WO2021035623A1

WO2021035623A1 - Flight control method and device and aircraft

Info

Publication number: WO2021035623A1
Application number: PCT/CN2019/103324
Authority: WO
Inventors: 林灿龙; 徐威; 商志猛; 张子豪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2021-03-04
Also published as: CN112136092A

Abstract

Provided are a flight control method and device (41) and an aircraft (42). The method comprises: acquiring observation speed information, observation attitude motion state and target attitude motion state of an aircraft (42); in response to an instruction to switch from a working state of a fixed-wing power system (12) to a working state of a rotor wing power system (11), turning off a fixed-wing electric motor; generating, according to the target attitude motion state and the observation attitude motion state, a first control instruction for controlling a rudder surface and a second control instruction for controlling the rotor wing power system (11); controlling a rudder deviation angle of the rudder surface according to the first control instruction; determining, according to the observation speed information, a rotor wing power adjustment parameter (232); adjusting the second control instruction according to the rotor wing power adjustment parameter (232), so as to acquire an adjusted second control instruction; and controlling the rotor wing power system (11) according to the adjusted second control instruction. In this way, the risk and difficulty during the switching of the aircraft (42) can be reduced, and the reliability during the switching of the aircraft (42) is improved.

Description

Flight control method, equipment and aircraft

Technical field

The present invention relates to the field of control technology, in particular to a flight control method, equipment and aircraft.

Background technique

Vertical Take-Off and Landing (VTOL) aircraft is a new type of aircraft that has developed rapidly in recent years. It also has the ability of vertical take-off and landing of rotorcraft and the ability to hover in the air and fly at low speeds, as well as fixed-wing aircraft. The ability to fly at high speed with low energy consumption has strong industrial application value.

During the flight of the vertical take-off and landing aircraft, it is necessary to switch between the rotor flight mode and the fixed-wing flight mode. At present, the vertical take-off and landing aircraft uses a separate redesigned controller in the rotor flight mode, the fixed-wing flight mode and the switching process. However, the control process in this way is complicated, difficult, and risky. Therefore, how to more effectively control the flight of the aircraft is of great significance.

Summary of the invention

The embodiments of the present invention provide a flight control method, equipment and aircraft, which reduce the risk and difficulty of the aircraft switching between the working state of the fixed-wing power system and the working state of the rotor power system, and improve the reliability of the conversion process.

In a first aspect, an embodiment of the present invention provides a flight control method applied to an aircraft, the aircraft includes a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, the method include:

Acquiring the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft;

In response to an instruction to switch from the working state of the fixed wing power system to the working state of the rotor power system, turn off the fixed wing motor;

Generating a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the first control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the second control instruction according to the rotor power adjustment parameter to obtain the adjusted second control instruction;

The rotor power system is controlled according to the adjusted second control command.

In a second aspect, an embodiment of the present invention provides a flight control device, which is applied to an aircraft. The aircraft includes a rotor power system and a fixed wing power system. The fixed wing power system includes a fixed wing motor and a rudder surface. Including memory and processor;

The memory is used to store programs;

The processor is used to call the program, and when the program is executed, it is used to perform the following operations:

In a third aspect, an embodiment of the present invention provides an aircraft, including:

body;

A power system configured on the fuselage for providing moving power for the aircraft, wherein the power system includes a fixed wing power system and a rotor power system, and the fixed wing power system includes a fixed wing motor and a rudder surface;

The processor is used to obtain the observed speed information, the observed attitude movement state and the target attitude movement state of the aircraft; in response to an instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system, turn off the fixed-wing motor; The target attitude motion state and the observed attitude motion state generate a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system; control the rudder of the rudder surface according to the first control instruction Deflection angle; determine the rotor power adjustment parameter according to the observed speed information; adjust the second control command according to the rotor power adjustment parameter to obtain the adjusted second control command; control the rotor according to the adjusted second control command The rotor power system.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method as described in the first aspect is implemented.

The embodiment of the present invention can respond to the instruction of switching from the working state of the fixed-wing power system to the working state of the rotor power system, turn off the fixed-wing motor, and generate the first control of the rudder surface control according to the target attitude movement state and the observed attitude movement state of the aircraft Command and the second control command for the control of the rotor power system, and control the rudder deflection angle of the rudder surface according to the first control command, determine the rotor power adjustment parameter according to the observation speed information of the aircraft, and adjust the second control command according to the rotor power adjustment parameter to Acquire the adjusted second control instruction, so as to control the rotor power system according to the adjusted second control instruction. Through this embodiment, the rudder surface can be controlled using the first control command generated by the controller of the existing fixed-wing power system, and the second control command adjusted by the second control command generated by the controller of the existing rotor power system can be used. Control commands are used to control the rotor power system, so there is no need to redesign the fixed wing power system and the rotor power system controller separately, which reduces the risk and difficulty of the aircraft switching process and improves the reliability of the aircraft during the switching process.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Figure 1 is a configuration diagram of a vertical take-off and landing drone provided by an embodiment of the present invention;

2 is a schematic block diagram of an angular rate control system provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of the relationship between a rotor power adjustment parameter and speed according to an embodiment of the present invention;

4 is a schematic structural diagram of a flight control system provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of a flight control method provided by an embodiment of the present invention;

6 is a schematic flowchart of another flight control method provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a flight control device provided by an embodiment of the present invention.

detailed description

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The flight control method provided in the embodiments of the present invention may be executed by a flight control system, where the flight control system may include a flight control device and an aircraft; in some embodiments, the flight control device may be installed in the aircraft Above, in some embodiments, the flight control device may be spatially independent from the aircraft. In some embodiments, the flight control device may be a component of the aircraft, that is, the aircraft includes a flight control device. In some embodiments, the aircraft may be a vertical take-off and landing aircraft. The following describes the embodiments of the present invention by taking a vertical take-off and landing aircraft as an example.

In some embodiments, the vertical take-off and landing aircraft includes composite, tilt-rotor, rotating wing, tailstock and other unmanned aerial vehicles. Among them, a typical composite vertical take-off and landing fixed-wing unmanned aircraft type such as As shown in Figure 1, Figure 1 is a configuration diagram of a vertical take-off and landing drone provided by an embodiment of the present invention. As shown in FIG. 1, this configuration includes a multi-rotor power system 11 and a fixed-wing power system 12.

In one embodiment, only the rotor power system 11 works when the vertical take-off and landing UAV is hovering; when it is necessary to switch from the working state of the rotor power system to the working state of the fixed-wing power system, the fixed-wing power system 12 is turned on and the vertical The take-off and landing UAV accelerates forward; when the forward flight speed reaches the preset speed range, the fixed-wing power system 12 takes over the vertical take-off and landing UAV, and the rotor power system 11 is turned off.

In one embodiment, when the vertical take-off and landing UAV transitions from the working state of the rotor power system to the working state of the fixed-wing power system, the purpose of turning on the fixed-wing power system to accelerate the vertical take-off and landing UAV to fly forward is mainly Allow the vertical take-off and landing UAV to obtain sufficient flight speed. In this process, the vertical take-off and landing UAV will fly a distance along the nose to ensure a smooth switch to the working state of the fixed-wing power system.

In one embodiment, when it is necessary to switch from the working state of the fixed-wing power system to the working state of the rotor power system, the fixed-wing power system is closed, and the vertical take-off and landing UAV decelerates. When the flight speed decelerates to a certain speed, the rotor The power system is turned on, and the vertical take-off and landing drone is taken over by the rotor power system.

The present invention proposes a flight control method that does not need to design a controller separately, and directly performs a multiplexing conversion process on the basis of an existing fixed-wing controller and a rotor controller. The flight control method is applied to an aircraft, the aircraft including a rotor A power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface. Through this embodiment, the transition between the fixed-wing power system and the rotary wing power system can be smoothed, the difficulty of design and parameter adjustment, and the risk of conversion can be reduced.

The specific implementation of the present invention can be divided into four steps. The first step is to debug the fixed wing controller and the rotor controller to meet the performance index requirements, the second step is system analysis, and the third step is instruction scheduling design. The fourth step is algorithm implementation.

In one embodiment, the angular velocity of the aircraft can be analyzed during system analysis. In some embodiments, the angular velocity of the aircraft is jointly controlled by the rotor motor and the rudder surface of the fixed-wing power system. In some embodiments, a block diagram of an angular rate control system is shown in FIG. 2, which is a schematic block diagram of an angular rate control system provided by an embodiment of the present invention. As shown in Fig. 2, the angular velocity of the aircraft is obtained according to the target angular rate 21 and the fixed-wing controller 22 and the rotor controller 23. The fixed-wing controller 22 controls the rudder surface 222 by generating a rudder deflection command 221; The controller 23 controls the rotor motor 233 by generating the attitude control torque command 231 and the rotor power adjustment parameter 232; by controlling the rudder surface 222 and the rotor motor 233, the angular rate of the aircraft 24 is determined, and the angular rate feedback 25 and The target angular rate 21 performs flight control of the aircraft. In some embodiments, the rudder deflection angle command corresponds to the first control command or the third control command in the present invention; in some embodiments, the attitude control torque command corresponds to the second control command in the present invention. The control command or the fourth control command corresponds to the same; in some embodiments, the target angular rate belongs to the target attitude motion state of the present invention; the angular rate of the aircraft belongs to the observed attitude motion state of the present invention.

In some embodiments, during the conversion process, the torque generated by the rotor motor does not change with the speed, and the relationship between the torque generated by the rudder surface of the fixed-wing power system and the speed is shown in the following formula (1):

Among them, M _δ is the torque generated by the rudder surface, δ is the rudder yaw angle, V is the airspeed (the speed of the aircraft relative to the air), ρ and C _δ are the air density and rudder yaw moment coefficient, respectively. In the case of low subsonic velocities, ρ and C _δ can be considered unchanged. Therefore, it can be concluded that the torque generated by the rudder surface has a linear relationship with the square of the airspeed.

In one embodiment, during the command scheduling design process, the aircraft can switch from the working state of the fixed-wing power system to the working state of the rotor power system, or from the working state of the rotor power system to the working state of the fixed-wing power system.

In one embodiment, when the aircraft is switched from the working state of the fixed-wing power system to the working state of the rotor power system, the aircraft can start to decrease from the fixed-wing cruising speed, and at the same time the torque generated by the rudder deflection angle also decreases. The rudder deflection angle command of the fixed-wing controller is calculated based on the cruise speed, so the torque generated by the rudder surface is not enough to maintain the angular rate control, so the insufficient torque generated by the fixed-wing motor can be supplemented by the torque generated by the rotor motor.

In one embodiment, when the torque generated by the rotor motor is used to supplement the insufficient torque generated by the fixed-wing motor, since the rotor controller is designed based on hovering or low speed (generally less than 5m/s), if you directly change The calculated torque command to the rotor motor will cause serious system overshoot. Therefore, the present invention designs the rotor power adjustment parameter K to adjust the torque output of the rotor motor. According to Equation (1) shows that the rotor torque compensation linearly related to V ² and, as shown particularly in FIG. 3, FIG. 3 is a schematic view of a rotor provided in the power and speed of a relationship parameter embodiment of the present invention. As shown in Fig. 3, V ₁ is the maximum hovering speed of the aircraft in the working state of the rotor power system, that is, the first speed threshold, and V ₂ is the minimum cruise speed of the aircraft in the working state of the fixed-wing power system, that is The second speed threshold.

In an embodiment, in the algorithm implementation process, the aircraft can be controlled to fly according to the rudder deflection command generated by the fixed-wing controller and the attitude control torque command output by the rotor controller according to the rotor power adjustment parameter K.

Hereinafter, the flight control system provided by the embodiment of the present invention will be schematically described with reference to FIG. 4.

Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a flight control system according to an embodiment of the present invention, and FIG. 4 is a schematic structural diagram in a front view direction. The flight control system includes: a flight control device 41 and an aircraft 42. The aircraft 42 includes a power system 421, and the power system 421 is used to provide power for the aircraft 42 to move. In some embodiments, the flight control device 41 is provided in the aircraft 42, and can establish a communication connection with other devices (such as the power system 421) in the aircraft through a wired communication connection. In other embodiments, the aircraft 42 and the flight control device 41 are independent of each other. For example, the flight control device 41 is set in a cloud server and establishes a communication connection with the aircraft 42 through a wireless communication connection. In some embodiments, the flight control device 41 may be a flight controller. The power system 421 of the aircraft 42 includes a rotor power system and a fixed wing power system, and the fixed wing power system includes a fixed wing motor and a rudder surface.

In the embodiment of the present invention, the flight control device can obtain the observation speed information, the observation attitude movement state and the target attitude movement state of the aircraft, and in response to the instruction to switch from the fixed wing power system working state to the rotor power system working state, turn off the fixed wing power system. The wing motor generates a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state. The flight control device may control the rudder deflection angle of the rudder surface according to the first control command, determine the rotor power adjustment parameter according to the observed speed information, and adjust the second control command according to the rotor power adjustment parameter, In order to obtain the adjusted second control command, the rotor power system is controlled according to the adjusted second control command.

Hereinafter, the flight control method provided by the embodiment of the present invention will be schematically described with reference to FIG. 5 to FIG. 7.

Please refer to FIG. 5 for details. FIG. 5 is a schematic flowchart of a flight control method according to an embodiment of the present invention. The method may be executed by a flight control device, and the specific explanation of the flight control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S501: Obtain the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft.

In the embodiment of the present invention, the flight control device can obtain the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft. In some embodiments, the posture motion state includes one or more of posture, angular velocity, and angular acceleration. In some embodiments, the observed speed information includes airspeed. In some embodiments, the attitude includes an attitude angle; in some embodiments, the attitude angle includes a pitch angle, a roll angle, and a yaw angle of the aircraft. In some embodiments, the posture motion state includes any one or more of posture, angular velocity, and angular acceleration.

In one embodiment, the observed attitude motion state is determined based on the torque generated by the rudder surface and the torque generated by the rotor power system; in some embodiments, the observed attitude motion state includes the angle of the aircraft. rate. 2 as an example, assuming that the observed attitude movement state is the angular rate, the angular rate can be determined according to the rudder surface 222 of the fixed wing power system and the rotor power system adjusted by the rotor power adjustment parameter 232 to determine the angle of the aircraft 24 rate.

In an embodiment, the target attitude movement state is calculated according to the flight parameters of the aircraft; wherein, the flight parameters include any one of the attitude angle, flight airspeed, and flight trajectory of the aircraft. Many kinds.

S502: Turn off the fixed-wing motor in response to an instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system.

In the embodiment of the present invention, the flight control device can respond to an instruction to switch from the working state of the fixed wing power system to the working state of the rotor power system to turn off the fixed wing motor. By turning off the fixed-wing motor, the aircraft can be decelerated to fly, so that when the aircraft decelerates to a certain speed, the rotor motor is turned on to switch from the working state of the fixed-wing power system to the working state of the rotor power system.

S503: According to the target attitude motion state and the observed attitude motion state, generate a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system.

In the embodiment of the present invention, the flight control device may generate a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state.

In one embodiment, when the flight control device generates the first control command for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it may move according to the observed speed information and the target attitude motion state. The state and the observed attitude motion state generate a first control instruction for controlling the rudder surface.

Specifically, Figure 2 can be taken as an example, assuming that the first control command is a rudder deflection angle command, the observed speed information is the airspeed of the aircraft, the target attitude motion state is the target angular rate, and the observed attitude motion state is the aircraft The actual angular rate, the flight control device can generate a rudder deflection command for controlling the rudder surface, that is, the first control command, according to the airspeed, the target angular rate, and the angular rate.

In one embodiment, when the flight control device generates the first control instruction for controlling the rudder surface and the second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state, it can calculate the The difference in the attitude motion state between the target attitude motion state and the observed attitude motion state; and according to the attitude motion state difference, the first control command for controlling the rudder surface and the control command for the rotor power system are generated The second control instruction.

In some embodiments, the state of the attitude movement may be an angular rate, and the first control command for controlling the rudder surface and all the control commands for the rotor power system are generated according to the difference between the target angular rate and the angular rate. The second control instruction.

In an embodiment, when generating the first control command for controlling the rudder surface and the second control command for controlling the rotor power system according to the difference between the target angular rate and the angular rate, the first control command for controlling the rudder surface and the second control command for controlling the rotor power system may be generated according to The angular rate determines the moment of the rudder surface of the fixed-wing power system, and generates the first control command according to the moment of the rudder surface; determines the target torque and the rudder surface of the fixed-wing power system according to the difference between the target angular rate and the angular rate Determine the torque to be compensated for the rotor power system based on the difference, determine the rotor power adjustment parameter according to the required compensation torque, and adjust the rotor power system through the rotor power adjustment parameter K to generate the second control command; and according to the fixed The moment of the rudder surface of the wing power system generates the first control command.

S504: Control the rudder deflection angle of the rudder surface according to the first control instruction.

In the embodiment of the present invention, the flight control device may control the rudder deflection angle of the rudder surface according to the first control instruction.

S505: Determine the rotor power adjustment parameter according to the observed speed information.

In the embodiment of the present invention, the flight control device may determine the rotor power adjustment parameter according to the observed speed information.

In one embodiment, when the observed speed information of the aircraft is greater than the first speed threshold and less than the second speed information threshold, the rotor power adjustment parameter is linearly negatively correlated with the square of the observed speed information. As shown in Figure 3, V1 is the first speed threshold and V2 is the second speed threshold. When the observed speed information V of the aircraft is greater than the first speed threshold V1 and less than the second speed information threshold V2, the rotor power is adjusted The parameter K is linearly negatively correlated with the observed speed information V ^2.

In one embodiment, when the observed speed information of the aircraft is less than or equal to the first speed threshold, it is determined that the rotor power adjustment parameter is 1; when the observed speed information of the aircraft is greater than or equal to the second speed threshold, It is determined that the rotor power adjustment parameter is zero. As shown in FIG. 3, V1 is the first speed threshold, and V2 is the second speed threshold. When the observed speed information V of the aircraft is less than or equal to the first speed threshold V1, it is determined that the rotor power adjustment parameter K is 1; When the observed speed information V of the aircraft is greater than or equal to the second speed threshold V2, it is determined that the rotor power adjustment parameter K is zero.

In one embodiment, the first speed threshold is the maximum hovering speed of the aircraft in the working state of the rotor power system; the second speed threshold is the minimum cruising speed of the aircraft in the working state of the fixed-wing power system.

S506: Adjust the second control instruction according to the rotor power adjustment parameter to obtain the adjusted second control instruction.

In the embodiment of the present invention, the flight control device may adjust the second control instruction according to the rotor power adjustment parameter to obtain the adjusted second control instruction.

S507: Control the rotor power system according to the adjusted second control instruction.

In the embodiment of the present invention, the flight control device may control the rotor power system according to the adjusted second control command.

The embodiment of the present invention can obtain the observation speed information, the observation attitude movement state and the target attitude movement state of the aircraft, and in response to the instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system, turn off the fixed-wing motor, and according to the target Attitude motion state and the observed attitude motion state, a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system are generated, and the rudder deflection angle of the rudder surface is controlled according to the first control instruction, according to the observed speed The information determines the rotor power adjustment parameters, adjusts the second control command according to the rotor power adjustment parameters to obtain the adjusted second control command, and controls the rotor power system according to the adjusted second control command, thereby reducing the aircraft’s movement from the fixed wing The risk and difficulty in the process of switching from the working state of the power system to the working state of the rotor power system improves the reliability of the aircraft during the switching process.

Please refer to FIG. 6 for details. FIG. 6 is a schematic flowchart of another flight control method provided by an embodiment of the present invention. The method may be executed by a flight control device, and the specific explanation of the flight control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S601: Obtain the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft.

In the embodiment of the present invention, the flight control device can obtain the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft. The specific embodiments and examples are described above, and will not be repeated here.

S602: In response to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system, turn on the fixed wing motor.

In the embodiment of the present invention, the flight control device can respond to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system to turn on the fixed wing motor. By turning on the fixed-wing motor, the aircraft can accelerate the flight, which is helpful for switching from the working state of the rotor power system to the working state of the fixed-wing power system.

S603: According to the target attitude motion state and the observed attitude motion state, generate a third control instruction for controlling the rudder surface and a fourth control instruction for the rotor power system.

In the embodiment of the present invention, the flight control device may generate a third control instruction for rudder surface control and a fourth control instruction for the rotor power system according to the target attitude motion state and the observed attitude motion state.

In one embodiment, when the flight control device generates a third control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it may move according to the observed speed information and the target attitude motion state. The state and the observed attitude movement state generate a third control instruction for controlling the rudder surface.

S604: Control the rudder deflection angle of the rudder surface according to the third control instruction.

In the embodiment of the present invention, the flight control device may control the rudder deflection angle of the rudder surface according to the third control command.

S605: Determine the rotor power adjustment parameter according to the observed speed information.

S606: Adjust the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction.

In the embodiment of the present invention, the flight control device may adjust the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction.

S607: Control the rotor power system according to the adjusted fourth control instruction.

In the embodiment of the present invention, the flight control device may control the rotor power system according to the adjusted fourth control instruction.

The embodiment of the present invention can respond to an instruction to switch from the working state of the rotor power system to the working state of the fixed-wing power system, turn on the fixed-wing motor, and generate the third control command and control command for the rudder surface according to the target attitude motion state and the observed attitude motion state. The fourth control command for the rotor power system, the rudder deflection angle of the rudder surface is controlled according to the third control command, the rotor power adjustment parameter is determined according to the observed speed information, and the fourth control command is adjusted according to the rotor power adjustment parameter to obtain the adjusted The fourth control command controls the rotor power system according to the adjusted fourth control command. Through this embodiment, the risk and difficulty in the process of switching the aircraft from the working state of the rotor power system to the working state of the fixed-wing power system can be reduced, and the reliability of the aircraft during the switching process can be improved.

Please refer to FIG. 7, which is a schematic structural diagram of a flight control device according to an embodiment of the present invention. Specifically, the flight control device is provided in an aircraft, the aircraft includes a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, and the flight control device includes: a memory 701, a processor器702.

In an embodiment, the flight control device further includes a data interface 703, and the data interface 703 is used to transfer data information between the flight control device and other devices.

The memory 701 may include a volatile memory (volatile memory); the memory 701 may also include a non-volatile memory (non-volatile memory); the memory 701 may also include a combination of the foregoing types of memories. The processor 702 may be a central processing unit (CPU). The processor 702 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 701 is used to store programs, and the processor 702 can call the programs stored in the memory 701 to perform the following steps:

Further, when the processor 702 generates the first control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a first control command for controlling the rudder surface is generated.

Further, the processor 702 is further configured to:

In response to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system, turn on the fixed wing motor;

Generating a third control instruction for controlling the rudder surface and a fourth control instruction for the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the third control instruction;

Adjusting the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction;

The rotor power system is controlled according to the adjusted fourth control command.

Further, when the processor 702 generates a third control command for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a third control command for controlling the rudder surface is generated.

Further, when the observed speed information of the aircraft is greater than a first speed threshold and less than a second speed information threshold, the rotor power adjustment parameter is linearly negatively correlated with the square of the observed speed information.

Further, when the observed speed information of the aircraft is less than or equal to a first speed threshold, determining that the rotor power adjustment parameter is 1;

When the observed speed information of the aircraft is greater than or equal to the second speed threshold, it is determined that the rotor power adjustment parameter is zero.

Further, the first speed threshold is the maximum hovering speed of the aircraft in the working state of the rotor power system;

The second speed threshold is the minimum cruise speed of the aircraft in the working state of the fixed-wing power system.

Further, the posture motion state includes one or more of posture, angular velocity, and angular acceleration.

Further, the observed speed information includes airspeed.

Further, the observed attitude motion state is determined according to the torque generated by the rudder surface and the torque generated by the rotor power system.

Further, the target attitude movement state is calculated according to the flight parameters of the aircraft;

Wherein, the flight parameters include any one or more of the attitude angle, flight airspeed, and flight trajectory of the aircraft.

Further, when the processor 702 generates the first control instruction for controlling the rudder surface and the second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state, it is specifically used for:

Calculating a posture motion state difference between the target posture motion state and the observed posture motion state;

According to the difference in the attitude motion state, the first control command for controlling the rudder surface and the second control command for controlling the rotor power system are generated.

The embodiment of the present invention can respond to the instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system, turn off the fixed-wing motor, and generate the first control of the rudder surface according to the target attitude movement state and the observed attitude movement state of the aircraft. The control command and the second control command for controlling the rotor power system, and the rudder deflection angle of the rudder surface according to the first control command, the rotor power adjustment parameter is determined according to the observation speed information of the aircraft, and the second control command is adjusted according to the rotor power adjustment parameter In order to obtain the adjusted second control command, the rotor power system is controlled according to the adjusted second control command. Through this implementation, the risk and difficulty of the aircraft switching process can be reduced, and the reliability of the aircraft during the switching process can be improved.

The embodiment of the present invention also provides an aircraft, the aircraft has a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, the aircraft includes: a fuselage; The power system on the board is used to provide the power for the vertical take-off and landing UAV; the processor is used to obtain the observation speed information, the observation attitude movement state and the target attitude movement state of the aircraft; and respond to the work from the fixed-wing power system The state is switched to an instruction for the rotor power system to turn off the fixed-wing motor; according to the target attitude motion state and the observed attitude motion state, a first control instruction for controlling the rudder surface and a first control instruction for controlling the rotor power system are generated. The second control command; the rudder deflection angle of the rudder surface is controlled according to the first control command; the rotor power adjustment parameter is determined according to the observed speed information; the second control command is adjusted according to the rotor power adjustment parameter to Acquire the adjusted second control instruction; control the rotor power system according to the adjusted second control instruction.

Further, when the processor generates the first control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

Further, the processor is also used for:

Further, when the processor generates a third control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

Further, the observed speed information includes airspeed.

Further, when the processor generates a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state, it is specifically used for:

The embodiment of the present invention can respond to the instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system, turn off the fixed-wing motor, and generate the first control of the rudder surface according to the target attitude movement state and the observed attitude movement state of the aircraft. The control command and the second control command for controlling the rotor power system, and the rudder deflection angle of the rudder surface according to the first control command, the rotor power adjustment parameter is determined according to the observation speed information of the aircraft, and the second control command is adjusted according to the rotor power adjustment parameter In order to obtain the adjusted second control command, the rotor power system is controlled according to the adjusted second control command, so as to reduce the risk and difficulty of the aircraft switching process and improve the reliability of the aircraft during the switching process.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the present invention is implemented in the embodiment corresponding to FIG. 5 or FIG. 6 The described method can also implement the device corresponding to the embodiment of the present invention described in FIG. 7, and will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

The above-disclosed are only some of the embodiments of the present invention, which of course cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A flight control method, characterized in that it is applied to an aircraft, the aircraft includes a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, the method includes:

Acquiring the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft;

In response to an instruction to switch from the working state of the fixed wing power system to the working state of the rotor power system, turn off the fixed wing motor;

Generating a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the first control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the second control instruction according to the rotor power adjustment parameter to obtain the adjusted second control instruction;

The rotor power system is controlled according to the adjusted second control command.
The method according to claim 1, wherein the generating a first control instruction for controlling a rudder surface according to the target posture motion state and the observed posture motion state comprises:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a first control command for controlling the rudder surface is generated.
The method according to claim 1 or 2, wherein the method further comprises:

In response to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system, turn on the fixed wing motor;

Generating a third control instruction for controlling the rudder surface and a fourth control instruction for the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the third control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction;

The rotor power system is controlled according to the adjusted fourth control command.
The method according to claim 3, wherein the generating a third control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state comprises:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a third control command for controlling the rudder surface is generated.
The method according to any one of claims 1 to 4, characterized in that,

When the observed speed information of the aircraft is greater than the first speed threshold and less than the second speed information threshold, the rotor power adjustment parameter is linearly negatively correlated with the square of the observed speed information.
The method of claim 5, wherein:

When the observed speed information of the aircraft is less than or equal to the first speed threshold, determining that the rotor power adjustment parameter is 1;

When the observed speed information of the aircraft is greater than or equal to the second speed threshold, it is determined that the rotor power adjustment parameter is zero.
The method according to claim 5 or 6, characterized in that:

The first speed threshold is the maximum hovering speed of the aircraft in the working state of the rotor power system;

The second speed threshold is the minimum cruise speed of the aircraft in the working state of the fixed-wing power system.
The method according to any one of claims 1-7, wherein the posture motion state includes one or more of posture, angular velocity, and angular acceleration.
The method according to any one of claims 1-8, wherein the observed speed information includes airspeed.
The method according to any one of claims 1-9, wherein:

The observed posture motion state is acquired according to the inertial measurement unit.
The method according to any one of claims 1-10, wherein:

The target attitude movement state is calculated according to the flight parameters of the aircraft;

Wherein, the flight parameters include any one or more of the attitude angle, flight airspeed, and flight trajectory of the aircraft.
The method according to any one of claims 1-11, wherein the first control command for controlling the rudder surface and the rotor power system are generated according to the target attitude motion state and the observed attitude motion state The second control command for control includes:

Calculating a posture motion state difference between the target posture motion state and the observed posture motion state;

According to the difference in the attitude motion state, the first control command for controlling the rudder surface and the second control command for controlling the rotor power system are generated.
A flight control device, characterized in that it is applied to an aircraft, the aircraft includes a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, and the device includes a memory and a processor;

The memory is used to store programs;

The processor is used to call the program, and when the program is executed, it is used to perform the following operations:

Acquiring the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft;

In response to an instruction to switch from the working state of the fixed wing power system to the working state of the rotor power system, turn off the fixed wing motor;

Generating a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the first control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the second control instruction according to the rotor power adjustment parameter to obtain the adjusted second control instruction;

The rotor power system is controlled according to the adjusted second control command.
The device according to claim 13, wherein when the processor generates the first control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a first control command for controlling the rudder surface is generated.
The device according to claim 13 or 14, wherein the processor is further configured to:

In response to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system, turn on the fixed wing motor;

Generating a third control instruction for controlling the rudder surface and a fourth control instruction for the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the third control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction;

The rotor power system is controlled according to the adjusted fourth control command.
The device according to claim 15, wherein when the processor generates a third control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically configured to:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a third control command for controlling the rudder surface is generated.
The device according to any one of claims 13-16, characterized in that:

When the observed speed information of the aircraft is greater than the first speed threshold and less than the second speed information threshold, the rotor power adjustment parameter is linearly negatively correlated with the square of the observed speed information.
The device of claim 17, wherein:

When the observed speed information of the aircraft is less than or equal to the first speed threshold, determining that the rotor power adjustment parameter is 1;

When the observed speed information of the aircraft is greater than or equal to the second speed threshold, it is determined that the rotor power adjustment parameter is zero.
The device according to claim 17 or 18, characterized in that:

The first speed threshold is the maximum hovering speed of the aircraft in the working state of the rotor power system;

The second speed threshold is the minimum cruise speed of the aircraft in the working state of the fixed-wing power system.
The device according to any one of claims 13-19, wherein the posture motion state includes one or more of posture, angular velocity, and angular acceleration.
The device according to any one of claims 13-20, wherein the observed speed information includes airspeed.
The device according to any one of claims 13-21, characterized in that:

The observed posture motion state is acquired according to the inertial measurement unit.
The device according to any one of claims 13-22, characterized in that:

The target attitude movement state is calculated according to the flight parameters of the aircraft;

Wherein, the flight parameters include any one or more of the attitude angle, flight airspeed, and flight trajectory of the aircraft.
The device according to any one of claims 13-23, wherein the processor generates a first control instruction for controlling the rudder surface and a counter-rotor according to the target attitude motion state and the observed attitude motion state. When the second control command of the power system control, it is specifically used for:

Calculating a difference in the posture motion state between the target posture motion state and the observed posture motion state;

According to the difference in the attitude motion state, the first control command for controlling the rudder surface and the second control command for controlling the rotor power system are generated.
An aircraft, characterized in that the aircraft includes a rotor power system and a fixed wing power system, the fixed wing power system includes a fixed wing motor and a rudder surface, and the aircraft includes:

body;

The power system configured on the fuselage is used to provide the moving power for the aircraft;

The processor is used to obtain the observation speed information, the observation attitude movement state, and the target attitude movement state of the aircraft; and turn off the fixed wing motor in response to an instruction to switch from the working state of the fixed-wing power system to the working state of the rotor power system According to the target attitude motion state and the observed attitude motion state, generate a first control instruction for controlling the rudder surface and a second control instruction for controlling the rotor power system; control the rudder surface according to the first control instruction The rudder deflection angle; the rotor power adjustment parameter is determined according to the observed speed information; the second control command is adjusted according to the rotor power adjustment parameter to obtain the adjusted second control command; according to the adjusted second control command Control the rotor power system.
The aircraft according to claim 25, wherein when the processor generates the first control instruction for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically used for:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a first control command for controlling the rudder surface is generated.
The aircraft according to claim 25 or 26, wherein the processor is further configured to:

In response to an instruction to switch from the working state of the rotor power system to the working state of the fixed wing power system, turn on the fixed wing motor;

Generating a third control instruction for controlling the rudder surface and a fourth control instruction for the rotor power system according to the target attitude motion state and the observed attitude motion state;

Controlling the rudder deflection angle of the rudder surface according to the third control instruction;

Determining the rotor power adjustment parameters according to the observed speed information;

Adjusting the fourth control instruction according to the rotor power adjustment parameter to obtain the adjusted fourth control instruction;

The rotor power system is controlled according to the adjusted fourth control command.
The aircraft according to claim 27, wherein when the processor generates a third control command for controlling the rudder surface according to the target attitude motion state and the observed attitude motion state, it is specifically used for:

According to the observed speed information, the target attitude motion state, and the observed attitude motion state, a third control command for controlling the rudder surface is generated.
The aircraft according to any one of claims 25-28, wherein:

When the observed speed information of the aircraft is greater than the first speed threshold and less than the second speed information threshold, the rotor power adjustment parameter is linearly negatively correlated with the square of the observed speed information.
The aircraft according to claim 29, wherein:

When the observed speed information of the aircraft is less than or equal to the first speed threshold, determining that the rotor power adjustment parameter is 1;

When the observed speed information of the aircraft is greater than or equal to the second speed threshold, it is determined that the rotor power adjustment parameter is zero.
The aircraft according to claim 29 or 30, wherein:

The first speed threshold is the maximum hovering speed of the aircraft in the working state of the rotor power system;

The second speed threshold is the minimum cruise speed of the aircraft in the working state of the fixed-wing power system.
The aircraft according to any one of claims 25-31, wherein the attitude motion state includes one or more of attitude, angular velocity, and angular acceleration.
The aircraft according to any one of claims 25-32, wherein the observed speed information includes airspeed.
The aircraft according to any one of claims 25-33, wherein:

The observed posture motion state is acquired according to the inertial measurement unit.
The aircraft according to any one of claims 25-34, wherein:

The target attitude movement state is calculated according to the flight parameters of the aircraft;

Wherein, the flight parameters include any one or more of the attitude angle, flight airspeed, and flight trajectory of the aircraft.
The aircraft according to any one of claims 25-35, wherein the processor generates a first control instruction for controlling the rudder surface and a counter-rotor according to the target attitude motion state and the observed attitude motion state. When the second control command of power system control, it is specifically used for:

Calculating a difference in the posture motion state between the target posture motion state and the observed posture motion state;

According to the difference in the attitude motion state, the first control command for controlling the rudder surface and the second control command for controlling the rotor power system are generated.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 12 when the computer program is executed by a processor.