CN112124631A - Adaptive stepping control method, control device and storage medium - Google Patents
Adaptive stepping control method, control device and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a self-adaptive stepping control method, a control device and a storage medium, wherein the self-adaptive stepping control method receives a control force instruction of a controller and compares the control force instruction with a plurality of trigger threshold values to generate a plurality of comparison values, judges a control force gear according to the comparison values to generate a gear state value, calculates corresponding mapping characteristic quantities according to the gear state values of control channels, obtains a mapping value through a mapping table according to the mapping characteristic quantities, and determines a control gear according to the mapping value. The method realizes the control of the aircraft by automatically selecting different gear control forces, utilizes the cooperative work of a plurality of control forces to achieve the control method of the prior aircraft with higher precision, and solves the problem that the time-sharing segmented control method in the flight task of the aircraft in the prior art has low precision because of adopting a single control force.
Description
Technical Field
The application belongs to the technical field of aerospace, and particularly relates to a self-adaptive stepping control method, a self-adaptive stepping control device and a storage medium.
Background
With the diversification of the scene requirements of commercial aerospace aircrafts, the development of commercial aerospace puts higher requirements on the cost reduction of the carrier rocket, and compared with an expensive flexible nozzle, the low-cost attitude control nozzle is more widely applied. Due to the factors of large mass characteristic change, engine interference, high-precision control requirement before release and the like in the flying process of the rocket aircraft, the conventional method is to configure attitude control spray pipes with various different control forces or construct different control forces by utilizing a plurality of attitude control spray pipes with the same thrust so as to meet the requirement of diversified control forces of the rocket.
The control design provided with a plurality of gear control forces is often controlled by time-sharing segmentation, namely, the flight segments are divided according to rocket characteristics, and a proper control force is selected in each flight segment to design a control system, but the control method adopting a single control force is difficult to meet the requirements of interference resistance, quick response, high precision and the like in the stages of an engine working segment, a large-angle attitude adjusting segment and the like, so that a control method capable of providing a plurality of control forces to work simultaneously to meet the higher-precision control requirement of the existing aircraft is urgently needed.
Disclosure of Invention
The invention provides a self-adaptive stepping control method, a control device and a storage medium, and aims to solve the problem that the control precision is low due to the adoption of a single control force in a time-sharing sectional control method in an aircraft flight task in the prior art.
According to a first aspect of embodiments of the present application, there is provided an adaptive stepping control method, including the steps of:
receiving a control force instruction of a controller in a control channel and comparing the control force instruction with a plurality of trigger threshold values to generate a plurality of comparison values;
judging the control force gear according to the comparison values to generate a gear state value;
calculating to obtain corresponding mapping characteristic quantity according to the gear state value of each control channel;
obtaining a mapping value through a mapping table according to the mapping characteristic quantity;
and determining a control gear according to the mapping value.
According to a second aspect of the embodiments of the present application, there is provided an adaptive stepping control apparatus, specifically including:
the triggers are used for receiving the control force instruction of the controller and comparing the control force instruction with a threshold value to generate a comparison value;
the gear judger is used for judging the gear of the control force according to the plurality of comparison values to generate a gear state value;
the mapping characteristic quantity calculation module is used for calculating to obtain corresponding mapping characteristic quantities according to the gear state values of the control channels;
the mapping table is used for obtaining a mapping value according to the mapping characteristic quantity;
and the gear control module is used for determining a control gear according to the mapping value.
According to a third aspect of embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the adaptive stepping control method.
By adopting the adaptive stepping control method, the adaptive stepping control device and the storage medium in the embodiment of the application, the control force instruction of the controller is received and compared with the trigger threshold values to generate a plurality of comparison values, the control force gear is judged according to the comparison values to generate the gear state value, the corresponding mapping characteristic quantity is obtained by calculation according to the gear state value of each control channel, the mapping value is obtained through the mapping table according to the mapping characteristic quantity, and the control gear is determined according to the switching instruction of the mapping value. The control method realizes the control of the aircraft by automatically selecting different gear control forces and achieves the higher precision control requirement of the existing aircraft by utilizing the cooperative work of various control forces. In the prior art, a time-sharing segmented control method in an aircraft flight task has the problem of low control precision due to the adoption of a single control force.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart illustrating steps of an adaptive gearshift control method according to an embodiment of the present application;
a schematic structural diagram of a flip-flop according to an embodiment of the present application is shown in fig. 2;
FIG. 3 is a flowchart showing the operation of the shift position determiner according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of an adaptive stepping control apparatus according to an embodiment of the present application;
fig. 5 is a composite control block diagram of an adaptive stepping control apparatus according to another embodiment of the present application.
Detailed Description
In the process of implementing the application, the inventor finds that under the conditions of large quality characteristic change, engine interference, high-precision control requirement before release and the like in the flying process of the rocket aircraft, a method for determining a control force by dividing flying sections according to the characteristics of the rocket is generally adopted, namely, a proper control force is selected in each flying section to carry out control system design, but the control method adopting single control force is difficult to give consideration to the requirements of interference resistance, quick response, high precision and the like in the working sections of the engine, the large-angle attitude adjusting section and the like, so that a control method capable of providing multiple control forces and achieving the higher-precision control requirement of the existing aircraft is urgently needed.
In view of the foregoing problems, embodiments of the present application provide a self-adaptive stepping control method, a control device, and a storage medium, where a control force instruction of a controller is received and compared with a plurality of trigger threshold values to generate a plurality of comparison values, a control force gear is determined according to the plurality of comparison values to generate a gear state value, a corresponding mapping characteristic quantity is calculated according to the gear state value of each control channel, a mapping value is obtained according to the mapping characteristic quantity through a mapping table, and a gear control switch is generated according to the mapping value. The control method realizes the control of the aircraft by automatically selecting different gear control forces and achieves the higher precision control requirement of the existing aircraft by utilizing the cooperative work of various control forces. In the prior art, a time-sharing segmented control method in an aircraft flight task has the problem of low control precision due to the adoption of a single control force.
In the technical scheme, the control force gears can be adaptively switched according to the control quantity, and various control forces are utilized to work cooperatively. The problem that the requirements of anti-interference, quick response and high-precision flight task cannot be met by adopting single control force is also solved.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1
A flow chart of the steps of an adaptive gearshift control method according to an embodiment of the application is shown in fig. 1. As shown in fig. 1, the adaptive stepping control method of the present embodiment specifically includes the following steps:
s101: and receiving a control force command of the controller and comparing the control force command with a plurality of trigger threshold values to obtain a plurality of comparison values.
S102: and judging the control force gear according to the comparison values to obtain a gear state value.
S103: and calculating to obtain corresponding mapping characteristic quantity according to the gear state value of each control channel.
S104: and obtaining a mapping value through a mapping table according to the mapping characteristic quantity.
S105: and determining a control gear according to the mapping value.
The adaptive gear-shifting control method of the embodiment of the application mainly calculates corresponding control force gears according to the magnitude of the control quantity, and mainly comprises a plurality of triggers connected in parallel and a gear judger. Different trigger threshold triggers are adopted to represent different control force gears, a plurality of triggers with different trigger threshold values are connected in parallel, when a control quantity passes through the triggers, three output states of-k, 0 and k can be generated according to the relative size relation between the control quantity and the trigger threshold, wherein k is a gear value corresponding to the triggers, the output state of each trigger is judged and calculated by a gear judging device, and the highest triggered gear value is used as the current control force gear.
A schematic structural diagram of a flip-flop according to an embodiment of the present application is shown in fig. 2;
specifically, in S101, each control channel includes a plurality of parallel flip-flops therein.
As shown in fig. 2, the switching formula of each flip-flop is:
wherein, KiRepresenting the output of the current control beat trigger as a comparison value, Ki-1Represents the output quantity of the previous control beat trigger, u is the input quantity, uotIs a trigger threshold value.
The triggering threshold value is set according to the configuration condition of the control force of the attitude control spray pipe and the requirement of control precision, and meanwhile, in order to ensure that the same controller can still be stably controlled under different gears, the configuration of the triggering threshold value and the control force of the corresponding gear are in a certain proportional relation.
Specifically, the corresponding trigger threshold is determined according to the control force magnitudes of the preset different control force gears, and the determination rule is as follows:
wherein u isot1Is a first flip-flop threshold value, uotiIs the ith flip-flop threshold value, p1Control force of gear for first gear control force, piThe control force of the ith gear control force gear is adopted.
Wherein λ is a proportionality coefficient, and is selected according to a controller amplitude margin, and preferably, the value of λ is between 0.7 and 1.3.
Specifically, in S102, the control force gear position is determined according to the comparison values to obtain a gear position state value, which specifically includes the following determination rules:
receiving the comparison value K corresponding to each triggerc1、Kc2…Kci…Kcimax(ii) a Wherein i is the number of each trigger, and is more than or equal to 1 and less than or equal to imax; imax is the number of flip-flops;
from KcimaxAt the beginning, the comparison values K of the triggers are sequentially compared from large to small in the sequence of numbersciComparing with 0;
at KciWhen not equal to 0, the gear state value is made equal to Kci。
Further, fig. 3 shows a flowchart of the operation of the gear position determiner according to the embodiment of the present application.
The gear position determiner is used for determining the maximum gear position value triggered currently, and as shown in fig. 3, after the gear position determination is started, the gear position determiner receives output comparison values K of a plurality of parallel triggersc1、Kc2、...、Kcimax(ii) a Setting the maximum number of the circulating judgment triggers to be i, and when i is the highest in sequenceSequentially judging output comparison value K corresponding to the ith trigger when the large value is reducedciIn the comparison process until the judgment of KciWhen 0, the value K is determinedciMeanwhile, when the last to the first flip-flop are sequentially judged, it is determined that the value K is 0. Finally, the maximum value K is selectedciAnd judging the gear state value for the gear.
In this embodiment, the pitch control channel is provided with p triggers in parallel, so that the maximum value of i in the pitch control channel is p, and the correspondingly obtained gear state value is p
Q triggers are arranged in parallel in the yaw control channel, the maximum value of i in the yaw control channel is q, and the correspondingly obtained gear state value is Kψ(ii) a R triggers are arranged in parallel in the rolling control channel, the maximum value of i in the rolling control channel is r, and the correspondingly obtained gear state value is Kγ。
Specifically, in S103, each control channel includes a pitch control channel, a yaw control channel, and a roll control channel. The specific calculation formula of the corresponding mapping characteristic quantity is calculated according to the gear state value of each control channel and is as follows:
θ＝(Kγ+r)·(2q+1)·(2p+1)+(Kψ+q)·(2p+1)+(Kφ+p)
where θ is a mapping feature quantity, Kγ、Kψ、
The three channels of the pitching control channel, the yawing control channel and the rolling control channel are respectively provided with p, q and r gears, namely the corresponding pitching control channel is provided with p triggers in parallel, the yawing control channel is provided with q triggers in parallel, and the rolling control channel is provided with r triggers in parallel.
Further, in S104, a mapping value is obtained through a mapping table according to the mapping feature quantity. Specifically, the mapping characteristic quantity is used as a mapping table row number to determine a mapping row in a mapping table; and mapping the mapping values in one row of the corresponding mapping table according to the row number of the mapping table. And the attitude control spray pipe switch instruction in the mapping row is a mapping value.
In S105, the switch command is controlled according to the generated range including the map value.
Specifically, the control instruction mapping function of the mapping table is to map the gear state values generated by the control quantities of the three channels of pitch, yaw and roll to attitude control nozzle switching instructions on the level of the executing mechanism. The mapping table is a two-dimensional number table, and each row stores attitude control spray pipe switch instructions corresponding to three channel control force gear state values; the mapping characteristic quantity theta represents the line number of the gear state values of the three channel control forces in the mapping table, and can be quickly mapped to the switch command of each attitude control spray pipe.
Specifically, different gear state values in the mapping table and corresponding attitude control spray pipe switch instructions are stacked according to rows, and the mapping table data stacking rule is as follows: different gear state values are horizontally stacked in sequence from negative to positive in sequence according to the sequence of the pitch channel, the yaw channel and the roll channel.
Table 1 is an example mapping table compilation, and the mapping table data is stacked as follows:
wherein, Kγ、Kψ、
Gear state values of a rolling control channel, a yawing control channel and a pitching control channel are respectively provided, and the pitching control channel, the yawing control channel and the rolling control channel are respectively provided with p, q and r gears, Jet1、Jet2、JetmThe command of the attitude control spray pipe is provided.
Example 2
Fig. 4 is a schematic structural diagram of an adaptive stepping control apparatus according to an embodiment of the present application.
As shown in fig. 4, the adaptive stepping control apparatus specifically includes:
and a plurality of triggers 10 for receiving the control force command of the controller and comparing the command with a threshold value to obtain a comparison value.
And a gear position judger 20 for judging the gear position of the control force according to the plurality of comparison values to obtain a gear position state value.
And the mapping characteristic quantity calculating module 30 is used for calculating and obtaining corresponding mapping characteristic quantities according to the gear state values of the control channels.
And the mapping table module 40 is used for obtaining a mapping value according to the mapping characteristic quantity.
And the gear control module 50 is used for determining a control gear according to the switch command of the mapping value.
Specifically, the method further comprises the steps of determining a trigger threshold value and determining a gear control force corresponding to a trigger in a trigger design stage; the control force of different control force gears is predetermined; determining corresponding trigger thresholds according to the preset control force sizes of different control force gears, wherein the determination rule is as follows:
wherein u isot1Is a first flip-flop threshold value, uotiIs the ith flip-flop threshold value, p1Control force of gear for first gear control force, piThe control force of the ith gear control force gear is obtained, the lambda is a proportionality coefficient, and the value of the lambda is between 0.7 and 1.3.
Specifically, a plurality of flip-flops 10 are connected in parallel.
Specifically, the gear position determiner 20 includes:
a receiving unit for receiving comparison values K of i flip-flopsc1、Kc2…Kci…Kcimax(ii) a Wherein i is the number of each trigger, and is more than or equal to 1 and less than or equal to imax; imax is the number of flip-flops;
a comparison unit for comparing KcimaxAt the beginning, the comparison values K of the triggers are sequentially compared from large to small in the sequence of numbersciComparing with 0;
a gear determination unit for determining the gear at KciWhen not equal to 0, determining the gear state value as Kci。
Specifically, the mapping feature quantity calculating module 40 specifically includes the following calculation formula:
θ＝(Kγ+r)·(2q+1)·(2p+1)+(Kψ+q)·(2p+1)+(Kφ+p)
where θ is a mapping feature quantity, Kγ、Kψ、
The gear state values of the pitch control channel, the yaw control channel and the pitch control channel are respectively the gear state values of the pitch control channel, the yaw control channel and the roll control channel, the pitch control channel, the yaw control channel and the roll control channel are respectively provided with p gears, q gears and r gears, namely the pitch control channel, the yaw control channel and the roll control channel respectively comprise p triggers, q triggers and r triggers which are connected in parallel.
Fig. 5 is a composite control block diagram of an adaptive stepping control apparatus according to another embodiment of the present application.
As shown in fig. 5, the adaptive gearshift control apparatus according to the embodiment of the present application employs adaptive gearshift control in a multi-stage control force gear. The method mainly comprises two functions, namely a self-adaptive grading function based on trigger parallel connection, and a control instruction mapping function. Firstly, the control quantity generates gear state quantity through a parallel trigger, and then the switching instruction of each attitude control spray pipe is obtained through an instruction mapping function, specifically:
firstly, controllers of a pitch control channel, a yaw control channel and a roll control channel respectively send out a pitch control force command uφYaw control force command uψAnd a roll control force command uγ；
Secondly, a trigger assembly formed by connecting a plurality of triggers 10 in parallel in each control channel compares the control force instruction with a trigger threshold value to generate a comparison value corresponding to the plurality of triggers. P triggers are arranged in the pitching control channel in parallel, and p comparison values are generated in the pitching control channel; q triggers are arranged in parallel in the yaw control channel, and q comparison values are generated in the yaw control channel; r triggers are arranged in the rolling control channel in parallel, and then r comparison values are generated in the rolling control channel.
Then, the comparison values of the plurality of triggers 10 in each control channel are judged by the shift position judger 20MAX to generate the shift position state value. The three channels of the pitching control channel, the yawing control channel and the rolling control channel respectively generate three gear state values
KψAnd Kγ；
Then, the mapping characteristic amount calculation module 30 calculates a corresponding mapping characteristic amount according to the shift state value of each control channel.
Finally, the mapping table module 40 obtains a mapping value Jet according to the mapping characteristic quantity1、Jet2、Jet3、....Jetm. And (4) taking the mapping characteristic quantity as a line number, searching the switch instruction of each attitude control spray pipe in the mapping table, and sending the instruction to the attitude control spray pipe for execution. Switch command Jet of mapping value1、Jet2、Jet3、....JetmAnd finally, determining a control gear of the aircraft attitude control spray pipe.
The self-adaptive stepping control method and the self-adaptive stepping control device in the embodiment of the application realize self-adaptive stepping control under multi-level control force gears, can switch the control force gears according to the size of the control force demand in the rocket flight process, simultaneously do not need to design an independent controller for each gear, simplify the design, avoid oscillation caused by switching of the controller, and improve the anti-interference capability and the control precision in the flight process. The method has simple flow and easy realization, and can be widely applied to various grading designs.
The adaptive stepping control method and the control device in the embodiment of the application adopt a mode that a plurality of triggers are connected in parallel with a gear judger to perform adaptive switching of multiple gears, can realize stable switching of multiple gears under one controller, and are simple and easy to realize.
The adaptive stepping control method and the mapping table compiled by the protocol in the control device in the embodiment of the application can be mapped to each attitude control spray pipe instruction by only one simple calculation command.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which is executed by a processor to implement the adaptive stepping control method as provided in any one of the above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (14)
1. An adaptive gear-shifting control method is characterized by comprising the following steps:
receiving a control force instruction of a controller in a control channel and comparing the control force instruction with a plurality of trigger threshold values to obtain a plurality of comparison values;
judging the control force gear according to the comparison values to obtain a gear state value;
calculating to obtain corresponding mapping characteristic quantity according to the gear state value of each control channel;
obtaining a mapping value through a mapping table according to the mapping characteristic quantity;
and determining a control gear according to the mapping value.
2. The adaptive gearshift control method according to claim 1, further comprising: determining corresponding trigger thresholds according to the preset control force sizes of different control force gears, wherein the determination rule is as follows:
wherein u isot1Is a first flip-flop threshold value, uotiIs the ith flip-flop threshold value, p1Control force of gear for first gear control force, piThe control force of the ith gear control force gear is lambda, and the lambda is a proportionality coefficient.
3. The adaptive stepping control method according to claim 2, wherein λ is between 0.7 and 1.3.
4. The adaptive gearshift control method according to claim 1, wherein the receiving a control force command from a controller in the control channel and comparing the control force command with a plurality of trigger threshold values to obtain a plurality of comparison values specifically comprises:
wherein, KiRepresenting the comparison value of the flip-flop, u being the input quantity, uotIs a trigger threshold value.
5. The adaptive gear shifting control method according to claim 1, wherein the gear state value is obtained by performing control force gear determination according to the comparison values, and specifically includes the following determination rules:
receiving the comparison value K corresponding to each triggerc1、Kc2…Kci…Kcimax(ii) a Wherein i is the number of each trigger, and is more than or equal to 1 and less than or equal to imax; imax is the number of flip-flops;
from KcimaxAt the beginning, the triggers are sequentially triggered from large to small in the sequence of numbersComparison value K of the comparatorciComparing with 0;
at KciWhen not equal to 0, the gear state value is made equal to Kci。
6. The adaptive gearshift control method of claim 1, wherein the control channels include a pitch control channel, a yaw control channel, and a roll control channel.
7. The adaptive gear shifting control method according to claim 1, wherein the corresponding mapping characteristic quantity is obtained by calculation according to the gear state value of each control channel, and the specific calculation formula is as follows:
θ＝(Kγ+r)·(2q+1)·(2p+1)+(Kψ+q)·(2p+1)+(Kφ+p)
where θ is a mapping feature quantity, Kγ、Kψ、
The three channels of the pitching control channel, the yawing control channel and the rolling control channel are respectively provided with p, q and r gears.
8. The adaptive stepping control method according to claim 1, wherein obtaining a mapping value from a mapping table according to the mapping feature quantity specifically includes:
taking the mapping characteristic quantity as a mapping table row number;
and mapping the mapping values in one row of the corresponding mapping table according to the row number of the mapping table.
9. An adaptive stepping control device is characterized by specifically comprising:
the triggers are used for receiving a control force instruction of the controller in the control channel and comparing the control force instruction with a threshold value to obtain a comparison value;
the gear judger is used for judging the gear of the control force according to the plurality of comparison values to obtain a gear state value;
the mapping characteristic quantity calculation module is used for calculating to obtain corresponding mapping characteristic quantities according to the gear state values of the control channels;
the mapping table module is used for obtaining a mapping value according to the mapping characteristic quantity;
and the gear control module is used for determining a control gear according to the mapping value.
10. The adaptive stepping control device according to claim 8, wherein the trigger threshold is determined by:
wherein u isot1Is a first flip-flop threshold value, uotiIs the ith flip-flop threshold value, p1Control force for the i-th control force gear, piThe control force of the first gear control force gear is shown, and lambda is a proportionality coefficient.
11. The adaptive gearshift control according to claim 8, wherein the gear determiner specifically includes:
a receiving unit for receiving comparison values K of i flip-flopsc1、Kc2…Kci…Kcimax(ii) a Wherein i is the number of each trigger, and is more than or equal to 1 and less than or equal to imax; imax is the number of flip-flops;
a comparison unit for comparing KcimaxAt the beginning, the comparison values K of the triggers are sequentially compared from large to small in the sequence of numbersciComparing with 0;
a gear determination unit for determining the gear at KciWhen not equal to 0, determining the gear state value as Kci。
12. The adaptive stepping control device of claim 8, wherein each of said control channels comprises a pitch control channel, a yaw control channel, and a roll control channel, said pitch control channel, yaw control channel, and roll control channel comprising p, q, and r triggers connected in parallel, respectively.
13. The adaptive stepping control device according to claim 8, wherein the mapping feature quantity calculation module specifically includes the following calculation formula:
θ＝(Kγ+r)·(2q+1)·(2p+1)+(Kψ+q)·(2p+1)+(Kφ+p)
where θ is a mapping feature quantity, Kγ、Kψ、
The gear state values of the rolling control channel, the yaw control channel and the pitching control channel are respectively, and the pitching control channel, the yaw control channel and the rolling control channel are respectively provided with p gears, q gears and r gears.
14. A computer-readable storage medium, having stored thereon a computer program; the computer program is executed by a processor to implement the adaptive stepping control method according to any one of claims 1 to 7.
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