CN114056548A - Method and device for controlling propeller pitch of aerocar and aerocar - Google Patents
Method and device for controlling propeller pitch of aerocar and aerocar Download PDFInfo
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- CN114056548A CN114056548A CN202111550989.XA CN202111550989A CN114056548A CN 114056548 A CN114056548 A CN 114056548A CN 202111550989 A CN202111550989 A CN 202111550989A CN 114056548 A CN114056548 A CN 114056548A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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Abstract
The application discloses propeller pitch control method and device of hovercar and hovercar, this hovercar includes flight control ware, at least one variable pitch controller and a plurality of steering wheel, and this method includes: the flight controller sends the pitch information to the pitch controller, and the pitch controller determines the displacement information of each steering engine according to the pitch information; respectively sending the displacement information to corresponding steering engines through each communication channel so that the steering engines determine target displacement information according to the displacement information and move according to the target displacement information to control the blades of the hovercar to move; wherein, be equipped with two at least communication channel between displacement controller and the steering wheel. Because at least two communication channels are arranged between the variable-pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that the control fails due to the fact that a single communication channel breaks down is effectively avoided, and the reliability and safety of flight are improved.
Description
Technical Field
The application relates to the technical field of aerocars, in particular to a method and a device for controlling a propeller pitch of an aerocar and the aerocar.
Background
The automobile is one of important transportation means in modern society, and road congestion is increasingly serious along with the increase of the automobile holding capacity; the flying car, as a new type of transportation means capable of flying in the air and traveling on the land, becomes one of the breakthrough for solving the problem.
At present, the power system of the existing aerocar mainly adopts two modes of a multi-rotor and a tilt rotor; wherein the multiple rotors are distributed power systems that provide upward lift through the multiple rotors; and the tilting rotor wing is a power system which integrates the advantages of the fixed wing and the helicopter. When the pitch is adjusted, the control signals are directly sent to the steering engine mainly through the flight controller serving as the main control unit so as to control the steering engine, and therefore the pitch is adjusted. However, pitching in the above manner has at least the following problems: the problem that the steering engine cannot be controlled due to the fact that single-point faults are prone to occurring in the process that the flight controller sends the control signals to the steering engine.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for controlling a pitch of a flying vehicle, and a flying vehicle, so as to improve the above problems.
In a first aspect, the embodiment of the application provides a method for controlling a pitch of a flying automobile, wherein the flying automobile comprises a flying controller, at least one pitch controller and a plurality of steering engines; the method comprises the following steps: the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the variable pitch controller; the variable pitch controller determines displacement information of each steering engine according to the pitch information and sends the displacement information to the corresponding steering engine through at least two communication channels; and the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information to control the blade movement of the aerocar.
In a second aspect, the embodiment of the present application further provides another method for controlling a pitch of a flying vehicle, where the flying vehicle includes a pitch controller and multiple steering engines connected to the pitch controller, and at least two communication channels are provided between the pitch controller and the steering engines, and the method is applied to the pitch controller, and the method includes: receiving pitch information; determining displacement information of each steering engine according to the pitch information; and respectively sending the displacement information to corresponding steering engines through each communication channel so that the steering engines determine target displacement information according to the displacement information and move according to the target displacement information to control the blade movement of the aerocar.
In a third aspect, an embodiment of the present application further provides a pitch control device of a flying vehicle, where the flying vehicle includes a pitch controller and a plurality of steering engines connected to the pitch controller, at least two communication channels are provided between the pitch controller and the steering engines, the device is applied to the pitch controller, and the device includes: the pitch information receiving module is used for receiving pitch information; the displacement information acquisition module is used for determining the displacement information of each steering engine according to the pitch information; and the steering engine control module is used for sending the displacement information to corresponding steering engines through each communication channel so that the steering engines determine target displacement information according to the displacement information and move according to the target displacement information to control the blade movement of the flying automobile.
In a fourth aspect, an embodiment of the present application further provides a flying automobile, where the flying automobile includes: the flight controller is used for acquiring pitch information according to the received flight control instruction; the variable-pitch controller is connected with the flight controller and used for determining displacement information of the steering engine according to the pitch information and sending the displacement information to the corresponding steering engine through at least two communication channels; and the steering engines are connected with the variable-pitch controller and used for determining target displacement information according to the displacement information and moving according to the target displacement information to control the blade motion of the flying automobile.
According to the technical scheme provided by the invention, the displacement information is determined by the variable-pitch controller according to the pitch information, and the displacement information is sent to the steering engine through at least two communication channels, so that the steering engine determines the target displacement information and moves to control the motion of blades of the flying automobile, the pitch of the flying automobile is adjusted, and the adjustment of the flying attitude of the flying automobile is further realized. Because at least two communication channels are arranged between the variable-pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that the control fails due to the fact that a single communication channel breaks down is effectively solved, and therefore the reliability and the safety of the flying automobile are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments, not all embodiments, of the present application. All other embodiments and drawings obtained by a person skilled in the art based on the embodiments of the present application without any inventive step are within the scope of the present invention.
Fig. 1 is a schematic diagram illustrating an application environment according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of an aircraft according to an embodiment of the present application.
Fig. 3 shows a schematic structural diagram of another flying automobile blade according to an embodiment of the present application.
Fig. 4 is an enlarged view at E in fig. 3.
Fig. 5 shows a flow chart of a method for controlling the pitch of an aerocar according to an embodiment of the present application.
FIG. 6 is a flow chart illustrating another method for controlling the pitch of an aircraft according to an embodiment of the present application.
Fig. 7 shows a block diagram of a pitch control device of an aircraft according to an embodiment of the present application.
Fig. 8 shows a block diagram of a flying car according to an embodiment of the present application.
Fig. 9 shows a block diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In the related art, when the pitch of an existing flying automobile is adjusted, a control signal is directly sent to a steering engine through a flying controller serving as a main control unit to control the steering engine, so that the pitch of the existing flying automobile is adjusted. However, the inventor finds that in the process of sending a control signal to the steering engine by the flight controller, a single-point fault is easy to occur, so that the steering engine cannot be controlled.
In order to solve the above problems, the inventor provides a method and a device for controlling the pitch of the hovercar and the hovercar, the displacement information is determined by the pitch controller according to the pitch information, and the displacement information is sent to the steering engine through at least two communication channels, so that the steering engine determines the target displacement information and moves to control the motion of blades of the hovercar, the pitch of the hovercar is adjusted, and the flight attitude of the hovercar is adjusted. Because at least two communication channels are arranged between the variable-pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that a single communication channel fails to cause control failure is effectively avoided, namely, the problem that a single-point fault fails is effectively avoided, and the reliability and safety of flight are improved.
The following description is provided in terms of an application environment of a method for controlling a pitch of a flying vehicle according to an embodiment of the present invention:
referring to fig. 1, the method for controlling the pitch of a flying vehicle according to the embodiment of the present invention may be applied to a flying vehicle a, where the flying vehicle a includes a flying controller B, a steering engine C, and at least one pitch controller D, and each pitch controller D is in communication connection with the flying controller B and the corresponding steering engine C, respectively, so as to perform information interaction; flight controller B may be referred to as fcu (flight Control unit), or flight Control cpu (central processing unit), among others. In this environment, the flying vehicle may execute the method for controlling the pitch of the flying vehicle according to the embodiment of the present application.
In the embodiment of this application, the quantity of hovercar A's pitch controller D is confirmed according to hovercar's rotor quantity, specifically, hovercar A's pitch controller D's quantity equals hovercar A's rotor quantity, and every pitch controller D with three steering wheel C is connected. Exemplarily, if the hovercar A is N rotors, the hovercar A is correspondingly provided with N variable pitch controllers D, and each variable pitch controller D is connected with 3 steering engines. Of course, the present application is not limited to each pitch controller D being connected to three steering engines C, and the number of the steering engines C connected to one pitch controller D may be other.
In some embodiments, the hovercar a is provided with at least one pitch controller D. Each pitch controller D may be connected to three steering engines C. Optionally, when the hovercar a is a single-rotor hovercar, the hovercar may be provided with a pitch controller D and three steering engines C. Optionally, when the hovercar A is a dual-rotor hovercar, the hovercar A can be provided with two variable-pitch controllers D and six steering engines C, and each variable-pitch controller D is connected with three steering engines C. Optionally, when the hovercar a is a three-rotor hovercar, the hovercar a may be provided with three pitch controllers D and nine steering engines C.
Exemplarily, as shown in fig. 1, a flying vehicle a including one flight controller B, two pitch controllers D, and six steering engines C is provided, wherein the flight controller B is respectively connected with the two pitch controllers D, and each pitch controller D is respectively connected with corresponding three steering engines C.
In some embodiments, the type of the hovercar may also be set according to actual use conditions, which is not limited in this application; illustratively, as shown in fig. 2, a transverse dual-rotor aerocar 100 is provided, the aerocar 100 includes a car body 101 and two carbon tubes 102 respectively disposed at two sides of the car body 101, one end of the carbon tube 102 is connected to the car body 101, and the other end of the carbon tube 102 is provided with an electric regulator, a motor, a rotor 103 and an automatic tilt disk 104.
In some embodiments, as shown in fig. 3 and 4, the present embodiment further provides another flying automobile 100, specifically, the flying automobile 100 further includes a first blade 105, a second blade 106, a first link 107, a second link (not shown in the drawings), and three steering engines; the three steering engines are respectively a first steering engine 108, a second steering engine 109 and a third steering engine 110; the end part of the first blade 105 is connected with the end part of the second blade 106 through a connecting piece 111, one end of a rotating shaft 112 penetrates through the automatic tilting disk 104 and is rotatably connected with the connecting piece 111, and the three steering engines are uniformly arranged on the periphery of the bottom of the automatic tilting disk 104; first link 107 and the second link are symmetrically arranged on the top periphery of automatic tilting disk 104, specifically, one end of first link 107 and one end of the second link are respectively connected to the top periphery of automatic tilting disk 104, the other end of first link 107 is connected to the end of first blade 105, and the other end of the second link is connected to the end of second blade 106. Of course, fig. 1 to 4 are only exemplary application scenarios, and the method provided in the embodiment of the present application may also be operated in other application scenarios.
Referring to fig. 5, an embodiment of the present application provides a method for controlling a pitch of a flying vehicle, which may be applied to a flying vehicle, where the flying vehicle includes a flying controller, at least one pitch controller, and a plurality of steering engines; the method can comprise the following steps: step S110 to step S130.
And step S110, the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the pitch controller.
Step S120, the variable pitch controller determines displacement information of each steering engine according to the pitch information and sends the displacement information to the corresponding steering engine through at least two communication channels;
and S130, the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information.
Specifically, in step S110, the pitch information includes collective pitch, lateral cyclic pitch, and longitudinal cyclic pitch. And the pitch information is obtained by the flight controller according to the received flight control instruction and then is sent to the pitch controller. It can be understood that the flight controller receives data output by sensors such as an IMU (Inertial Measurement Unit), an airspeed meter, and a GPS (Global Positioning System) in real time, and calculates the current attitude of the flying vehicle based on the data. When the flight attitude of the hovercar needs to be adjusted, a corresponding flight control instruction can be input, and after the flight controller receives the flight control instruction, the pitch information is obtained through a flight control algorithm according to the flight control instruction and the current attitude of the hovercar. Specifically, the flight controller determines the total pitch, the transverse periodic pitch and the longitudinal periodic pitch corresponding to each pitch controller through a flight control algorithm according to a received flight control instruction.
In some embodiments, the flight control algorithm may be a kalman filter algorithm, a flight control PID algorithm, a strapdown inertial navigation algorithm, and the like, which is not limited in the present invention.
In some embodiments, a second master communication channel and a second slave communication channel are provided between the pitch controller and the flight controller; then, the method for controlling the pitch of the flying vehicle according to the embodiment of the present application may further include:
and the pitch controller receives the pitch information sent by the flight controller through a second main communication channel and a second slave communication channel respectively.
It can be understood that, as shown in fig. 1, when two pitch controllers are provided for the flying vehicle, each pitch controller receives pitch information sent by the flying controller through the second master communication channel and the second slave communication channel.
The pitch controller of the embodiment receives the pitch information through the second main communication channel and the second slave communication channel respectively, so that the information received from the two communication channels can be backed up mutually, the problem that flight cannot be controlled due to the fact that a single communication channel fails is effectively avoided, namely, the problem of single-point failure is avoided, and reliability and safety of flight control are further improved.
In addition, it should be noted that the second master communication channel and the second slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM, and differential PWM. Preferably, the second master communication channel and the second slave communication channel both use a CAN communication protocol.
Further, in step S120, the pitch controller determines displacement information of each steering engine according to the pitch information, which may specifically include the following steps:
and S121, if the pitch controller receives pitch information sent by the flight controller through the second main communication channel, the pitch controller takes the pitch information received through the second main communication channel as target pitch information, and determines displacement information of each steering engine according to the target pitch information.
And S122, if the pitch controller receives pitch information sent by the flight controller through the second slave communication channel, determining the displacement information of the steering engine according to the pitch information target pitch information received through the second slave communication channel.
It can be understood that the pitch controller is capable of receiving pitch information sent by the flight controller through the second master communication channel and the second slave communication channel, respectively, and when both communication channels are not faulty, the pitch controller is capable of receiving both pitch information, and when either communication channel is faulty, then the information transmitted from the communication channel is lost. The pitch controller of this embodiment performs corresponding processing on the received information by using a mechanism in which the information transmitted by the second master communication channel is used as a master and the information transmitted by the second slave communication channel is used as a slave.
Specifically, when the pitch controller receives pitch information transmitted from the second main communication channel, the pitch information is used as target pitch information to determine displacement information of the steering engine according to the target pitch information, and at the moment, the pitch information transmitted from the second main communication channel is not processed; when the pitch controller does not receive pitch information transmitted by the second main communication channel but receives pitch information transmitted by the second slave communication channel, the pitch information received by the second slave communication channel is used as target pitch information; when the pitch controller does not receive the pitch information transmitted by the second main communication channel and the second slave communication channel, the pitch controller does not process the pitch information.
Preferably, in order to further improve the reliability and safety of flight control, after the flight controller sends the pitch information, when the pitch controller does not receive the pitch information transmitted by the second master communication channel and the second slave communication channel, the second master communication channel and the second slave communication channel are monitored continuously; when the monitoring time is greater than a preset first time threshold value, if the pitch controller still does not receive the pitch information transmitted from the second main communication channel and the second slave communication channel, corresponding fault information is sent to the flight controller to inform the flight controller that the pitch information is not received.
Further, in steps S121 and S122, determining displacement information of the steering engine according to the target pitch information, specifically including: and determining the displacement information of the steering engine by adopting a structure analysis algorithm of an automatic tilting disk according to the target pitch information.
As shown in fig. 4, the flying automobile further includes an automatic tilting disk, the automatic tilting disk is connected to the corresponding steering engines, in the process of actually adjusting the pitch of the flying automobile, each steering engine can be controlled by a pitch controller to move by a corresponding stroke amount, and the automatic tilting disk adjusts the tilting position by the movement of the multiple steering engines, so as to adjust the pitch of the flying automobile, thereby generating moments around and around, and realizing the adjustment of the flying attitude of the flying automobile. Therefore, when the pitch information is obtained, the displacement information of each steering engine can be determined by adopting a structure analysis algorithm of the automatic tilting disk based on the pitch information.
Further, in step S130, the pitch controller sends the displacement information to the corresponding steering engine through each communication channel, so that the steering engine determines the target displacement information according to the displacement information and moves according to the target displacement information, thereby adjusting the pitch of the hovercar and further adjusting the flight attitude. As can be understood, as shown in fig. 1 and 4, the pitch controller sends corresponding displacement information to the three steering engines through each communication channel; when the target displacement information determined by the three steering engines based on the received displacement information is different, a transverse moment or a longitudinal moment is generated, for example, when the target displacement information of the first steering engine 108 is respectively smaller than the target displacement information of the second steering engine 109 and the third steering engine 110, the whole automatic tilting disk 104 is inclined downwards towards the first steering engine 108, when the first connecting rod 107 rotates to the direction of the first steering engine 108, the first connecting rod 107 moves downwards for a certain distance, and the first paddle 105 and the second paddle 106 are driven to rotate through a transmission mechanism, so that the paddle pitch of the paddles is changed, and the moment in the direction of the first steering engine 108 is generated; when the target displacement information determined by the three steering engines is the same, the three steering engines push the automatic tilting disk 104 to integrally move upwards or downwards, and the first blade 105 and the second blade 106 rotate by the same angle to generate the change on the total distance, so that the upward lift force of the flying automobile is increased or reduced; based on this, realize the adjustment of hovercar flight attitude.
In one embodiment, the at least two communication channels between the pitch controller and the steering engine comprise: a first master communication channel and a first slave communication channel; then, in step S130, the steering engine determines target displacement information according to the displacement information, and moves according to the target displacement information, including:
step S131, if the steering engine receives displacement information through the first main communication channel, taking the displacement information received through the first main communication channel as target displacement information, and moving according to the target displacement information to control the blade movement of the aerocar;
and S132, if the steering engine receives the displacement information through the first slave communication channel, taking the displacement information received through the first slave communication channel as target displacement information, and moving according to the target displacement information to control the blade motion of the flying automobile.
It can be understood that the displacement controller can send displacement information to the steering engine through the first main communication channel and the first slave communication channel respectively, when two communication channels are not in fault, the steering engine can receive the two displacement information, and when any communication channel is in fault, the phenomenon of losing of information transmitted from the communication channel can occur. The steering engine of the embodiment adopts a mechanism that the information transmitted by the first main communication channel is taken as a main part and the information transmitted by the first auxiliary communication channel is taken as an auxiliary part to correspondingly process the received information; specifically, when the steering engine receives displacement information transmitted from the first main communication channel, the displacement information is used as target displacement information to move according to the target displacement information, and at the moment, the displacement information transmitted from the first auxiliary communication channel is not processed; when the steering engine does not receive the displacement information transmitted by the first master communication channel but receives the displacement information transmitted by the first slave communication channel, the displacement information received by the first slave communication channel is used as target displacement information; when the steering engines do not receive the displacement information transmitted by the first main communication channel and the first slave communication channel, the processing is not carried out.
Preferably, in order to further improve the reliability and safety of flight control, after the displacement information is sent by the pitch controller, when the steering engines do not receive the displacement information transmitted by the first master communication channel and the first slave communication channel, the first master communication channel and the first slave communication channel are monitored continuously; when the monitoring time is greater than a preset second time threshold value, if the steering engine still does not receive the displacement information transmitted from the first main communication channel and the first slave communication channel, corresponding fault information is sent to the variable pitch controller to inform the variable pitch controller that the displacement information is not received.
It should be noted that the first master communication channel and the first slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM and differential PWM. Preferably, the first master communication channel and the first slave communication channel both use CAN communication protocols.
According to the method for controlling the propeller pitch of the aerocar, displacement information is determined through the pitch controller according to the propeller pitch information, and the displacement information is sent to the steering engine through the at least two communication channels, so that the steering engine determines target displacement information and moves, the propeller pitch of the aerocar is adjusted, and the adjustment of the flight attitude of the aerocar is achieved. Because at least two communication channels are arranged between the variable-pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that the control fails due to the fact that a single communication channel fails is effectively avoided, namely the problem that a single point fails is effectively avoided, and therefore reliability and safety of flight are improved.
Referring to fig. 6, another method for controlling a pitch of a flying vehicle according to an embodiment of the present application includes a pitch controller and a plurality of steering engines connected to the pitch controller, where at least two communication channels are provided between the pitch controller and the steering engines. Specifically, the method may include: step S210 to step S230.
Step S210, pitch information is received.
And S220, determining the displacement information of each steering engine according to the pitch information.
And step S230, respectively sending the displacement information to corresponding steering engines through each communication channel so that the steering engines determine target displacement information according to the displacement information and move according to the target displacement information to control the blades of the hovercar to move.
Specifically, in step S210, the pitch information includes collective pitch, lateral cyclic pitch, and longitudinal cyclic pitch; and the pitch information is obtained by the flight controller according to the received flight control instruction and then is sent to the pitch controller. As can be understood, the flight controller receives data output by sensors such as an IMU (Inertial Measurement Unit), an airspeed meter, a GPS (Global Positioning System), and the like in real time, and calculates the current attitude of the flying vehicle based on the data; when the flight attitude of the hovercar needs to be adjusted, a corresponding flight control instruction can be input, and after the flight controller receives the flight control instruction, the pitch information is obtained through a flight control algorithm according to the flight control instruction and the current attitude of the hovercar. The flight control algorithm may be a kalman filter algorithm, a flight control PID algorithm, a strapdown inertial navigation algorithm, etc., which is not limited in the present invention.
Further, in step S220, determining displacement information of each steering engine according to the pitch information may specifically include the following steps:
and step S221, if pitch information sent by the flight controller is received through the second main communication channel, taking the pitch information received through the second main communication channel as target pitch information, and determining displacement information of each steering engine according to the target pitch information.
And step S222, if the pitch information sent by the flight controller is received through the second slave communication channel, determining the displacement information of the steering engine according to the pitch information target pitch information received through the second slave communication channel.
Further, in steps S221 and S222, determining displacement information of the steering engine according to the target pitch information specifically includes: and determining the displacement information of the steering engine by adopting a structure analysis algorithm of an automatic tilting disk according to the target pitch information.
In one embodiment, the at least two communication channels between the pitch controller and the steering engine comprise: a first master communication channel and a first slave communication channel; then, in step S230, the displacement information is sent to the corresponding steering engine through each channel, so that the steering engine determines the target displacement information according to the displacement information, and moves according to the target displacement information to control the movement of the blades of the hovercar, specifically including:
and S231, if the steering engine receives the displacement information through the first main communication channel, enabling the steering engine to take the displacement information received through the first main communication channel as target displacement information, and moving according to the target displacement information to control the movement of the blades of the hovercar.
And step S232, if not, enabling the steering engine to take the displacement information received through the first slave communication channel as target displacement information and moving according to the target displacement information to control the movement of the blades of the flying automobile if the steering engine receives the displacement information through the first slave communication channel.
It should be noted that, for details of the specific implementation of the method for controlling the pitch of the hovercar in this embodiment, reference may be made to specific descriptions of the specific implementation process of the pitch controller in the foregoing embodiments, and details are not described herein again.
According to the other method for controlling the propeller pitch of the hovercar, the displacement information is determined by the pitch controller based on the propeller pitch information, and the displacement information is sent to the steering engine through the at least two communication channels, so that the steering engine determines the target displacement information and moves, the propeller pitch of the hovercar is adjusted, and the flight attitude of the hovercar is adjusted. Because at least two communication channels are arranged between the variable-pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that the control fails due to the fact that a single communication channel fails is effectively avoided, namely the problem that a single point fails is effectively avoided, and therefore reliability and safety of flight are improved.
Referring to fig. 7, a propeller pitch control device 300 of a flying vehicle according to an embodiment of the present invention is shown, where the flying vehicle includes a pitch controller and a plurality of steering engines connected to the pitch controller, at least two communication channels are provided between the pitch controller and the steering engines, the propeller pitch control device 300 is applied to the pitch controller, and the propeller pitch control device 300 includes a propeller pitch information receiving module 310, a displacement information acquiring module 320, and a steering engine control module 330. Wherein:
a pitch information receiving module 310, configured to receive pitch information;
the displacement information acquisition module 320 is used for determining displacement information of the steering engine according to the pitch information;
and the steering engine control module 330 is used for sending the displacement information to corresponding steering engines through each communication channel so that the steering engines determine target displacement information according to the displacement information and move according to the target displacement information to control the blades of the hovercar to move.
In one embodiment, a second master communication channel and a second slave communication channel are arranged between the variable pitch controller and the flight controller; then the process of the first step is carried out,
the pitch information receiving module 310 is specifically configured to receive pitch information sent by the flight controller through the second master communication channel and the second slave communication channel, respectively.
The pitch information comprises a total pitch, a transverse periodic pitch and a longitudinal periodic pitch; the pitch information is obtained by the flight controller from the received flight control instructions.
The pitch information receiving module 310 of this embodiment receives pitch information through the second master communication channel and the second slave communication channel, respectively, so that information received from the two communication channels can be backed up with each other, thereby effectively avoiding the problem that flight cannot be controlled due to a single communication channel failure, i.e., avoiding the problem of single-point failure, and further improving reliability and safety of flight control.
It should be noted that the second master communication channel and the second slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM and differential PWM. Preferably, the second master communication channel and the second slave communication channel use a CAN communication protocol.
Further, the displacement information obtaining module 320 specifically includes:
the first displacement information acquisition unit is used for taking the pitch information received through the second main communication channel as target pitch information and determining displacement information of the steering engine according to the target pitch information if the pitch information sent by the flight controller is received through the second main communication channel;
and the second displacement information acquisition unit is used for determining the displacement information of the steering engine according to the target pitch information by receiving the pitch information target pitch information received through the second slave communication channel if the second master communication channel does not receive the pitch information sent by the flight controller and receiving the pitch information sent by the flight controller through the second slave communication channel.
Further, the displacement information of the steering engine is determined according to the target pitch information, and the specific expression is as follows: and calculating to obtain the displacement information of each steering engine by adopting a structure analysis algorithm of the automatic tilting disk according to the target pitch information.
Further, at least two communication channels between the pitch controller and the steering engine include: a first master communication channel and a first slave communication channel; then the process of the first step is carried out,
the steering engine control module 330 is specifically configured to send the displacement information to corresponding steering engines through the first master communication channel and the first slave communication channel, so that if the steering engines receive the displacement information through the first master communication channel, the displacement information received through the first master communication channel is used as target displacement information, and the steering engines move according to the target displacement information; otherwise, if the steering engine receives the displacement information through the first slave communication channel, the displacement information received through the first slave communication channel is used as target displacement information, and the steering engine moves according to the target displacement information.
It should be noted that the first master communication channel and the first slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM and differential PWM. Preferably, the first master communication channel and the first slave communication channel employ a CAN communication protocol.
In addition, it is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling or direct coupling or communication connection between the modules shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be in an electrical, mechanical or other form.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The embodiment of the application also provides a flying automobile which comprises a flying controller, at least one variable pitch controller and a plurality of steering engines. Wherein:
the flight controller is used for acquiring pitch information according to the received flight control instruction;
the variable-pitch controller is connected with the flight controller and used for determining displacement information of the steering engine according to the pitch information and sending the displacement information to the corresponding steering engine through at least two communication channels;
and the steering engines are connected with the variable-pitch controller and used for determining target displacement information according to the displacement information and moving according to the target displacement information to control the blades of the hovercar to move.
In some embodiments, each pitch controller is connected to three steering engines. Optionally, the flying vehicle comprises one pitch controller and three steering engines. Optionally, the flying automobile comprises two pitch controllers and six steering engines. Optionally, the flying automobile comprises three pitch controllers and nine steering engines.
Wherein the pitch information comprises collective pitch, transverse cyclic pitch and longitudinal cyclic pitch.
Furthermore, a second main communication channel and a second slave communication channel are arranged between the variable pitch controller and the flight controller; the flight controller is further adapted to send pitch information to the pitch controller via a second master communication channel and a second slave communication channel, respectively.
The second master communication channel and the second slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM and differential PWM. Preferably, the second master communication channel and the second slave communication channel both use a CAN communication protocol.
Further, the pitch controller is specifically configured to:
if the pitch information sent by the flight controller is received through the second main communication channel, the pitch information received through the second main communication channel is used as target pitch information, the displacement information of the steering engine is determined according to the target pitch information, and the displacement information is sent to the corresponding steering engine through at least two communication channels;
otherwise, if the pitch information sent by the flight controller is received through the second slave communication channel, the pitch information received through the second slave communication channel is used for determining the displacement information of the steering engine according to the target pitch information, and the displacement information is sent to the corresponding steering engine through at least two communication channels.
Further, at least two communication channels between the pitch controller and the steering engine include: a first master communication channel and a first slave communication channel; then the steering wheel specifically is used for:
if the steering engine receives the displacement information through the first main communication channel, taking the displacement information received through the first main communication channel as target displacement information, and moving according to the target displacement information;
otherwise, if the steering engine receives the displacement information through the first slave communication channel, the displacement information received through the first slave communication channel is used as target displacement information, and the steering engine moves according to the target displacement information.
It should be noted that the first master communication channel and the first slave communication channel respectively adopt any one of CAN, RS485, RS422, single-ended PWM and differential PWM. Preferably, the first master communication channel and the first slave communication channel both use CAN communication protocols.
Further, the pitch controller comprises a first pitch controller and a second pitch controller; the steering gears comprise a plurality of first steering gears and a plurality of second steering gears; the first pitch controller is connected with the first steering engines and used for determining displacement information of each first steering engine according to the pitch information; the second pitch controller is connected with the plurality of second steering engines and used for determining displacement information of each second steering engine according to the pitch information.
In this embodiment, by arranging the first pitch controller and the second pitch controller, the displacement information of the first steering engine is determined by the first pitch controller to control the plurality of first steering engines, and the displacement information of the second steering engine is determined by the second pitch controller to control the plurality of second steering engines. This setting is applicable to the hovercar who has dual rotor, based on a plurality of first steering engines of first displacement controller control to the thick liquid distance of one of them rotor is controlled, based on a plurality of second steering engines of second displacement controller control, with the thick liquid distance of controlling another rotor, consequently realizes the adjustment of hovercar flight attitude. Compared with the hovercar with a plurality of rotors, the double-rotor hovercar has the advantages of fewer rotors, less occupied space and simple structure; and to the hovercar that has the rotor that verts, this dual rotor hovercar simple structure and light in weight.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the above-described apparatus or module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Referring to fig. 8, based on the above-mentioned method for controlling the pitch of the flying vehicle, the embodiment of the present application further provides another flying vehicle 400 including a processor 410 capable of executing the above-mentioned method for controlling the pitch of the flying vehicle, and the flying vehicle 400 further includes a memory 420. The memory 420 stores therein a program that can execute the contents of the foregoing embodiments, and the processor 410 can execute the program stored in the memory 420.
The Memory 420 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 420 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 420 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described below, and the like.
Referring to fig. 9, a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure is shown. The computer readable medium 500 has stored therein a program code which can be called by a processor to execute the method described in the above method embodiments.
The computer-readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable and programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 500 includes a non-volatile computer-readable storage medium. The computer readable storage medium 500 has storage space for program code 510 for performing any of the method steps described above. The program code can be read from or written to one or more computer program products. The program code 510 may be compressed, for example, in a suitable form.
In summary, according to the pitch control method and device for the motorcyclist, the motorcyclist and the storage medium provided by the application, displacement information is determined by the pitch controller based on pitch information, and the displacement information is sent to the steering engine through at least two communication channels, so that the steering engine determines target displacement information and moves to control the movement of the blades of the motorcyclist, thereby adjusting the pitch of the motorcyclist and further adjusting the flight attitude of the motorcyclist. Because at least two communication channels are arranged between the pitch controller and the steering engine, displacement information received by the steering engine from different communication channels can be backed up mutually, the problem that the control fails due to the fact that a single communication channel fails is effectively avoided, namely the problem that a single point fails is effectively avoided, and therefore reliability and safety of flight are improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The method for controlling the propeller pitch of the flying automobile is characterized in that the flying automobile comprises a flying controller, at least one variable pitch controller and a plurality of steering engines; the method comprises the following steps:
the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the variable pitch controller;
the variable pitch controller determines displacement information of each steering engine according to the pitch information and sends the displacement information to the corresponding steering engine through at least two communication channels;
and the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information to control the blade movement of the aerocar.
2. The method of claim 1, wherein the flight controller obtains pitch information from the received flight controller instructions, comprising:
and the flight controller determines the total pitch, the transverse periodic pitch and the longitudinal periodic pitch corresponding to each pitch controller through a flight control algorithm according to the received flight control instruction.
3. The method of claim 1, wherein the flying vehicle further comprises an auto-tilt disk, the auto-tilt disk being connected to the corresponding steering engine; the method further comprises the following steps:
the automatic tilting disk adjusts the tilting position through the movement of the steering engines, so that the pitch of the aerocar is adjusted.
4. The method of claim 1, wherein the at least two communication channels comprise: a first master communication channel and a first slave communication channel;
the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information, and the steering engine comprises:
if the steering engine receives the displacement information through the first main communication channel, taking the displacement information received through the first main communication channel as target displacement information, and moving according to the target displacement information;
otherwise, if the steering engine receives the displacement information through the first slave communication channel, the displacement information received through the first slave communication channel is used as target displacement information, and the steering engine moves according to the target displacement information.
5. The method of claim 1, wherein a second master communication channel and a second slave communication channel are provided between the pitch controller and the flight controller; the method further comprises the following steps:
the pitch controller receives the pitch information sent by the flight controller through the second main communication channel and the second slave communication channel respectively;
the displacement information of each steering engine is determined by the pitch controller according to the pitch information, and the method comprises the following steps:
if the pitch controller receives the pitch information sent by the flight controller through the second main communication channel, the pitch controller takes the pitch information received through the second main communication channel as target pitch information, and determines displacement information of each steering engine according to the target pitch information;
otherwise, if the pitch controller receives the pitch information sent by the flight controller through the second slave communication channel, the pitch controller targets the pitch information received through the second slave communication channel, and determines the displacement information of the steering engine according to the target pitch information.
6. A method for controlling the pitch of a flying automobile is characterized in that the flying automobile comprises a pitch controller and a plurality of steering engines connected with the pitch controller, at least two communication channels are arranged between the pitch controller and the steering engines, the method is applied to the pitch controller, and the method comprises the following steps:
receiving pitch information;
determining displacement information of each steering engine according to the pitch information;
and respectively sending the displacement information to the corresponding steering engine through each communication channel so that the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information to control the blade movement of the flying automobile.
7. The utility model provides a propeller pitch controlling means of hovercar, its characterized in that, hovercar include the variable pitch controller and with a plurality of steering engines that the variable pitch controller is connected, the variable pitch controller with be equipped with two at least communication channel between the steering engine, the device is applied to the variable pitch controller, the device includes:
the pitch information receiving module is used for receiving pitch information;
the displacement information acquisition module is used for determining the displacement information of each steering engine according to the pitch information;
and the steering engine control module is used for respectively sending the displacement information to the corresponding steering engine through each communication channel so that the steering engine determines target displacement information according to the displacement information and moves according to the target displacement information to control the blade movement of the flying automobile.
8. A flying automobile, characterized in that it comprises:
the flight controller is used for acquiring pitch information according to the received flight control instruction;
the variable-pitch controller is connected with the flight controller and used for determining displacement information of the steering engine according to the pitch information and sending the displacement information to the corresponding steering engine through at least two communication channels;
and the steering engines are connected with the variable-pitch controller and used for determining target displacement information according to the displacement information and moving according to the target displacement information so as to control the blade movement of the aerocar.
9. The flying automobile of claim 8, wherein the number of the pitch controllers is equal to the number of rotors of the flying automobile, and each pitch controller is connected with three steering engines.
10. The flying automobile of claim 9, wherein the flying automobile comprises one pitch controller and three steering engines;
or the flying automobile comprises two pitch-variable controllers and six steering engines;
or the flying automobile comprises three pitch-variable controllers and nine steering engines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111550989.XA CN114056548A (en) | 2021-12-17 | 2021-12-17 | Method and device for controlling propeller pitch of aerocar and aerocar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111550989.XA CN114056548A (en) | 2021-12-17 | 2021-12-17 | Method and device for controlling propeller pitch of aerocar and aerocar |
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| CN202111550989.XA Withdrawn CN114056548A (en) | 2021-12-17 | 2021-12-17 | Method and device for controlling propeller pitch of aerocar and aerocar |
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Application publication date: 20220218 |