction and third goal-selling angle.Wherein,
Third is preset when rotation direction switches to fixed-wing offline mode for preset aircraft needed for the blade 110 of rotor 100
The direction verted, such as clockwise or counterclockwise；Paddle when third goal-selling angle is switched to fixed-wing offline mode for aircraft
The angle verted needed for leaf 110, such as 90 degree.It should be noted that when output of the blade 110 directly with power plant (such as steering engine)
During axis connection, third presets the direction of verting that rotation direction is alternatively power plant, and third goal-selling angle is alternatively power
The tilt angle of device.
Second controller 300 receives third target and verts instruction and to vert dress according to the third target instruction control power that verts
120 operation is put, driving blade 110 presets rotation direction according to third and verts to third goal-selling angle, makes the flight
Device is switched to fixed-wing offline mode.Specifically, second controller 300 can be with the power plant electricity in power reclining device 120
Connection, second controller 300 can vert power plant in the parameter generation power reclining device 120 in instruction according to third target
Third operating parameter, such as the power of steering engine, turn to, the third operating parameter that second controller 300 is generated can pass through electricity
The form of signal is sent to the power plant being connected electrically, and the blade of rotor 100 is realized by the operating for controlling power plant
110 vert, and aircraft is made to be switched to fixed-wing offline mode.
When in the current offline mode of aircraft be fixed-wing offline mode or successful switch is fixed-wing offline mode, the
One controller 200 is conducive to improve aircraft according to yaw or the operation of the control instruction of roll or pitching control aircraft
Cruising ability.
Further, as shown in figure 5, first controller 200 transmission first object verts, instruction or the second target are inclined
Turn instruction or third target is verted and instructed the step of second controller 300 before, further include：
Step S01, the transmission of the first controller 200 transition, which is verted, to be instructed to the second controller 300；
Step S02, the second controller 300 receive the transition and vert instruction, and are verted instruction according to the transition
The power reclining device 120 is controlled to run；
Step S03, the second controller 300 obtain the first current tilt angle of the blade 110；
Step S04, the second controller 300 judge whether first tilt angle is equal to transition tilt angle, and
It will determine that result feeds back to first controller 200；
Step S05, when the judging result is when being, the first controller 200 obtains the current flight speed of the aircraft
Degree；
Step S06, when the current flight speed is equal to pre-set flight speed, first controller 200 sends institute
State that first object verts instruction or second target verts instruction or third target verts instruction to the second controller
300。
Aircraft need to switch between fixed-wing offline mode and rotor flying pattern, and weight of aircraft itself compared with
When small or aircraft is in decline process, the first controller 200 can directly transmit first object vert instruction or the second target
It verts instruction or third target verts instruction to second controller 300.If aircraft weight itself is larger or aircraft is in
It need to be switched between fixed-wing offline mode and rotor flying pattern during uphill process, then the first controller 200 is being sent
First object verts instruction or the second target verts instruction or third target is verted and is transmitted across before instruction to second controller 300
It crosses to vert and instruct to second controller 300.
Wherein, transition instruction of verting may include the 4th default rotation direction and transition tilt angle.Wherein, the 4th default turn
Instruction that dynamic direction and first object vert instruction or second target is verted or the third target are verted default in instruction
Rotation direction is consistent, transition tilt angle less than first object vert instruction or second target vert instruction or the third
Target vert instruction in goal-selling angle.
The reception transition of second controller 300, which verts to instruct and verted according to transition, instructs control power reclining device 120
Operation, driving blade 110 vert according to the 4th default rotation direction to transition tilt angle.Second controller 300 can be by setting
It puts the angular transducer on power reclining device 120 or blade 110 and obtains the first current tilt angle of blade 110, and sentence
Whether the first current tilt angle of disconnected blade 110 is equal to transition tilt angle, and will determine that result feeds back to the first controller
200。
When the judging result that the first controller 200 receives is when being, obtains the current flight speed of aircraft, judging ought
Whether preceding flying speed is equal to pre-set flight speed, if current flight speed is equal to pre-set flight speed, the first controller 200
Just send that the first object verts instruction or second target verts instruction or third target verts instruction to described second
Controller 300 makes the blade 110 of rotor 100 continue to vert to goal-selling angle.Wherein, the current flight speed of aircraft
It can be detected, can also had by obtaining aircraft in the memory of current control parameter by being arranged on the sensor of body 1
It obtains.
When the judging result that the first controller 200 receives is no, the second control can be sent a command to according to parameter preset
Device 300 processed continues that blade 110 is controlled to be tilted to transition tilt angle.
In addition, the flying vehicles control method further includes：
Step S07, when the first tilt angle is less than pre-set flight speed equal to transition tilt angle and current flight speed
When, the first controller 200 control aircraft Accelerating running, when the speed of aircraft is equal to pre-set flight speed, the first control
Device 200 processed just sends that the first object verts instruction or the second target verts instruction or third target verts instruction to described the
Two controllers 300 make the blade 110 of rotor 100 continue to vert to goal-selling angle.
By the above-mentioned means, aircraft weight itself can be made larger or when aircraft is in uphill process need to be in fixed-wing
When being switched between offline mode and rotor flying pattern, first pass through transition vert instruction control blade 110 be tilted to
Transition tilt angle and when reaching pre-set flight rate request, just by first object verts instruction or the second target is verted instruction
Or the third target instruction control blade 110 that verts is tilted to goal-selling angle, when so that the aircraft is switched to target flight mode
There are enough flying speeds to ensure the stability that aircraft flies in the air, avoid causing aircraft due to the switching of offline mode
It is unbalance in the air to fall.
Further, as shown in fig. 6, the second controller 300 receives the first object verts instruction, and according to institute
Stating first object instruction of verting controls the power reclining device 120 to run, and is verted with the blade 110 for driving rotor 100, makes institute
After stating the step of aircraft is switched to rotor flying pattern, further include：
Step S60, the second controller 300 obtain the second current tilt angle of the blade 110；
Whether step S70, the second controller 300 judge the rotor flying pattern according to second tilt angle
It switches successfully, and will determine that result feeds back to first controller 200；
Step S80, when first controller 200 receives the judging result to switch successfully, then described in execution
The step of first controller 200 controls the aircraft to rise or fall according to elevating control instruction.
It runs according to the first object instruction control power reclining device 120 that verts in second controller 300 and drives rotor
100 blade 110 verts, and it is current to obtain blade 110 after the control to power reclining device 120 for second controller 300
The second tilt angle, judge the second tilt angle whether with first object vert instruction in goal-selling angle it is equal, if
The rotor flying pattern switching success for showing aircraft, if it is not, then show the rotor flying pattern switching of aircraft not into
Work(.
First controller 200 receives judging result, when judging result is switches successfully, is instructed and controlled according to elevating control
Aircraft rises or falls；It, can be according to parameter preset or other control methods after supervention when judging result is switches unsuccessful
Instruction is sent to adjust the tilt angle of blade 110 to second controller 300, the tilt angle of blade 110 is enable to reach rotor flying
Angle value required by pattern.
By the above-mentioned means, it can ensure that aircraft can be risen or fallen with rotor flying pattern, to ensure that aircraft rises
Or decline during flying quality raising.
In addition, second controller 300 can be additionally used in receiving, the second target verts instruction or third target is verted instruction, and
Instruction is verted according to the second target or the instruction of verting of third target controls the power reclining device 120 to run, to drive rotor
After the step of 100 blade 110 verts, the aircraft is made to be switched to fixed-wing offline mode, fly with above-mentioned judgement rotor
Whether row pattern, which switches successfully same method, judges whether successful switch for fixed-wing offline mode and feeds back to aircraft
One controller 200, if successful switch is fixed-wing offline mode, 200 ability of the first controller is according to control instruction execution and admittedly
Determine the relevant yaw of wing offline mode or roll or pitching or maintain the flying vehicles controls operation such as current state flight.Pass through this side
Formula, it is ensured that aircraft can control the skyborne flight attitude of aircraft with fixed-wing offline mode, to ensure aircraft in sky
In in the flight course that need not rise or fall flying quality raising.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or system institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of aircraft, the aircraft includes body, the rotor set on the body and fixed-wing and flying vehicles control
System, which is characterized in that the flight control system includes the first controller and second controller, and the rotor includes blade
With the power reclining device being sequentially connected with the blade, the second controller connect with first controller communication and
It is electrically connected with the power reclining device, wherein：
First controller, for receive elevating control instruction and the aircraft be in fixed-wing offline mode when, send out
First object is sent to vert to instruct to the second controller；According to elevating control instruction control the aircraft rise or under
Drop；
The second controller verts instruction for receiving the first object, and is verted instruction control according to the first object
The power reclining device operation is made, the aircraft is made to be switched to rotor flying pattern；
The power reclining device for being run under the control of the second controller, is inclined with the blade for driving the rotor
Turn.
2. aircraft as described in claim 1, which is characterized in that first controller is additionally operable to be controlled according to the lifting
System instruction determines the target flight height of the aircraft, and obtains the current flying height of the aircraft；When described current
Flying height when reaching the target flight height, send the second target and vert instruction to the second controller；
The second controller is additionally operable to receive second target and verts instruction, and is verted instruction according to second target
The power reclining device is controlled to run, the aircraft is made to be switched to fixed-wing offline mode.
3. aircraft as described in claim 1, which is characterized in that first controller is additionally operable to receive yaw or roll
Or pitching control instruction when, judge the aircraft whether in rotor flying pattern；It verts if so, sending third target
It instructs to the second controller；The operation of the aircraft is controlled according to the yaw or the control instruction of roll or pitching；
The second controller is additionally operable to receive the third target and verts instruction, and is verted instruction control according to the third target
The power reclining device operation is made, the blade to be driven to vert, the aircraft is made to be switched to fixed-wing offline mode.
4. aircraft as claimed any one in claims 1 to 3, which is characterized in that first controller is additionally operable to sending out
The first object is sent to vert instruction or second target verts instruction or the third target is verted before instruction, is transmitted across
It crosses to vert and instruct to the second controller；It is equal to transition tilt angle for the first tilt angle in the judging result received
When, the current flight speed of the aircraft is obtained, and when the current flight speed is equal to pre-set flight speed, described in transmission
Instruction that first object verts instruction or second target is verted or the third target vert instruction to the second controller；
The second controller is additionally operable to receive the transition and verts instruction, and verted described in instruction control according to the transition
Power reclining device is run；The first current tilt angle of the blade is obtained, judges whether first tilt angle is equal to
Transition tilt angle, and will determine that result feeds back to first controller.
A kind of 5. flying vehicles control method, based on aircraft according to any one of claims 1 to 4, which is characterized in that institute
Flying vehicles control method is stated to include the following steps：
When the first controller receives elevating control instruction and the aircraft is in fixed-wing offline mode, first is sent
Target, which is verted, to be instructed to second controller；
The second controller receives the first object and verts instruction, and described in being verted according to the first object and instructing control
Power reclining device is run, and is verted with the blade for driving rotor, the aircraft is made to be switched to rotor flying pattern；
First controller controls the aircraft to rise or fall according to elevating control instruction.
6. flying vehicles control method as claimed in claim 5, which is characterized in that first controller is controlled according to the lifting
After the step of system instruction controls the aircraft to rise or fall, further include：
First controller instructs the target flight height for determining the aircraft according to the elevating control, and described in acquisition
The current flying height of aircraft；
When the current flying height reaches the target flight height, first controller sends the second target and verts
It instructs to the second controller；
The second controller receives second target and verts instruction, and described in being verted according to second target and instructing control
Power reclining device is run, and the blade to be driven to vert, the aircraft is made to be switched to fixed-wing offline mode.
7. flying vehicles control method as claimed in claim 5, which is characterized in that the flying vehicles control method further includes：
When first controller receives the control instruction of yaw or roll or pitching, judge the aircraft whether in rotation
Wing offline mode；
If so, the first controller transmission third target is verted and is instructed to the second controller；
The second controller receives the third target and verts instruction, and described in being verted according to the third target and instructing control
Power reclining device is run, and the blade to be driven to vert, the aircraft is made to be switched to fixed-wing offline mode；
First controller controls the operation of the aircraft according to the yaw or the control instruction of roll or pitching.
8. the flying vehicles control method as described in any one of claim 5 to 7, which is characterized in that the first controller hair
Send that first object verts instruction or the second target verts instruction or the step of third target verts instruction to the second controller
Before, it further includes：
The first controller transmission transition, which is verted, to be instructed to the second controller；
The second controller receives the transition and verts instruction, and is verted according to the transition instruction control power that verts
Device is run；
The second controller obtains the first current tilt angle of the blade；
The second controller judges whether first tilt angle is equal to transition tilt angle, and will determine that result is fed back to
First controller；
When the judging result is when being, the first controller obtains the current flight speed of the aircraft；
When the current flight speed is equal to pre-set flight speed, first controller sends the first object and verts finger
It enables or second target verts instruction or third target verts instruction to the second controller.
9. flying vehicles control method as claimed in claim 8, which is characterized in that the flying vehicles control method further includes：
When first tilt angle is less than the pre-set flight equal to the transition tilt angle and the current flight speed
During speed, first controller controls the aircraft Accelerating running.
10. such as claim 5 to 7 any one of them flying vehicles control method, which is characterized in that the second controller receives
The first object verts instruction, and the power reclining device is controlled to run according to first object instruction of verting, to drive
After the step of blade of dynamic rotor verts, the aircraft is made to be switched to rotor flying pattern, further include：
The second controller obtains the second current tilt angle of the blade；
The second controller judges whether the rotor flying pattern switches successfully according to second tilt angle, and will sentence
Disconnected result feeds back to first controller；
When first controller receives the judging result to switch successfully, then first controller is performed according to institute
State the step of elevating control instruction controls the aircraft to rise or fall.
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| CN106114854A (en) * | 2016-08-09 | 2016-11-16 | 烟台中飞海装科技有限公司 | A kind of push-button aircraft |
| CN106882370A (en) * | 2017-03-10 | 2017-06-23 | 佛山市神风航空科技有限公司 | One kind combination aircraft and its landing mode |
| CN106828915A (en) * | 2017-03-15 | 2017-06-13 | 西北工业大学 | A kind of tilted propeller can VTOL high-speed aircraft and its flight control method |
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