CN114275148B - Control method and system of aircraft, aircraft and computing equipment - Google Patents
Control method and system of aircraft, aircraft and computing equipment Download PDFInfo
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- CN114275148B CN114275148B CN202210035290.8A CN202210035290A CN114275148B CN 114275148 B CN114275148 B CN 114275148B CN 202210035290 A CN202210035290 A CN 202210035290A CN 114275148 B CN114275148 B CN 114275148B
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Abstract
The application relates to a control method and system of an aircraft, the aircraft and a computing device. The method comprises the following steps: the flight control unit obtains a flight control instruction and outputs pitch control data of the rotor system to the variable pitch controller according to the flight control instruction; and the pitch-variable controller outputs steering engine control data to the pitch-variable steering engine according to the pitch control data so that the pitch-variable steering engine can perform pitch-variable adjustment on the blades through the pitch-variable inclinator. According to the embodiment of the application, the rotor wing of the aircraft can be controlled in a variable-pitch manner through the cooperation of the flight control unit and the variable-pitch controller, so that the control coupling is reduced, and the flight control precision is improved.
Description
Technical Field
The present disclosure relates to the field of aviation technologies, and in particular, to a control method and system for an aircraft, and a computing device.
Background
The flight control unit can be used for cooperatively controlling other systems and components of the aircraft in the stages of take-off, cruising, landing and the like of the aircraft, and can sense the flight height, speed, angle and position information of the aircraft in the flight process of the aircraft and control different systems of the aircraft to make corresponding actions according to a preset flight plan or a temporarily received flight instruction.
In the related art, blade pitch control of a variable-pitch aircraft is usually completed by a flight control unit, and there are problems that the coupling degree between control functions of the flight control unit is high and the control mode is complex.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a control method, a control system, an aircraft and a computing device of the aircraft, which can perform variable-pitch control on a rotor wing of the aircraft through the cooperation of a flight control unit and a variable-pitch controller, reduce control coupling and are beneficial to improving flight control precision.
A first aspect of the present application provides a control method for an aircraft having a flight control unit and a rotor system including a multi-bladed rotor, a pitch horn coupled to the pitch horn, and a pitch controller coupled to the pitch horn, the method comprising:
the flight control unit obtains a flight control instruction and outputs pitch control data of the rotor system to the variable pitch controller according to the flight control instruction;
and the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data so that the pitch steering engine can adjust the pitch of the blades through the pitch-variable inclinator.
In one embodiment, the outputting pitch control data of the rotor system to the pitch controller comprises: outputting first protocol pitch control data of the rotor system to the variable pitch controller through a first data channel, and outputting second protocol pitch control data of the rotor system to the variable pitch controller through a second data channel;
the outputting steering engine control data to the variable pitch steering engine according to the pitch control data comprises: outputting steering engine control data to the variable-pitch steering engine according to the first protocol pitch control data under the condition that the first data channel is normal; and outputting steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data under the condition that the first data channel is abnormal.
In one embodiment, the aircraft has at least two rotor systems;
the outputting pitch control data of the rotor system to the pitch controller according to the flight maneuver instruction includes:
and generating pitch control data corresponding to each of the at least two rotor systems according to the flight control instruction, and outputting the pitch control data to at least two variable-pitch controllers of the at least two rotor systems.
In one embodiment, the aircraft is a tandem dual rotor aircraft, and the at least two rotor systems include a left rotor system and a right rotor system disposed on left and right sides of the fuselage.
In one embodiment, after outputting steering engine control data to the pitch controller, the method includes:
the variable-pitch controller obtains state information of the variable-pitch steering engine, and judges whether the variable-pitch steering engine fails according to the state information;
and if the fault occurs, the variable-pitch controller sends steering engine fault information to the flight control unit.
In one embodiment, the pitch controller obtains the state information of the pitch steering engine, judging whether the variable-pitch steering engine fails according to the state information, including:
the variable-pitch controller periodically receives signals from the variable-pitch steering engine and judges whether the variable-pitch steering engine is out of connection according to the signal receiving condition; and/or the number of the groups of groups,
and the variable-pitch controller acquires the output quantity fed back by the variable-pitch steering engine, compares the output quantity with the steering engine output control quantity, and judges whether the variable-pitch steering engine has abnormal operation or not according to a comparison result.
In one embodiment, outputting steering engine control data to the pitch-variable steering engine includes:
outputting corresponding steering engine control data to the variable-pitch steering engine through one channel of at least two channels arranged between the variable-pitch controller and the variable-pitch steering engine;
the variable-pitch controller obtains state information of the variable-pitch steering engine through one path of channel, and judges whether the variable-pitch steering engine has faults or not according to the state information;
and if the fault occurs, the variable-pitch controller outputs corresponding steering engine control data to the variable-pitch steering engine through the other channel of the at least two channels.
A second aspect of the present application provides a flight control system, the aircraft having a flight control unit and a rotor system, the rotor system including a multi-bladed rotor, a pitch-variable tilter connected to the rotor, a pitch-variable steering engine connected to the pitch-variable tilter, and a pitch-variable controller connected to the pitch-variable steering engine, the control system comprising:
the flight control unit is used for obtaining a flight control instruction and outputting pitch control data of the rotor system to the variable-pitch controller according to the flight control instruction;
And the pitch-variable controller is used for outputting steering engine control data to the pitch-variable steering engine according to the pitch control data so that the pitch-variable steering engine can perform pitch-variable adjustment on the blades through the pitch-variable inclinator.
In one embodiment, a first data channel and a second data channel are arranged between the flight control unit and the variable-pitch controller;
the flight control unit outputs pitch control data of the rotor system to the pitch controller, comprising: outputting first protocol pitch control data of the rotor system to the pitch controller through the first data channel, and outputting second protocol pitch control data of the rotor system to the pitch controller through the second data channel;
the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data, and the pitch controller comprises: outputting steering engine control data to the variable-pitch steering engine according to the first protocol pitch control data under the condition that the first data channel is normal; and outputting steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data under the condition that the first data channel is abnormal.
In one embodiment, the pitch controller is further configured to: and obtaining the state information of the variable-pitch steering engine, judging whether the variable-pitch steering engine fails according to the state information, and if so, sending steering engine failure information to the flight control unit.
In one embodiment, at least two paths of data channels are arranged between the variable-pitch controller and the variable-pitch steering engine;
the variable-pitch controller outputs steering engine control data to the variable-pitch steering engine, and the variable-pitch steering engine comprises:
outputting corresponding steering engine control data to the variable-pitch steering engine through one channel of the at least two channels;
acquiring state information of the variable-pitch steering engine through one path of channel, and judging whether the variable-pitch steering engine fails according to the state information;
and if the fault occurs, outputting corresponding steering engine control data to the variable-pitch steering engine through the other channel of the at least two channels.
In one embodiment, the control system comprises at least two of the pitch controllers corresponding to at least two of the rotor systems of the aircraft.
A third aspect of the present application provides an aircraft comprising a flight control system as described in the second aspect above.
In one embodiment, the aircraft is a transverse double-rotor aircraft, and comprises a left rotor system and a right rotor system which are respectively arranged at the left side and the right side of the fuselage; and/or the aircraft is a flying car.
A fourth aspect of the present application provides a computing device comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described in the first aspect above.
The technical scheme that this application provided can include following beneficial effect:
the application provides a control method of an aircraft, the aircraft has flight control unit and rotor system, the rotor system includes many-blade rotor, with the displacement tilter that the rotor is connected, with the displacement steering wheel that the displacement tilter is connected, and with the displacement controller that the displacement steering wheel is connected, the method includes: the flight control unit obtains a flight control instruction and outputs pitch control data of the rotor system to the variable pitch controller according to the flight control instruction; and the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data so that the pitch steering engine can adjust the pitch of the blades through the pitch-variable inclinator. After the processing, the rotor wing of the aircraft can be controlled in a variable-pitch manner through the cooperation of the flight control unit and the variable-pitch controller, so that the control coupling is reduced, and the flight control precision is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a flow chart of a method of controlling an aircraft in accordance with an embodiment of the present application;
FIG. 2 is a flow chart of a method of controlling an aircraft according to another embodiment of the present application;
FIG. 3 is a flow chart of a control method of an aircraft according to another embodiment of the present application;
FIG. 4 is a schematic diagram of the signal transfer relationship of a flight control unit, a pitch controller, and a pitch steering engine of a control system of an aircraft according to an embodiment of the present application;
FIG. 5 is a schematic illustration of the arrangement of three pitch horns of a rotor system according to an embodiment of the present application;
FIG. 6 is a schematic structural view of an aircraft control system according to an embodiment of the present application;
FIG. 7 is a schematic structural view of an aircraft shown in an embodiment of the present application;
FIG. 8 is a schematic diagram of a computing device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a flow chart of a control method of an aircraft according to an embodiment of the present application. In this embodiment, the aircraft has a flight control unit and at least one rotor system that includes a rotor having a plurality of blades (also known as a multi-bladed rotor), a pitch horn coupled to the rotor, a pitch horn coupled to the pitch horn, and a pitch controller coupled to the pitch horn. The pitch controller may be referred to simply as CPC (Cycle Pitch Controller) or may also be referred to as a cyclic pitch controller. In some embodiments, the aircraft has at least two rotor systems.
Referring to fig. 1, the method of the present embodiment includes:
in step S101, the flight control unit obtains a flight control command, and outputs pitch control data of the rotor system to the pitch controller according to the flight control command.
The flight control unit FCU (Flight Control Unit), for short, may obtain flight control commands corresponding to user inputs by the pilot via the operator.
In one embodiment, the flight maneuver instruction may be obtained, for example, through one or more joysticks. It will be appreciated that in the present application, flight control instructions are not limited to being obtained by a joystick, but may be obtained by other suitable flight control means, such as a joystick.
In one embodiment, the joystick includes a vertical steering section, a longitudinal steering section, a lateral steering section, and a heading steering section, and outputs flight control instructions of the vertical steering surface, the longitudinal steering surface, the lateral steering surface, and the heading steering surface, respectively, when being steered. The flight control instruction of the vertical control surface is used for indicating the vertical linear motion of the aircraft; the flight control instructions of the longitudinal control surface are used for indicating forward line movement and pitch angle movement of the aircraft; the flight control instructions of the transverse control surface are used for indicating lateral linear movement and roll angle movement of the aircraft; the flight control instructions of the heading control surface are used to indicate yaw angular movement of the aircraft. The respective manipulating parts may be, for example, but not limited to, sliders and the like. By moving the slider to different positions, flight maneuver instructions of different amounts of maneuver can be generated. After the flight control unit obtains the flight operation instruction, the flight control unit generates output pitch control data to the pitch controller according to the flight operation instruction.
In an embodiment, the pitch control data may include collective pitch control dataLateral period displacement control data->Longitudinal period displacement control data->At least one of them. The total distance of the rotor blades is controlled, and the pitch angles of all the rotor blades can be changed at the same time, so that the lift force of the rotor is controlled; the transverse periodic pitch variation or the longitudinal periodic pitch variation of the rotor blades is controlled, so that the pitch angle of the blades rotated to a specific position can be periodically changed, and the lift force direction of the rotor is controlled; the control of six degrees of freedom of vertical linear motion, longitudinal linear motion, lateral linear motion, pitch angle motion, roll angle motion and yaw angle motion of the aircraft can be realized through the control of the total pitch of the blades, the transverse period pitch variation and the longitudinal period pitch variation.
Step S102, the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data, so that the pitch steering engine can adjust the pitch of the blades through the pitch-variable inclinator.
In one embodiment, the rotor system includes a plurality of pitch horns, which may be, but are not limited to, linear pitch horns. The variable-pitch steering engine is in transmission connection with the variable-pitch inclinator, and the variable-pitch inclinator can convert the linear displacement of the variable-pitch steering engine into the pitch change of the blade. The pitch controller calculates pitch control data according to the transmission relation among the plurality of pitch-variable steering engines, the pitch-variable inclinators and the paddles, obtains displacement control information of each pitch-variable steering engine, and respectively generates steering engine control data according to the displacement control information so as to control each pitch-variable steering engine to generate corresponding displacement.
In one embodiment, the pitch-changing steering engine of the rotor system comprises a collective pitch steering engine, a longitudinal periodic pitch-changing steering engine and a transverse periodic pitch-changing steering engine, which are respectively used for controlling the collective pitch, the longitudinal periodic pitch-changing and the transverse periodic pitch-changing.
In one embodiment, the rotor system further comprises a torque motor complementary to the electric motor for balancing the output power of the electric motor. The flight control system can obtain feedback of the electric motor and the torque motor, and generate and output a rotating speed control instruction and a torque control instruction through the rotating speed channel so as to control the rotating speeds of the electric motor and the torque motor. In one embodiment, the rotor is controlled in a "fixed speed pitch" mode, and the electric and torque motors are controlled to have a fixed speed.
In one embodiment, an aircraft has at least two rotor systems; outputting pitch control data of the rotor system to a pitch controller according to the flight maneuver instruction, comprising: and generating at least two sets of pitch control data corresponding to the at least two rotor systems according to the flight control instruction, and outputting the at least two sets of pitch control data to at least two variable-pitch controllers of the at least two rotor systems.
According to the method provided by the embodiment of the application, firstly, the flight control unit obtains the flight control instruction, the pitch control data of the rotor system is output to the pitch controller according to the flight control instruction, the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data, so that the pitch steering engine can adjust the pitch of the blades through the pitch-variable inclinator, after the processing, the pitch control of the rotor of the aircraft can be carried out through the cooperation of the flight control unit and the pitch controller, the control coupling is reduced, and the improvement of the control precision is facilitated.
Fig. 2 is a flow chart of a control method of an aircraft according to another embodiment of the present application.
Referring to fig. 2, the method of the present embodiment includes:
in step S201, the flight control unit obtains a flight manipulation instruction.
In this step, the flight control unit may obtain flight control instructions corresponding to user inputs by the pilot via the operating device.
Step S202, first protocol pitch control data and second protocol pitch control data are generated according to the flight control instruction, the first protocol pitch control data of the rotor system are output to the variable pitch controller through a first data channel, and the second protocol pitch control data of the rotor system are output to the variable pitch controller through a second data channel.
In one embodiment, the first protocol is a CAN (Controller Area Network ) protocol, the second protocol is an RS422 protocol, the first data channel includes a CAN bus, and the second data channel includes an RS422 bus, it will be appreciated that the present application is not limited thereto.
Step S203, under the condition that the first data channel is normal, the variable-pitch controller outputs steering engine control data to the variable-pitch steering engine according to the first protocol pitch control data; and under the condition that the first data channel is abnormal, the pitch controller outputs steering engine control data to the pitch steering engine according to the second protocol pitch control data.
In one embodiment, after the flight control unit obtains the flight control command, the flight control unit outputs first protocol pitch control data of the rotor system to the pitch controller through the first data channel, and outputs second protocol pitch control data of the rotor system to the pitch controller through the second data channel.
In one embodiment, the first protocol pitch control data transmitted via the first data channel has a higher priority than the second protocol pitch control data transmitted via the second data channel, and the pitch controller outputs steering engine control data to the pitch steering engine according to the first protocol pitch control data in case that both the first data channel and the second data channel are normal or the first data channel is normal and the second data channel is abnormal. And under the conditions that the first data channel is abnormal and the second data channel is normal, the variable-pitch controller outputs steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data.
In one embodiment, the variable-pitch controller outputs a steering engine control PWM signal for controlling the steering engine to the variable-pitch steering engine through the PWM channel.
In one embodiment, the variable-pitch controller outputs CAN protocol steering engine control data for controlling the steering engine to the variable-pitch steering engine through the CAN protocol channel.
In one embodiment, the variable-pitch controller outputs RS485 protocol steering engine control data for controlling the steering engine to the variable-pitch steering engine through the RS485 protocol channel.
In one embodiment, at least two paths of channels are arranged between the variable-pitch controller and the variable-pitch steering engine, and the variable-pitch controller determines one path of the at least two paths of channels to output corresponding steering engine control data to the variable-pitch steering engine according to a preset strategy. For example, as shown in fig. 4, two or three of a PWM channel, a CAN protocol channel, and an RS485 protocol channel are disposed between the pitch controller 621 and the pitch steering engine 622, and the pitch controller 621 may correspondingly output steering engine control PWM signals, CAN protocol steering engine control data, or RS485 protocol steering engine control data to the pitch steering engine 622 according to a preset strategy.
And step S204, the variable-pitch controller obtains the state information of the variable-pitch steering engine.
It can be understood that if the variable-pitch controller outputs steering engine control data to a plurality of variable-pitch steering engines, state information of each variable-pitch steering engine can be obtained respectively.
Step S205, judging whether the variable-pitch steering engine fails according to the state information; if the fault occurs, the variable-pitch controller sends steering engine fault information to the flight control unit.
In an embodiment, the variable-pitch controller periodically receives signals from the variable-pitch steering engine, judges whether the variable-pitch controller is out of connection according to the signal receiving condition, and sends steering engine out-of-connection information to the flight control unit if the variable-pitch controller is judged to be out of connection.
In one embodiment, at least two paths of channels are arranged between the variable-pitch controller and the variable-pitch steering engine, the variable-pitch controller determines one path of channels of the at least two paths of channels to output corresponding steering engine control data to the variable-pitch steering engine according to a preset strategy, and signals from the variable-pitch steering engine are periodically received through the path of channels; if the variable-pitch controller judges that the variable-pitch controller is not connected, switching to output corresponding steering engine control data to the variable-pitch steering engine through the other channel of the at least two channels.
In one embodiment, if the pitch controller does not receive signals from the pitch steering engine for more than N (e.g., 3) communication cycles, the pitch steering engine is determined to be out of communication.
In another embodiment, the variable-pitch controller acquires the output quantity fed back by the variable-pitch steering engine, compares the output quantity with the steering engine control quantity, judges whether the variable-pitch steering engine is abnormal in operation according to the comparison result, and sends steering engine abnormality information to the flight control unit if the variable-pitch steering engine is abnormal in operation.
In an embodiment, the output quantity fed back by the variable-pitch steering engine is a linear displacement quantity of the output end of the variable-pitch steering engine, and if the deviation between the linear displacement quantity fed back by the variable-pitch steering engine and the linear displacement control quantity of the steering engine calculated by the variable-pitch controller exceeds a preset range, abnormal operation of the variable-pitch steering engine is judged.
After the abnormal operation of the variable-pitch steering engine is judged, the variable-pitch steering engine can be calibrated, so that deviation is reduced, and the flight control precision is improved.
According to the scheme provided by the embodiment of the application, the flight control unit outputs pitch control data of different protocols to the pitch controller through the first data channel and the second data channel, and the pitch controller can output steering engine control data of different protocols to the steering engine through at least two channels, so that redundancy backup of a multi-channel communication mode is realized, reliability of communication between the flight control unit and the pitch controller and reliability of communication between the pitch controller and the steering engine are improved, and reliability of the pitch controller and flight safety of an aircraft are improved.
Fig. 3 is a flow chart of a control method of an aircraft according to another embodiment of the present application. In this embodiment, the aircraft is a tandem dual rotor aircraft, including a left rotor system and a right rotor system that are disposed separately on the left and right sides of the fuselage. For ease of description, the pitch controller of the left rotor system will be referred to hereinafter as the first pitch controller and the pitch controller of the right rotor system will be referred to as the second pitch controller.
Referring to fig. 3, the method of the present embodiment includes:
in step S301, the flight control unit obtains a flight manipulation instruction.
In this step, the flight control unit may obtain flight control instructions corresponding to user inputs by the pilot via the operating device.
In step S302, the flight control unit outputs pitch control data of the left rotor system to the first pitch controller and pitch control data of the right rotor system to the second pitch controller according to the flight control command.
Step S303, the first variable-pitch controller outputs corresponding steering engine control data to the variable-pitch steering engine of the left rotor system according to the pitch control data of the left rotor system, and the second variable-pitch controller outputs corresponding steering engine control data to the variable-pitch steering engine of the right rotor system according to the pitch control data of the right rotor system.
In an embodiment, a first data channel and a second data channel are arranged between the flight control unit and the first variable-pitch controller, and a third data channel and a fourth data channel are arranged between the flight control unit and the first variable-pitch controller. The flight control unit outputs first protocol pitch control data of the left rotor system to the first pitch controller through a first data channel, outputs second protocol pitch control data of the left rotor system to the first pitch controller through a second data channel, and outputs first protocol pitch control data of the right rotor system to the second pitch controller through a third data channel, and outputs second protocol pitch control data of the right rotor system to the second pitch controller through a fourth data channel according to the flight manipulation instruction.
In an embodiment, under the condition that the first data channel is normal, the first pitch controller outputs steering engine control data to the pitch steering engine of the left rotor system according to first protocol pitch control data of the left rotor system, and under the condition that the first data channel is abnormal and the second data channel is normal, the first pitch controller outputs steering engine control data to the pitch steering engine of the left rotor system according to second protocol pitch control data of the left rotor system; and under the condition that the third data channel is normal, the second pitch controller outputs steering engine control data to the pitch steering engine of the right rotor system according to the first protocol pitch control data of the right rotor system, and under the condition that the third data channel is abnormal and the fourth data channel is normal, the second pitch controller outputs steering engine control data to the pitch steering engine of the right rotor system according to the second protocol pitch control data of the right rotor system.
In one embodiment, the first protocol is a CAN (Controller Area Network ) protocol, the second protocol is an RS422 protocol, the first data channel and the third data channel include a CAN bus, and the second data channel and the fourth data channel include an RS422 bus, it is understood that the present application is not limited thereto.
In an embodiment, the pitch-changing steering engine of the left rotor system comprises a left collective pitch steering engine, a left longitudinal periodic pitch-changing steering engine and a left transverse periodic pitch-changing steering engine, which are respectively used for controlling the total pitch, the longitudinal periodic pitch-changing and the transverse periodic pitch-changing of the blades of the left rotor system. The variable-pitch steering engine of the right rotor system comprises a right collective-pitch steering engine, a right longitudinal periodic variable-pitch steering engine and a right transverse periodic variable-pitch steering engine which are respectively used for controlling the total pitch, the longitudinal periodic variable-pitch and the transverse periodic variable-pitch of the blades of the right rotor system.
It can be understood that the total pitch of the blades of the left rotor wing system and the right rotor wing system can be increased or reduced simultaneously through the left total pitch steering engine and the right total pitch steering engine so as to control the vertical linear motion of the aircraft; or the longitudinal periodic variable pitch of the blades of the left rotor wing system and the right rotor wing system can be increased or reduced simultaneously through the left longitudinal periodic variable pitch steering engine and the right longitudinal periodic variable pitch steering engine so as to control the forward linear motion and the pitching angular motion of the aircraft; or the left and right horizontal period variable-pitch steering engines can be used for simultaneously increasing or simultaneously reducing the horizontal period variable-pitch of the blades of the left and right rotor wing systems so as to control the lateral linear motion and the roll angle motion of the aircraft; alternatively, the yaw angular motion control of the aircraft may be performed by increasing (or decreasing) the longitudinal cyclic of the blades of the left rotor system and decreasing (or increasing) the longitudinal cyclic of the blades of the right rotor system through the left and right longitudinal cyclic steering engines.
In one embodiment, at least two paths of channels are arranged between the first variable-pitch controller and the variable-pitch steering engine of the left rotor system, and the first variable-pitch controller determines one path of the at least two paths of channels to output corresponding steering engine control data to the variable-pitch steering engine of the left rotor system according to a preset strategy. Similarly, at least two paths of channels are arranged between the second variable-pitch controller and the variable-pitch steering engine of the right rotor system, and the second variable-pitch controller determines one path of the at least two paths of channels to output corresponding steering engine control data to the variable-pitch steering engine of the right rotor system according to a preset strategy.
Referring to fig. 5, in some embodiments, the rotor system includes three pitch-changing steering engines, which may be linear pitch-changing steering engines, and the three linear pitch-changing steering engines are in transmission connection with a fixed ring assembly of the pitch-changing tilter, and a movable ring assembly of the pitch-changing tilter is connected with the blades of the rotor through a pitch-changing pull rod, so that the three linear pitch-changing steering engines generate linear displacement amounts calculated according to pitch control data, and pitch control or period pitch control of the blades may be achieved. For example, when three linear displacement amounts are generated by three linear displacement steering engines, the displacement tilting device ascends or descends along the rotor shaft, the disk surface of the displacement tilting device is kept perpendicular to the rotor shaft, and the total distance of the blades is changed. When the three linear displacement steering engines generate equal linear displacement, the disk surface of the automatic tilting device tilts relative to the rotor shaft, and the pitch of the blade changes periodically along with the periodic rotation of the rotor.
In one embodiment, the displacement amounts h1, h2, h3 of the three variable-pitch steering engine outputs may be obtained by the variable-pitch controller, for example, by the following formula:
in the method, in the process of the invention,indicating total distance->Represents the lateral period shift, +.>Representing a longitudinal cyclic variation; the parameter e represents the offset of the pitch hinge of the pitch-variable recliner, the parameter R represents the radius of the moving ring of the pitch-variable recliner, and the parameter R represents the radius of the fixed ring of the pitch-variable recliner.
In one embodiment of the present invention,、/>and/or->In the range of 0-10 degrees.
It can be understood that the steering engine and the variable-pitch recliner model of the above formula are determined according to the mechanical result of the variable-pitch recliner, and the model can be adjusted according to actual needs and actual conditions of the variable-pitch recliner and can be modeled by adopting simulation software. According to the embodiment, the steering engine displacement calculation with higher precision can be realized, and when the change angle is smaller, for example、/>And/or->When the range of (2) is 0-10 degrees, the error is lower and the effect is better compared with a larger range angle.
The application also provides an aircraft control system and corresponding embodiments.
FIG. 6 is a schematic structural view of an aircraft control system according to an embodiment of the present application;
referring to fig. 6, the present application provides an aircraft control system 600 having a flight control unit 610 and a rotor system 620, the rotor system 620 including a multi-bladed rotor 624, a pitch horn 623 coupled to the rotor 624, a pitch steering engine 622 coupled to the pitch horn 623, and a pitch controller 621 coupled to the pitch steering engine 622.
Flight control unit 610 is configured to obtain flight maneuver instructions, and output pitch control data of rotor system 620 to pitch controller 621 based on the flight maneuver instructions.
And the pitch controller 621 is configured to output steering control data to the pitch steering engine 622 according to the pitch control data, so that the pitch steering engine 622 performs pitch adjustment on the blades of the rotor 624 through the pitch inclinator 623.
In some embodiments, a first data channel and a second data channel are provided between flight control unit 610 and pitch controller 621.
Flight control unit 610 outputs pitch control data for the rotor system to pitch controller 621, including: the first protocol pitch control data of rotor system 620 is output to pitch controller 621 via a first data path, and the second protocol pitch control data of rotor system is output to pitch controller 621 via a second data path.
The pitch controller 621 outputs steering engine control data to the pitch steering engine 622 according to pitch control data, including: under the condition that the first data channel is normal, the pitch controller 621 outputs steering engine control data to the pitch steering engine 622 according to the first protocol pitch control data; in the event of an anomaly in the first data path, pitch controller 621 outputs steering control data to pitch steering 622 in accordance with the second protocol pitch control data.
In one embodiment, the first protocol is a CAN (Controller Area Network ) protocol, the second protocol is an RS422 protocol, the first data channel includes a CAN bus, and the second data channel includes an RS422 bus, it will be appreciated that the present application is not limited thereto.
In one embodiment, after the flight control unit 610 obtains the flight maneuver instruction, it outputs the first protocol pitch control data of the rotor system to the pitch controller 621 via the first data channel, and outputs the second protocol pitch control data of the rotor system to the pitch controller 621 via the second data channel.
In one embodiment, the first protocol pitch control data transmitted via the first data channel has a higher priority than the second protocol pitch control data transmitted via the second data channel, and the pitch controller outputs steering engine control data to the pitch steering engine according to the first protocol pitch control data in case that both the first data channel and the second data channel are normal or the first data channel is normal and the second data channel is abnormal. And under the conditions that the first data channel is abnormal and the second data channel is normal, the variable-pitch controller outputs steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data.
In one embodiment, rotor system 620 includes a plurality of pitch horns 622, and pitch horns 622 may be linear pitch horns, but are not limited thereto. The pitch control steering engine 622 is in transmission connection with the pitch control recliner 623, and the pitch control recliner 623 can convert the linear displacement of the pitch control steering engine 622 into the pitch change of the blade. The pitch controller 621 calculates pitch control data according to the transmission relation among the plurality of pitch-variable steering engines 622, the pitch-variable inclinators 623 and the blades, obtains displacement control information of each pitch-variable steering engine 622, and generates steering engine control data according to the displacement control information to control each pitch-variable steering engine to generate corresponding displacement.
In one embodiment, the pitch controller 621 outputs a steering engine control PWM signal for controlling the steering engine to the pitch steering engine 622 through the PWM channel.
In one embodiment, the pitch controller 621 outputs CAN protocol steering engine control data for controlling the steering engine to the pitch steering engine 622 through a CAN protocol channel.
In one embodiment, the pitch controller 621 outputs RS485 protocol steering engine control data for controlling the steering engine to the pitch steering engine 622 through an RS485 protocol channel.
In one embodiment, at least two paths of channels are arranged between the pitch controller 621 and the pitch steering engine 622, and the pitch controller determines one of the at least two paths of channels to output corresponding steering engine control data to the pitch steering engine according to a preset strategy. For example, as shown in fig. 4, two or three of a PWM channel, a CAN protocol channel, and an RS485 protocol channel are disposed between the pitch controller 621 and the pitch steering engine 622, and the pitch controller 621 may correspondingly output steering engine control PWM signals, CAN protocol steering engine control data, or RS485 protocol steering engine control data to the pitch steering engine 622 according to a preset strategy.
In some embodiments, control system 600 includes at least two pitch controllers 621 corresponding to at least two rotor systems 620 of an aircraft. The two pitch controllers 621 are respectively provided corresponding to the two rotor systems 620 of the flying car, and the flight control unit 610 may respectively transmit pitch control data to the two pitch controllers 621.
According to the control system of the aircraft, provided by the embodiment of the application, the variable pitch controller can output steering engine control data of different protocols to the steering engine through at least two paths of channels, so that redundant backup of a multi-path communication mode is realized, the reliability of communication between the flight control unit and the variable pitch controller and between the variable pitch controller and the steering engine is improved, and the reliability of the variable pitch controller and the flight safety of the aircraft are improved.
The control system of the aircraft provided by the present application is described above, and accordingly, the present application also provides an aircraft comprising the aircraft control system as described in the above embodiments.
Fig. 7 is a schematic structural view of an aircraft according to an embodiment of the present application.
Referring to fig. 7, in this embodiment, the aircraft 700 is a course type dual-rotor aircraft, including a left rotor system 711 and a right rotor system 712 separately provided on the left and right sides of the fuselage 710, where the left rotor system 711 and the right rotor system 712 are respectively provided with a pitch controller, and the flight control unit of the aircraft may send pitch control data to the pitch controllers of the left rotor system 711 and the right rotor system 712, so as to control the blades of the left rotor system 711 and the right rotor system 712 to perform pitch control, thereby achieving the purpose of controlling the position and attitude of the aircraft 700.
In some embodiments, aircraft 700 may be a flying car.
Embodiments of the present application also provide a computing device, comprising: a processor; and a memory having executable code stored thereon that, when executed by the processor, causes the processor to perform the method as in the above embodiments.
Referring to fig. 8, a computing device 800 includes a memory 810 and a processor 820.
Processor 820 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 810 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 820 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 810 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 810 may include a readable and/or writable removable storage device such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a blu-ray read only disc, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disk, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 810 has stored thereon executable code that, when processed by the processor 820, can cause the processor 820 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or a server, etc.), causes the processor to perform part or all of the steps of the above-described methods according to the present application.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (15)
1. A method of controlling an aircraft, the aircraft having a flight control unit and a rotor system, the rotor system including a multi-bladed rotor, a pitch horn coupled to the pitch horn, and a pitch controller coupled to the pitch horn, the method comprising:
the flight control unit obtains a flight control instruction and outputs pitch control data of the rotor system to the variable pitch controller according to the flight control instruction;
the pitch controller processes the pitch control data according to the transmission relation among the pitch control steering engine, the pitch control inclinator and the blades of the multi-blade rotor wing to generate steering engine control data, and outputs the steering engine control data to the pitch control steering engine so that the pitch control steering engine can perform pitch control on the blades through the pitch control inclinator;
the pitch control data comprises collective pitch control data, transverse period pitch control data and longitudinal period pitch control data, the pitch control data is processed to generate steering engine control data, and the method comprises the following steps:
Acquiring the offset, the radius of a moving ring and the radius of a fixed ring of the variable-pitch inclinator;
establishing a matrix equation set according to the total distance control data, the transverse period displacement control data and the longitudinal period displacement control data and according to the offset, the radius of a moving ring and the radius of a fixed ring of the displacement-variable inclinator;
and solving the matrix equation set to obtain displacement control information of the variable-pitch steering engine, and generating steering engine control data according to the displacement control information.
2. The method according to claim 1, characterized in that:
the outputting pitch control data of the rotor system to the pitch controller includes: outputting first protocol pitch control data of the rotor system to the variable pitch controller through a first data channel, and outputting second protocol pitch control data of the rotor system to the variable pitch controller through a second data channel;
the outputting steering engine control data to the variable pitch steering engine according to the pitch control data comprises: outputting steering engine control data to the variable-pitch steering engine according to the first protocol pitch control data under the condition that the first data channel is normal; and outputting steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data under the condition that the first data channel is abnormal.
3. The method according to claim 1, characterized in that:
the aircraft has at least two rotor systems;
the outputting pitch control data of the rotor system to the pitch controller according to the flight maneuver instruction includes:
and generating pitch control data corresponding to each of the at least two rotor systems according to the flight control instruction, and outputting the pitch control data to at least two variable-pitch controllers of the at least two rotor systems.
4. A method according to claim 3, characterized in that:
the aircraft is a horizontal double-rotor aircraft, and the at least two rotor systems comprise a left rotor system and a right rotor system which are respectively arranged at the left side and the right side of the aircraft body.
5. The method according to any one of claims 1 to 4, comprising, after outputting steering engine control data to the pitch controller:
the variable-pitch controller obtains state information of the variable-pitch steering engine, and judges whether the variable-pitch steering engine fails according to the state information;
and if the fault occurs, the variable-pitch controller sends steering engine fault information to the flight control unit.
6. The method of claim 5, wherein the pitch controller obtaining state information of the pitch steering engine, and determining whether the pitch steering engine is malfunctioning based on the state information comprises:
The variable-pitch controller periodically receives signals from the variable-pitch steering engine and judges whether the variable-pitch steering engine is out of connection according to the signal receiving condition; and/or the number of the groups of groups,
and the variable-pitch controller acquires the output quantity fed back by the variable-pitch steering engine, compares the output quantity with the steering engine output control quantity, and judges whether the variable-pitch steering engine has abnormal operation or not according to a comparison result.
7. The method of any one of claims 1 to 4, wherein outputting steering engine control data to the range steering engine comprises:
outputting corresponding steering engine control data to the variable-pitch steering engine through one channel of at least two channels arranged between the variable-pitch controller and the variable-pitch steering engine;
the variable-pitch controller obtains state information of the variable-pitch steering engine through one path of channel, and judges whether the variable-pitch steering engine has faults or not according to the state information;
and if the fault occurs, the variable-pitch controller outputs corresponding steering engine control data to the variable-pitch steering engine through the other channel of the at least two channels.
8. An aircraft control system, the aircraft having a flight control unit and a rotor system, the rotor system including a multi-bladed rotor, a pitch-variable tilter coupled to the rotor, a pitch-variable steering coupled to the pitch-variable tilter, and a pitch-variable controller coupled to the pitch-variable steering, the control system comprising:
The flight control unit is used for obtaining a flight control instruction and outputting pitch control data of the rotor system to the variable-pitch controller according to the flight control instruction;
the pitch controller is used for processing the pitch control data according to the transmission relation among the pitch control engine, the pitch control inclinator and the blades of the multi-blade rotor wing, generating steering engine control data, and outputting the steering engine control data to the pitch control engine so that the pitch control engine can perform pitch adjustment on the blades through the pitch control inclinator;
the pitch control data comprises collective pitch control data, transverse period pitch control data and longitudinal period pitch control data, the pitch control data is processed to generate steering engine control data, and the method comprises the following steps:
acquiring the offset, the radius of a moving ring and the radius of a fixed ring of the variable-pitch inclinator;
establishing a matrix equation set according to the total distance control data, the transverse period displacement control data and the longitudinal period displacement control data and according to the offset, the radius of a moving ring and the radius of a fixed ring of the displacement-variable inclinator;
and solving the matrix equation set to obtain displacement control information of the variable-pitch steering engine, and generating steering engine control data according to the displacement control information.
9. The control system of claim 8, wherein:
a first data channel and a second data channel are arranged between the flight control unit and the variable-pitch controller;
the flight control unit outputs pitch control data of the rotor system to the pitch controller, comprising: outputting first protocol pitch control data of the rotor system to the pitch controller through the first data channel, and outputting second protocol pitch control data of the rotor system to the pitch controller through the second data channel;
the pitch controller outputs steering engine control data to the pitch steering engine according to the pitch control data, and the pitch controller comprises: outputting steering engine control data to the variable-pitch steering engine according to the first protocol pitch control data under the condition that the first data channel is normal; and outputting steering engine control data to the variable-pitch steering engine according to the second protocol pitch control data under the condition that the first data channel is abnormal.
10. The control system of claim 8, wherein:
the variable-pitch controller is also used for: and obtaining the state information of the variable-pitch steering engine, judging whether the variable-pitch steering engine fails according to the state information, and if so, sending steering engine failure information to the flight control unit.
11. The control system of claim 8, wherein:
at least two paths of data channels are arranged between the variable-pitch controller and the variable-pitch steering engine;
the variable-pitch controller outputs steering engine control data to the variable-pitch steering engine, and the variable-pitch steering engine comprises:
outputting corresponding steering engine control data to the variable-pitch steering engine through one channel of the at least two channels;
acquiring state information of the variable-pitch steering engine through one path of channel, and judging whether the variable-pitch steering engine fails according to the state information;
and if the fault occurs, outputting corresponding steering engine control data to the variable-pitch steering engine through the other channel of the at least two channels.
12. The control system according to any one of claims 8 to 11, characterized in that:
the control system includes at least two of the pitch controllers corresponding to at least two of the rotor systems of the aircraft.
13. An aircraft, characterized in that: an aircraft control system comprising any one of claims 8 to 12.
14. The aircraft of claim 13, wherein:
the aircraft is a horizontal double-rotor aircraft and comprises a left rotor system and a right rotor system which are respectively arranged at the left side and the right side of the aircraft body; and/or the aircraft is a flying car.
15. A computing device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-7.
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| CN115407648B (en) * | 2022-11-01 | 2023-02-03 | 北京百脉朝宗科技有限公司 | Method, device and equipment for adjusting pitch angle of unmanned aerial vehicle and readable storage medium |
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