WO2023045067A1 - 飞控单元、飞行器控制系统、方法及飞行器 - Google Patents

飞控单元、飞行器控制系统、方法及飞行器 Download PDF

Info

Publication number
WO2023045067A1
WO2023045067A1 PCT/CN2021/133498 CN2021133498W WO2023045067A1 WO 2023045067 A1 WO2023045067 A1 WO 2023045067A1 CN 2021133498 W CN2021133498 W CN 2021133498W WO 2023045067 A1 WO2023045067 A1 WO 2023045067A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight control
control unit
unit
flight
bus interface
Prior art date
Application number
PCT/CN2021/133498
Other languages
English (en)
French (fr)
Inventor
赵德力
黄成龙
陶永康
Original Assignee
广东汇天航空航天科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东汇天航空航天科技有限公司 filed Critical 广东汇天航空航天科技有限公司
Publication of WO2023045067A1 publication Critical patent/WO2023045067A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the present application relates to the technical field of aircraft, in particular to a flight control unit, an aircraft control system, a method, and an aircraft.
  • the aircraft control system can be referred to as the flight control system for short, and the flight control unit in the flight control system is the core component of the aircraft.
  • the flight and attitude changes of the aircraft are all transmitted by various sensors to the flight control unit, and then the flight control unit issues instructions through calculation and judgment, and the actuator completes the action and flight attitude adjustment. Therefore, how to ensure that the flight control system can reliably receive and output data is crucial to the operation of the aircraft.
  • this application provides a flight control unit, an aircraft control system, a method, and an aircraft, which can ensure the reliability of data received and output by the flight control unit, thereby ensuring the stable operation of the aircraft control system. Ensure flight safety and stability.
  • the first aspect of the present application provides a flight control unit, including:
  • the data transmission interface is used to receive the operation command from the control system unit, and the flight status data from at least one sensor system unit;
  • processing unit is connected to the data transmission interface, and is used to generate flight control instructions according to the operation instructions and flight status data;
  • the data transmission interface is also used to output the flight control instruction to the control execution unit, so that the control execution unit executes the flight control instruction;
  • the data transmission interface includes a first bus interface for connecting to a first bus and a second bus interface for connecting to a second bus, and at least one of the operation instructions, the flight status data and the flight control instructions One of them is transmitted through the first bus interface and/or the second bus interface.
  • the data transmission interface further includes a third bus interface for connecting to the third bus and a fourth bus interface for connecting to the fourth bus;
  • the flight status data is transmitted through the first bus interface and/or the second bus interface;
  • the operation instructions and/or flight control instructions are transmitted through the third bus interface or the fourth bus interface, or are transmitted through the third bus interface and the fourth bus interface.
  • the first bus interface and the second bus interface are bus interfaces of different protocols
  • the third bus interface and the fourth bus interface are bus interfaces with different protocols.
  • the first bus interface is used to receive flight status data from the first sensor system unit and the second sensor system unit;
  • the second bus interface is used to receive data from the first sensor system unit and from the second sensor system unit flight status data of the second sensor system unit;
  • the generating of the flight control instruction by the processing unit according to the operation instruction and the flight state data is specifically: when the first sensor system unit is operating normally, according to the operation instruction and the flight state data from the first sensor system unit generating the flight control instruction, when it is detected that the first sensor system unit is operating abnormally and the second sensor system unit is operating normally, according to the operation instruction and the flight status data from the second sensor system unit, generate The flight control instructions.
  • the flight control unit is a first flight control unit
  • the data transmission interface is also used to receive a verification signal from the second flight control unit
  • the processing unit is also used to judge whether the operation of the second flight control unit is normal according to the verification signal, and when it is determined that the operation of the second flight control unit is normal, the data transmission interface is not sent to the control
  • the execution unit outputs the flight control instruction, and when it is determined that the second flight control unit is malfunctioning and the first flight control unit is operating normally, the data transmission interface is made to output the flight control instruction to the control execution unit .
  • the processing unit is further configured to detect whether a communication abnormality occurs on the first bus interface; when a communication abnormality occurs on the first bus interface and the communication on the second bus interface is normal, the The data transmitted by the first bus interface, so that the data transmitted by the second bus interface is valid data; when the communication of the first bus interface is normal, the data transmitted by the second bus interface is shielded, so that the data transmitted by the second bus interface The data transmitted by the first bus interface is valid data.
  • the second aspect of the present application provides a flight controller control system, including:
  • the operating system unit is used to output operating instructions
  • At least one sensor system unit for outputting flight status data
  • At least one flight control unit is the flight control unit as described in any one of the preceding items;
  • control execution unit configured to execute the flight control instruction output by the at least one flight control unit
  • At least one of the control system unit, the control execution unit and at least one sensor system unit is connected to the flight control unit through at least two buses.
  • the at least one flight control unit includes a first flight control unit and a second flight control unit;
  • At least one of the control system unit, the control execution unit and the at least one sensor system unit is respectively connected to the first flight control unit and the second flight control unit through at least two buses.
  • the first flight control unit and the second flight control unit are connected through at least two serial communication lines with different protocols;
  • the first flight control unit is configured to output a first verification signal to the second flight control unit through at least one of the at least two serial communication lines; and/or, the second flight control unit It is used for outputting a second verification signal to the first flight control unit through at least one of the at least two serial communication lines.
  • the first flight control unit is configured to output a first verification signal to the second flight control unit through at least one of at least two serial communication lines
  • the second flight control unit The unit is configured to output a second verification signal to the first flight control unit through at least one of the at least two serial communication lines
  • the first flight control unit is also used to judge whether the operation of the first flight control unit and the second flight control unit is normal according to the second verification signal output by the second flight control unit; When it is determined that the second flight control unit is malfunctioning and the first flight control unit is operating normally, the first flight control unit is made to output the flight control command;
  • the second flight control unit is also used to judge whether the operation of the first flight control unit and the second flight control unit is normal according to the first verification signal output by the first flight control unit; When it is determined that the second flight control unit is operating normally and the first flight control unit is malfunctioning, the second flight control unit is made to output the flight control command; when it is determined that the first flight control unit and the first flight control unit are When the two flight control units are operating normally, the second flight control unit is made to output the flight control command.
  • the third aspect of the present application provides a flight controller control method, the method is executed by the first flight control unit, the first flight control unit is configured with a first bus interface for connecting the first bus and for connecting the second A second bus interface of the bus, the method comprising:
  • the first flight control unit receives at least one of the operation instructions and flight status data through the first bus interface and/or the second bus interface, and/or through the first bus interface and/or The second bus interface receives and outputs the flight control command.
  • the outputting the flight control command includes:
  • the flight control command is output.
  • the receiving the flight status data from at least one sensor system unit includes: receiving the flight status data from the first sensor system unit through the first bus interface, and receiving the flight status data from the first sensor system unit through the second bus interface. flight status data of the second sensor system unit;
  • Said generating flight control instructions according to said operation instructions and flight status data includes:
  • a flight control instruction is generated according to the operation instruction and flight status data from the second sensor system unit.
  • the flight controller control method further includes:
  • the data transmitted through the second bus interface is shielded, so that the data transmitted through the first bus interface is valid data.
  • the fourth aspect of the present application provides an aircraft, including the above-mentioned system.
  • its data transmission interface includes a first bus interface for connecting to the first bus and a second bus interface for connecting to the second bus, operating instructions, flight status data and flight control instructions At least one of them is transmitted through the first bus interface and/or the second bus interface, so that when an abnormal failure occurs on one of the buses, the flight control unit can still perform data transmission through other normally operating buses, such as receiving the control system Operation instructions output by the unit, and/or flight status data output by the sensor system unit, to generate flight control instructions, and/or send flight control instructions to the control execution unit, so that the control execution unit can execute the flight control instruction.
  • a redundant configuration of the bus interface of the flight control unit is formed, thereby enhancing the reliability of the data transmission of the flight control unit, thereby ensuring the stable operation of the aircraft control system and ensuring flight safety and stability.
  • Fig. 1 is a schematic structural diagram of an aircraft control system shown in an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of an aircraft control system shown in another embodiment of the present application.
  • Fig. 3 is a schematic structural diagram of an aircraft control system shown in another embodiment of the present application.
  • first, second, third and so on may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.
  • first information may also be called second information, and similarly, second information may also be called first information.
  • second information may also be called first information.
  • a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • Embodiments of the present application provide a flight control unit, an aircraft control system, a method, and an aircraft, which can ensure the reliability of data received and output by the flight control unit, ensure the stable operation of the aircraft control system, and ensure flight safety and stability.
  • Fig. 1 is a schematic structural diagram of an aircraft control system shown in an embodiment of the present application.
  • the system includes: a manipulation system unit 110 , a sensor system unit 120 , a flight control unit 130 and a control execution unit 140 .
  • the manipulation system unit 110 is used to output manipulation instructions.
  • the control system unit 110 includes an on-board operating device and/or an on-board communication module; the on-board operating device can be, for example, a joystick, pedals, buttons, touch screen and other human-computer interaction devices, which are used to respond to the user's operation in the aircraft to
  • the flight control unit outputs operation instructions; the airborne communication module can be, for example, a cellular mobile airborne communication module, a wireless local area network airborne communication module, a radio station airborne communication module, and the airborne communication module is used to receive received information from the ground control equipment, for example etc. remote control operation instructions are output to the flight control unit.
  • the cellular mobile airborne communication module can be, for example, a 4G mobile airborne communication module, a 5G mobile airborne communication module, or a 4G/5G mobile airborne communication module, through the wireless link of the cellular mobile communication network and the ground control system to communicate.
  • the wireless local area network airborne communication module may be, for example, a wireless access point module configured with an omnidirectional antenna, and communicates with the ground control system through a wireless link of the wireless local area network.
  • the airborne communication module of the radio station can be, for example, a wireless data transmission station, which performs point-to-point communication with the ground control system through the radio link of the station.
  • the sensor system unit 120 is used to output flight status data.
  • the sensor system unit 120 includes some or all of a gyroscope, an accelerometer, an altimeter, a barometer, an electronic compass, a GNSS (Global Navigation Satellite System) positioning module and an obstacle avoidance sensor, etc., for outputting flight attitude, flight height, etc. Part or all of the flight status data such as , flight speed, and aircraft position.
  • the flight control unit 130 is used for generating flight control instructions according to operation instructions and flight status data.
  • the flight control unit 130 is used for flight control, and may be, for example, an onboard computer and/or a mobile smart device carried on the aircraft.
  • the flight control unit 130 includes a data transmission interface 101 and a processing unit 102 .
  • the data transmission interface 101 is used for receiving operation instructions from the control system unit 110 and flight status data from the sensor system unit 120 .
  • the processing unit 102 which is connected to the data transmission interface 101, is used to generate flight control instructions according to the operation instructions and flight status data.
  • the data transmission interface 101 is also used to output flight control instructions to the control execution unit 140, so that the control execution unit 140 executes the flight control instructions.
  • the data transmission interface 101 includes a first bus interface for connecting to the first bus 151 and a second bus interface for connecting to the second bus 152, at least one of the operation instructions, flight status data and flight control instructions passes through the first bus interface. bus interface and/or second bus interface transmission. In this way, when one of the bus interfaces is abnormal, data transmission can be performed through another bus interface that operates normally. In addition, in the case of an abnormal failure of one of the buses, data transmission can be performed through another bus that operates normally. In this way, the reliability of data interaction performed by the flight control unit 130 is guaranteed.
  • the control execution unit 140 is used to execute the flight control instructions output by the flight control unit 130 .
  • the control execution unit 140 includes, but is not limited to, parts in the aircraft's main propulsion device controller (such as the rotor drive motor controller), the attitude control device controller (such as the steering gear controller, the servo motor controller, and the pitch controller), etc. or all.
  • FIG. 1 shows that the control system unit 110 , the control execution unit 140 , and the sensor system unit 120 are respectively connected to the flight control unit 130 through a first bus 151 and a second bus 152 .
  • the present application is not limited thereto.
  • the control system unit 110 and the flight control unit 130 are connected by two or more buses; or, the control execution unit 140 and the flight control unit 130 are connected by two bus lines. or more than two bus connections; or, the sensor system unit 120 and the flight control unit 130 are connected through two or more than two bus lines; or, the control system unit 110, the control execution unit 140, and the sensor system unit 120 Any two of them are connected to the flight control unit 130 through two or more than two buses.
  • control system unit 110 the control execution unit 140 and the sensor system unit 120 is connected to the flight control unit 130 through at least two buses.
  • the control system unit 110, the control execution unit 140 and/or the sensor system unit 120 can be connected to the flight control unit 130 through the same two or more than two buses, or can be connected to the flight control unit 130 through different two or more than two buses.
  • Two buses are connected to the flight control unit 130, for example, the control system unit 110 can be connected to the flight control unit 130 through two buses, and the sensor system unit 120 can be connected to the flight control unit 130 through two additional buses.
  • the bus can be a field bus, and the field bus can be any suitable type of data transfer bus, such as CAN (Controller Area Network, Controller Area Network) bus, RS series bus, ARINC429 bus, ARINC629 bus, etc.
  • CAN Controller Area Network
  • RS series bus may include RS422 bus and RS485 bus.
  • the ARINC429 bus has the characteristics of high reliability and stable quality, and its data transmission speed is usually 100kbps.
  • ARINC629 bus has the characteristics of reasonable structure, stable performance and high data transmission speed (up to 2Mbps).
  • At least one of the control system unit 110, the control execution unit 140, and at least one sensor system unit 120 is connected to the flight control unit 130 through at least two buses, so that when one of the buses When a failure occurs, the flight control unit 130 can still perform data transmission through other normal buses, such as receiving the operation instructions output by the control system unit 110 and the flight status data output by the sensor system unit 120 to generate flight control instructions, and/or send The flight control instruction is sent to the control execution unit 140, so that the control execution unit 140 can execute the flight control instruction.
  • a redundant configuration of the transmission line of the aircraft control system is formed, thereby enhancing the reliability of the data interaction of the flight control unit 130, ensuring stable operation of the aircraft control system, and ensuring flight safety and stability.
  • FIG. 2 shows a schematic structural diagram of an aircraft control system according to another embodiment of the present application.
  • the data transmission interface 101 of the flight control unit 130 in the aircraft system also includes a third bus interface and a fourth bus interface.
  • the third bus interface is used to connect to the third bus 153
  • the fourth bus interface is used to connect to the fourth bus 154 .
  • the flight status data is transmitted through the first bus interface and/or the second bus interface.
  • the operation instruction and/or the flight control instruction are transmitted through the third bus interface or the fourth bus interface, or are transmitted through the third bus interface and the fourth bus interface.
  • the processing unit 102 of the flight control unit 130 can receive the flight status data output by the sensor system unit 120 through the first bus interface and the second bus interface, and can receive the flight status data output by the sensor system unit 120 through the third bus interface and the fourth bus interface.
  • Receive the operation command output by the control system unit 110 and send the flight control command to the control execution unit 140 through the third bus interface and the fourth bus interface.
  • the flight control instruction is generated by the flight state data received through the first bus interface and/or the second bus interface, and the operation instruction received through the third bus interface and/or the fourth bus interface.
  • the first bus interface and the second bus interface are bus interfaces with different protocols; the third bus interface and the fourth bus interface are bus interfaces with different protocols.
  • the first bus 151 and the second bus 152 transmit data of different protocols. In this way, according to the characteristics of the first bus 151 and the second bus 152, the most suitable bus interface can be selected to receive flight status data under different circumstances.
  • the flight control unit 130 may receive an operation command through the third bus interface and/or the fourth bus interface, or send a flight control command. In this way, the flight control unit 130 can be correspondingly connected to different buses in the aircraft control system through bus interfaces of different protocols, so as to achieve the effect of dedicated lines. Different buses can transmit different types of data, thereby optimizing the distribution method of data transmission and optimizing the line structure.
  • FIG. 3 shows a schematic structural diagram of an aircraft control system according to another embodiment of the present application.
  • the aircraft control system includes two flight control units, namely a first flight control unit 131 and a second flight control unit 132 .
  • the aircraft control system includes two sensor system units, namely a first sensor system unit 121 and a second sensor system unit 122 .
  • the first sensor system unit 121 and the second sensor system unit 122 can have the same configuration, for example, they are all equipped with a gyroscope, an accelerometer, an altimeter, a barometer, an electronic compass, a GNSS positioning module and an obstacle avoidance sensor, and the specific details of each sensor
  • the type and model are the same, but the application is not limited thereto.
  • the first sensor system unit 121 and the second sensor system unit 122 are all equipped with sensors for outputting flight status data such as flight attitude, flight altitude, flight speed, and aircraft position. But the specific type is different or the model is different.
  • the following takes the first flight control unit 131 as an example for further description. It can be understood that the second flight control unit 132 can be realized with reference to the first flight control unit 132 , and details will not be repeated here.
  • the first flight control unit 131 can receive the flight status data output by the first sensor system unit 121 through the first bus 151 and the second bus 152, and receive the flight status data output by the second sensor system unit 122 through the first bus 151 and the second bus 152.
  • the state data receives the operation instruction output by the control system unit 110 through the third bus 153 and the fourth bus 154 , and sends the flight control instruction to the control execution unit 140 through the third bus 153 and the fourth bus 154 .
  • the first bus interface of the first flight control unit 131 is used to receive flight status data from the first sensor system unit 121 and the second sensor system unit 122
  • the second bus interface of the first flight control unit 131 is used to receive data from the first sensor system unit 121 and the second sensor system unit 122.
  • the sensor system unit 121 and flight status data from the second sensor system unit 122 are used to receive flight status data from the first sensor system unit 121 and the second sensor system unit 122.
  • the processing unit 102 of the first flight control unit 131 generates the flight control command according to the operation command and the flight status data. Generate flight control instructions, and generate flight control instructions according to the operation instructions and flight status data from the second sensor system unit 122 when it is detected that the first sensor system unit 121 is operating abnormally and the second sensor system unit 122 is operating normally.
  • the abnormal operation of the sensor system unit includes the failure of some or all of the sensors in the sensor system unit (for example, the failure of the attitude sensor is determined by the abnormality or divergence of the aircraft attitude data, etc.), and/or the failure of the sensor system unit and the flight control unit. There is a failure in the data transmission between them. In this way, when one of the sensor system units operates abnormally, the flight status data can be reliably provided to the flight control unit through the other sensor system unit, thereby ensuring the stable operation of the flight controller control system.
  • the second flight control unit 132 is the master flight control unit, and the first flight control unit 131 is the slave flight control unit.
  • the data transmission interface 101 of the first flight control unit 131 is also used to receive the verification signal from the second flight control unit 132; Whether the operation is normal, when it is determined that the second flight control unit 132 is operating normally, the data transmission interface of the first flight control unit 131 is not output to the control execution unit 140.
  • the data transmission interface of the first flight control unit 131 outputs flight control commands to the control execution unit 140 .
  • judging whether the operation of the flight control unit is normal according to the verification signal includes verifying whether the processing unit of the flight control unit is operating normally, and/or checking whether the data transmission interface of the flight control unit is operating normally, such as receiving the operation Whether the instruction, flight status data or the generated flight control instruction is correct; the data transmission interface of the first flight control unit 131 does not output the flight control instruction to the control execution unit 140, including the situation that the processing unit 102 no longer generates the flight control instruction, and/ Or the processing unit 102 generates a situation in which the flight control command is transmitted to the data transmission interface 101 but configures the state of the data transmission interface 101 to not receive or output data.
  • the first bus interface is configured to have a higher priority than the second bus interface, that is, the flight control unit preferentially uses the first bus interface to receive data and/or preferentially uses the first bus interface to output data.
  • the processing unit 102 of the first flight control unit 131 is also used to detect whether there is a communication abnormality in the first bus interface; when the communication abnormality occurs in the first bus interface and the communication in the second bus interface is normal, the data transmitted through the first bus interface is shielded, Making the data transmitted through the second bus interface valid; when the first bus interface communicates normally, shielding the data transmitted through the second bus interface so that the data transmitted through the first bus interface is valid data.
  • shielding the data transmitted through the bus interface includes the situation of not transmitting data to the bus interface, or the situation of transmitting to the bus interface but the state of the bus interface is configured to not receive data or receive but not transmit data, Or the case where the bus interface receives and transmits data but does not use the transmitted data.
  • Making the data transmitted through the bus interface valid data means that the transmitted data is used after the bus interface receives and transmits the data.
  • the third bus interface and the fourth bus interface can be implemented with reference to the above-mentioned first bus interface and the second bus interface, and details are not repeated here.
  • the processing unit when the processing unit detects that a certain bus interface has a communication abnormality and the duration exceeds a set time period, it can determine that the bus interface is abnormal in communication.
  • the set duration may be 45ms, 50ms or 55ms.
  • the second flight control unit 132 is the main flight control unit.
  • the second flight control unit 132 can output flight control commands
  • the first flight control unit 131 does not output flight control commands
  • the first flight control unit 132 can output flight control commands.
  • Unit 131 is in a standby state. That is to say, when the second flight control unit 132 operates normally, the aircraft control system can maintain normal and stable operation no matter whether the first flight control unit 131 fails or not.
  • the first flight control unit 131 can determine that the second flight control unit 132 is faulty according to the verification signal output by the second flight control unit 132 .
  • the first flight control unit 131 outputs flight control commands to the control execution unit 140 to maintain normal and stable operation of the aircraft control system. In this way, flight accidents caused by failure of a single flight control unit 130 are avoided, reliable control of the aircraft is achieved, and safe flight of the aircraft is ensured.
  • the first flight control unit 131 can also output a verification signal to the second flight control unit 132; the second flight control unit 132 can judge whether the operation of the first flight control unit 131 is normal according to the verification signal, and then according to the judgment result Do preset processing. That is, the first flight control unit 131 and the second flight control unit 132 output inspection signals to each other to check each other's running status and the accuracy of the generated flight control commands.
  • the first flight control unit 131 and the second flight control unit 132 are connected through at least two serial communication lines of different protocols; the first flight control unit 131 can be connected through at least two serial communication lines At least one of them outputs a first verification signal to the second flight control unit 132 .
  • the second flight control unit 132 can output the second verification signal to the first flight control unit 131 through the same or different lines.
  • the first flight control unit 131 can be used to output the first verification signal to the second flight control unit 132 through at least one of the at least two serial communication lines
  • the second flight control unit 132 is used to output the first verification signal to the second flight control unit 132 through at least two serial communication lines.
  • At least one of the serial communication lines outputs a second verification signal to the first flight control unit 131 .
  • the first flight control unit 131 is also used to judge whether the operation of the first flight control unit 131 and the second flight control unit 132 is normal according to the second verification signal output by the second flight control unit 132; When 132 fails to operate and the first flight control unit 131 operates normally, the first flight control unit 131 is made to output a flight control command.
  • the second flight control unit 132 is also used to judge whether the operation of the first flight control unit 131 and the second flight control unit 132 is normal according to the first verification signal output by the first flight control unit 131; 132 is running normally and the first flight control unit 131 is malfunctioning, make the second flight control unit 132 output flight control commands;
  • the control unit 132 outputs flight control commands. In this way, when one of the flight control units fails, another flight control unit that is operating normally can provide flight control, thereby avoiding flight accidents caused by a single flight control unit failure, achieving reliable control of the aircraft, and ensuring the safety of the aircraft flight.
  • At least two serial communication lines of different protocols may include: UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver Transmitter) serial bus and SPI (Serial Peripheral Interface, serial peripheral interface) serial bus. That is to say, the first flight control unit 131 and the second flight control unit 132 can be connected through a UART serial bus and/or an SPI serial bus, so as to realize communication data interaction, and then perform mutual check and synchronize control commands.
  • UART Universal Asynchronous Receiver/Transmitter
  • SPI Serial Peripheral Interface, serial peripheral interface
  • the first flight control unit 131 and the second flight control unit 132 can still be connected through the remaining serial communication lines, so that the first flight control unit 131 can be guaranteed and the reliability of data transmission between the second flight control unit 132.
  • Figure 3 shows that the first sensor system unit 121 and the second sensor system unit 122 are respectively connected to the flight control unit 130 through the first bus 151 and the second bus 152, and the manipulation system unit 110 and the control execution unit 140 are respectively It is connected with the flight control unit 130 through the third bus 153 and the fourth bus 154 .
  • the present application is not limited thereto, for example, one of the control system unit 110, the control execution unit 140, the first sensor system unit 121 and the second sensor system unit 122 is connected with the first flight control unit 131 and/or the second
  • the flight control units 132 are connected by at least two buses, for example, the control system unit 110 is connected to the first flight control unit 131 and/or the second flight control unit 132 by two or more than two buses; or, The control execution unit 140 is connected to the first flight control unit 131 and/or the second flight control unit 132 through two or more than two bus lines; or, the first sensor system unit 121 and/or the second sensor system unit 122 Each is connected to the first flight control unit 131 and/or the second flight control unit 132 through two or more than two buses; or, the control system unit 110, the control execution unit 140, the first sensor system unit 121 and the second Any two or three of the two sensor system units 122 are connected to the flight control unit 130 through two or more than two buses. That is, at least one of the
  • the first bus 151 and the second bus 152 are buses of different protocols
  • the third bus 153 and the fourth bus 154 are buses of different protocols.
  • the first bus 151 may be an RS series bus
  • the second bus 152 may be a CAN bus, so that the first bus 151 and the second bus 152 are buses of different protocols.
  • the third bus 153 may be a CAN bus
  • the fourth bus 154 may be an RS series bus, so that the third bus 153 and the fourth bus 154 are buses of different protocols.
  • the first bus 151 and the fourth bus 154 are buses of the same protocol
  • the second bus 152 and the third bus 153 are buses of the same protocol
  • the first bus 151 may be an RS series bus
  • the fourth bus 154 may also be an RS series bus, so that the first bus 151 and the fourth bus 154 are buses of the same protocol
  • the second bus 152 may be a CAN bus
  • the third bus 153 may also be a CAN bus, so that the second bus 152 and the third bus 153 are buses of different protocols.
  • the first bus 151 is an RS422 bus
  • the second bus 152 is a CAN bus
  • the third bus 153 is a CAN bus
  • the fourth bus 154 is an RS422 bus.
  • the present application also provides an aircraft control method.
  • An aircraft control method the method is executed by a first flight control unit, the first flight control unit is configured with a first bus interface for connecting to a first bus and a second bus interface for connecting to a second bus, the method comprising:
  • the first flight control unit receives at least one of the operation instruction and flight status data through the first bus interface and/or the second bus interface, and/or receives the output flight control through the first bus interface and/or the second bus interface instruction.
  • outputting flight control instructions includes:
  • receiving the flight status data from at least one sensor system unit includes: receiving the flight status data from the first sensor system unit through the first bus interface, and receiving the flight status data from the second sensor system unit through the second bus interface. flight status data;
  • the generation of flight control commands based on operational commands and flight status data includes:
  • a flight control command is generated according to the operation command and the flight status data from the first sensor system unit;
  • a flight control instruction is generated according to the operation instruction and the flight state data from the second sensor system unit.
  • the method also includes:
  • the data transmitted through the second bus interface is shielded, so that the data transmitted through the first bus interface is valid data.
  • the present application also provides an embodiment of an aircraft.
  • the aircraft provided in this embodiment includes the aircraft control system described in any of the above embodiments.
  • the aircraft provided in this embodiment includes an aircraft control system.
  • the aircraft control system includes: a control system unit 110, at least one sensor system unit 120, at least one flight control unit 130 and a control execution unit 140; the control system unit 110 is used to output operation instructions; at least one sensor system unit 120 is used to output flight state data; at least one flight control unit 130, used to generate flight control instructions according to the operation instructions and flight state data; control execution unit 140, used to execute flight control instructions; At least one of the sensor system units 120 is connected to the flight control unit 130 through at least two buses.
  • the flight control unit 130 can still receive the operation instructions output by the control system unit 110 through any other normal bus. , the flight state data output by the sensor system unit 120 to generate a flight control instruction and send it to the control execution unit 140, so that the control execution unit 140 can execute the flight control instruction.
  • a redundant design of the aircraft control system is formed, thereby enhancing the reliability of the data interaction of the flight control unit 130 , ensuring stable operation of the aircraft control system, and ensuring flight safety and stability of the aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种飞控单元（130）、飞行器控制系统、方法及飞行器。飞控单元（130）包括：数据传输接口（101）与处理单元（102）；数据传输接口（101）用于接收来自操纵系统单元（110）的操作指令以及来自至少一个传感器系统单元（120）的飞行状态数据；处理单元（102）与数据传输接口（101）连接，用于根据操作指令和飞行状态数据生成飞行控制指令；数据传输接口（101）还用于向控制执行单元（140）输出飞行控制指令；其中，数据传输接口（101）包括用于连接第一总线（151）的第一总线接口和用于连接第二总线（152）的第二总线接口，操作指令、飞行状态数据和飞行控制指令至少其中之一通过第一总线接口和/或第二总线接口传输。本方案能够确保飞控单元（130）接收及输出数据的可靠性、保障飞行器控制系统稳定运行，保障飞行安全稳定性。

Description

飞控单元、飞行器控制系统、方法及飞行器
本申请要求于2021年09月27日提交国家知识产权局、申请号为202111133383.6、申请名称为“飞控单元、飞行器控制系统、方法及飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及飞行器技术领域，尤其涉及一种飞控单元、飞行器控制系统、方法及飞行器。
背景技术
飞行器控制系统可简称为飞控系统，飞控系统中的飞控单元是飞行器的核心部件。飞行器的飞行、姿态变化等等都是由多种传感器将飞行器本身的姿态数据传回飞控单元，再由飞控单元通过运算和判断下达指令，由执行机构完成动作和飞行姿态调整。因此，如何保证飞控系统能够可靠地进行数据接收和输出对于飞行器的运行是至关重要的。
技术问题
为解决或部分解决相关技术中存在的问题，本申请提供一种飞控单元、飞行器控制系统、方法及飞行器，能够确保飞控单元接收及输出数据的可靠性、从而保障飞行器控制系统稳定运行，保障飞行安全稳定性。
技术解决方案
本申请第一方面提供一种飞控单元，包括：
数据传输接口，用于接收来自操纵系统单元的操作指令，以及来自至少一个传感器系统单元的飞行状态数据；
处理单元，所述处理单元与所述数据传输接口连接，用于根据所述操作指令和飞行状态数据生成飞行控制指令；
所述数据传输接口还用于向控制执行单元输出所述飞行控制指令，以使所述控制执行单元执行所述飞行控制指令；
其中，所述数据传输接口包括用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，所述操作指令、所述飞行状态数据和所述飞行控制指令至少其中之一通过所述第一总线接口和/或所述第二总线接口传输。
在一种实施方式中，所述数据传输接口还包括用于连接第三总线的第三总线接口和用于连接第四总线的第四总线接口；
所述飞行状态数据通过所述第一总线接口和/或第二总线接口传输；
所述操作指令和/或飞行控制指令通过所述第三总线接口或第四总线接口传输，或通过所述第三总线接口和第四总线接口传输。
在一种实施方式中，所述第一总线接口和第二总线接口为不同协议的总线接口；
所述第三总线接口和第四总线接口为不同协议的总线接口。
在一种实施方式中，所述第一总线接口用于接收来自第一传感器系统单元和第二传感器系统单元的飞行状态数据；所述第二总线接口用于接收来自第一传感器系统单元和来自第二传感器系统单元的飞行状态数据；
所述处理单元根据所述操作指令和飞行状态数据生成飞行控制指令具体为：在所述第一传感器系统单元运行正常时，根据所述操作指令和来自所述第一传感器系统单元的飞行状态数据生成所述飞行控制指令，在检测到所述第一传感器系统单元运行异常且所述第二传感器系统单元运行正常时，根据所述操作指令和来自所述第二传感器系统单元的飞行状态数据生成所述飞行控制指令。
在一种实施方式中，所述飞控单元为第一飞控单元；
所述数据传输接口还用于从第二飞控单元接收校验信号；
所述处理单元还用于根据所述校验信号判断所述第二飞控单元的运行是否正常，在判定所述第二飞控单元运行正常时，使所述数据传输接口不向所述控制执行单元输出所述飞行控制指令，在判定所述第二飞控单元运行故障且所述第一飞控单元运行正常时，使所述数据传输接口向所述控制执行单元输出所述飞行控制指令。
在一种实施方式中，所述处理单元还用于检测所述第一总线接口是否出现通信异常；在所述第一总线接口出现通信异常且所述第二总线接口通 信正常时，屏蔽通过所述第一总线接口传输的数据，使通过所述第二总线接口传输的数据为有效数据；在所述第一总线接口通信正常时，屏蔽通过所述第二总线接口传输的数据，使通过所述第一总线接口传输的数据为有效数据。
本申请第二方面提供一种飞控器控制系统，包括：
操纵系统单元，用于输出操作指令；
至少一个传感器系统单元，用于输出飞行状态数据；
至少一个飞控单元，所述飞控单元为如前面任一项所述的飞控单元；
控制执行单元，用于执行所述至少一个飞控单元输出的飞行控制指令；
其中，所述操纵系统单元、控制执行单元和至少一个传感器系统单元至少其中之一与所述飞控单元之间通过至少两路总线连接。
在一种实施方式中，所述至少一个飞控单元包括第一飞控单元和第二飞控单元；
所述操纵系统单元、控制执行单元和至少一个传感器系统单元至少其中之一分别通过至少两路总线与所述第一飞控单元和第二飞控单元连接。
在一种实施方式中，所述第一飞控单元和第二飞控单元之间通过不同协议的至少两路串行通信线路连接；
所述第一飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第二飞控单元输出第一校验信号；和/或，所述第二飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第一飞控单元输出第二校验信号。
在一种实施方式中，所述第一飞控单元用于通过至少两路串行通信线路中的至少其中一路向所述第二飞控单元输出第一校验信号，所述第二飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第一飞控单元输出第二校验信号；
所述第一飞控单元还用于根据所述第二飞控单元输出的所述第二校验信号，判断所述第一飞控单元及所述第二飞控单元的运行是否正常；在判定所述第二飞控单元运行故障且所述第一飞控单元运行正常时，使所述第一飞控单元输出所述飞行控制指令；
所述第二飞控单元还用于根据所述第一飞控单元输出的所述第一校 验信号，判断所述第一飞控单元及所述第二飞控单元的运行是否正常；在判定所述第二飞控单元运行正常且所述第一飞控单元运行故障时，使所述第二飞控单元输出所述飞行控制指令；在判定所述第一飞控单元与所述第二飞控单元均运行正常时，使所述第二飞控单元输出所述飞行控制指令。
本申请第三方面提供一种飞控器控制方法，所述方法由第一飞控单元执行，所述第一飞控单元配置有用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，所述方法包括：
接收来自操纵系统单元的操作指令；
接收来自至少一个传感器系统单元的飞行状态数据；
根据所述操作指令和飞行状态数据生成飞行控制指令；
向控制执行单元输出所述飞行控制指令，以使所述控制执行单元执行所述飞行控制指令；
其中，所述第一飞控单元通过所述第一总线接口和/或第二总线接口接收所述操作指令和飞行状态数据至少其中之一，和/或通过所述第一总线接口和/或第二总线接口接收输出所述飞行控制指令。
在一种实施方式中，所述输出所述飞行控制指令，包括：
从第二飞控单元接收校验信号；
根据所述校验信号判断所述第二飞控单元的运行是否正常；
若判定所述第二飞控单元运行故障且所述第一飞控单元运行正常，输出所述飞行控制指令。
在一种实施方式中，所述接收来自至少一个传感器系统单元的飞行状态数据包括：通过所述第一总线接口接收来自第一传感器系统单元的飞行状态数据，通过所述第二总线接口接收来自第二传感器系统单元的飞行状态数据；
所述根据所述操作指令和飞行状态数据生成飞行控制指令包括：
判断所述第一传感器系统单元是否运行异常；
在所述第一传感器系统单元运行正常时，根据所述操作指令和来自所述第一传感器系统单元的飞行状态数据生成所述飞行控制指令；
在所述第一传感器系统单元运行异常且所述第二传感器系统单元运行正常时，根据所述操作指令和来自所述第二传感器系统单元的飞行状态 数据生成飞行控制指令。
在一种实施方式中，所述飞控器控制方法还包括：
判断所述第一总线接口是否出现通信异常；
在所述第一总线接口出现通信异常且所述第二总线接口通信正常时，屏蔽通过所述第一总线接口传输的数据，使通过所述第二总线接口传输的数据为有效数据；
在所述第一总线接口通信正常时，屏蔽通过所述第二总线接口传输的数据，使通过所述第一总线接口传输的数据为有效数据。
本申请第四方面提供一种飞行器，包括如上所述的系统。
有益效果
依据本申请实施例提供的飞控单元，其数据传输接口包括用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，操作指令、飞行状态数据和飞行控制指令至少其中之一通过所述第一总线接口和/或第二总线接口传输，从而使得当其中一路总线发生异常故障时，飞控单元仍然可以通过其他正常运行的总线进行数据传输，例如接收操纵系统单元输出的操作指令、和/或传感器系统单元输出的飞行状态数据，以生成飞行控制指令，和/或将飞行控制指令向控制执行单元发送，使得控制执行单元可以执行飞行控制指令。这样，形成飞控单元总线接口的余度配置，从而增强了飞控单元进行数据传输的可靠性，从而能够确保飞行器控制系统稳定运行，保障飞行安全稳定性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
通过结合附图对本申请示例性实施方式进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显，其中，在本申请示例性实施方式中，相同的参考标号通常代表相同部件。
图1是本申请一实施例示出的飞行器控制系统的结构示意图；
图2是本申请另一实施例示出的飞行器控制系统的结构示意图；
图3是本申请另一实施例示出的飞行器控制系统的结构示意图。
本发明的实施方式
下面将参照附图更详细地描述本申请的实施方式。虽然附图中显示了本申请的实施方式，然而应该理解，可以以各种形式实现本申请而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本申请更加透彻和完整，并且能够将本申请的范围完整地传达给本领域的技术人员。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语“第一”、“第二”、“第三”等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请实施例提供一种飞控单元、飞行器控制系统、方法及飞行器，能够确保飞控单元接收及输出数据的可靠性、保障确保飞行器控制系统稳定运行，保障飞行安全稳定性。
以下结合附图详细描述本申请实施例的技术方案。
图1是本申请一实施例示出的飞行器控制系统的结构示意图。
参见图1，该系统包括：操纵系统单元110、传感器系统单元120、飞控单元130及控制执行单元140。
操纵系统单元110用于输出操作指令。操纵系统单元110包括机载操作装置、和/或机载通信模块；机载操作装置例如可以是操纵杆、脚蹬、按钮、触摸屏等人机交互装置，用于响应于飞行器内用户的操作向飞控单元输出操作指令；机载通信模块例如可以是蜂窝移动机载通信模块、无线局 域网机载通信模块、无线电台机载通信模块，机载通信模块用于将所接收的例如来自地面控制设备等的遥控操作指令向飞控单元输出。蜂窝移动机载通信模块例如可以为4G移动机载通信模块，也可以为5G移动机载通信模块，还可以为4G/5G移动机载通信模块，通过蜂窝移动通信网络的无线链路与地面控制系统进行通信。无线局域网机载通信模块例如可以为配置有全向天线的无线接入点模块，通过无线局域网络的无线链路与地面控制系统进行通信。无线电台机载通信模块例如可以是无线数传电台，通过电台无线链路与地面控制系统进行点对点通信。
传感器系统单元120用于输出飞行状态数据。具体地，传感器系统单元120包括陀螺仪、加速度计、高度计、气压计、电子罗盘、GNSS(全球导航卫星系统)定位模块和避障传感器等中的部分或全部，用于输出飞行姿态、飞行高度、飞行速度、飞行器位置等飞行状态数据中的部分或全部。
飞控单元130用于根据操作指令和飞行状态数据生成飞行控制指令。飞控单元130用于进行飞行控制，例如可以是机载计算机、和/或载于飞行器的可移动智能设备等。
飞控单元130包括数据传输接口101与处理单元102。
数据传输接口101，用于接收来自操纵系统单元110的操作指令，以及来自传感器系统单元120的飞行状态数据。
处理单元102，处理单元102与数据传输接口101连接，用于根据操作指令和飞行状态数据生成飞行控制指令。
数据传输接口101还用于向控制执行单元140输出飞行控制指令，以使控制执行单元140执行飞行控制指令。
其中，数据传输接口101包括用于连接第一总线151的第一总线接口和用于连接第二总线152的第二总线接口，操作指令、飞行状态数据和飞行控制指令至少其中之一通过第一总线接口和/或第二总线接口传输。这样，在其中一个总线接口异常的情况下，可以通过另一个运行正常的总线接口进行数据传输。另外，在其中一路总线发生异常故障的情况下，可以通过另一路运行正常的总线进行数据传输。如此，保障了飞控单元130进行数据交互的可靠性。
控制执行单元140用于执行飞控单元130输出的飞行控制指令。控制 执行单元140包括但不限于飞行器主动力装置控制器(例如旋翼驱动电机控制器)、姿态控制装置控制器(例如舵机控制器、伺服电机控制器和变桨距控制器)等中的部分或全部。
图1中示出操纵系统单元110、控制执行单元140、传感器系统单元120三者各自分别与飞控单元130之间通过第一总线151和第二总线152连接。可以理解的，本申请不限于此，例如，操纵系统单元110与飞控单元130之间通过两路或多于两路总线连接；或者，控制执行单元140与飞控单元130之间通过两路或多于两路总线连接；或者，传感器系统单元120与飞控单元130之间通过两路或多于两路总线连接；或者，操纵系统单元110、控制执行单元140、传感器系统单元120三者中任意两者与飞控单元130之间通过两路或多于两路总线连接。即，操纵系统单元110、控制执行单元140和传感器系统单元120至少其中之一与飞控单元130之间通过至少两路总线连接。可以理解的，操纵系统单元110、控制执行单元140和/或传感器系统单元120可以通过相同的两路或多于两路总线与飞控单元130连接，也可以通过不同的两路或多于两路总线与飞控单元130连接，例如，操纵系统单元110可以通过两路总线与飞控单元130连接，传感器系统单元120可以通过另外配置的两路总线与飞控单元130连接。
总线可以是现场总线，现场总线可以是任意适合类型的数据传送总线，例如可以是CAN(Controller Area Network，控制器局域网络)总线、RS系列总线、ARINC429总线、ARINC629总线等。其中，RS系列总线可以包括RS422总线、RS485总线。ARINC429总线具有可靠性高、质量稳定的特点，其数据传送速度通常为100kbps。ARINC629总线具有结构合理、性能稳定、数据传送速度高(可达到2Mbps)的特点。
本申请实施例提供的飞行器控制系统，操纵系统单元110、控制执行单元140和至少一个传感器系统单元120至少其中之一与飞控单元130之间通过至少两路总线连接，从而使得当其中一路总线发生故障时，飞控单元130仍然可以通过其他正常的总线进行数据传输，例如接收操纵系统单元110输出的操作指令、传感器系统单元120输出的飞行状态数据，以生成飞行控制指令，和/或将飞行控制指令向控制执行单元140发送，使得控制执行单元140可以执行飞行控制指令。这样，形成飞行器控制系统传输 线路的余度配置，从而增强了飞控单元130进行数据交互的可靠性，能够确保飞行器控制系统稳定运行，保障飞行安全稳定性。
图2示出了本申请另一实施例的飞行器控制系统的结构示意图，该飞行器系统中的飞控单元130的数据传输接口101还包括第三总线接口和第四总线接口。
其中，第三总线接口用于连接第三总线153，第四总线接口用于连接第四总线154。飞行状态数据通过第一总线接口和/或第二总线接口传输。操作指令和/或飞行控制指令通过第三总线接口或第四总线接口传输，或通过第三总线接口和第四总线接口传输。
在图2所示的实施例中，飞控单元130的处理单元102可以通过第一总线接口和第二总线接口接收传感器系统单元120输出的飞行状态数据，通过第三总线接口和第四总线接口接收操纵系统单元110输出的操作指令，通过第三总线接口和第四总线接口向控制执行单元140发送飞行控制指令。其中，该飞行控制指令是通过第一总线接口和/或第二总线接口接收到的飞行状态数据，及通过第三总线接口和/或第四总线接口接收到的操作指令所生成的。
进一步的，在一些实施例中，第一总线接口和第二总线接口为不同协议的总线接口；第三总线接口和第四总线接口为不同协议的总线接口。对应的，第一总线151和第二总线152传输不同协议的数据。这样，可以根据第一总线151和第二总线152的特性，在不同的情况下选择最适合的一个总线接口接收飞行状态数据。同理，飞控单元130可以通过第三总线接口和/或第四总线接口接收操作指令，或发送飞行控制指令。如此，使得飞控单元130可以通过不同协议的总线接口，与飞行器控制系统当中不同的总线进行对应连接，从而实现专线专用的效果。不同的总线可以分别传送不同类型的数据，从而优化数据传送的分配方式，优化线路结构。
图3示出本申请另一实施例的飞行器控制系统的结构示意图，该飞行器控制系统包括两个飞控单元，分别为第一飞控单元131和第二飞控单元132。该飞行器控制系统包括两个传感器系统单元，分别为第一传感器系统单元121和第二传感器系统单元122。第一传感器系统单元121和第二传感器系统单元122可以具有相同的配置，例如均配置有陀螺仪、加速度 计、高度计、气压计、电子罗盘、GNSS定位模块和避障传感器，且各传感器的具体类型和型号相同，但本申请不限于此，例如，第一传感器系统单元121和第二传感器系统单元122均配置有用于输出飞行姿态、飞行高度、飞行速度、飞行器位置等飞行状态数据的传感器，但具体类型不同或型号不同。
下面以第一飞控单元131为例进行更进一步的说明。可以理解的，第二飞控单元132可以参照第一飞控单元132实现，不再赘述。
第一飞控单元131可以通过第一总线151和第二总线152接收第一传感器系统单元121输出的飞行状态数据，通过第一总线151和第二总线152接收第二传感器系统单元122输出的飞行状态数据，通过第三总线153和第四总线154接收操纵系统单元110输出的操作指令，通过第三总线153和第四总线154向控制执行单元140发送飞行控制指令。
第一飞控单元131的第一总线接口用于接收来自第一传感器系统单元121和第二传感器系统单元122的飞行状态数据，第一飞控单元131的第二总线接口用于接收来自第一传感器系统单元121和来自第二传感器系统单元122的飞行状态数据。
第一飞控单元131的处理单元102根据操作指令和飞行状态数据生成飞行控制指令具体为：在第一传感器系统单元121运行正常时，根据操作指令和来自第一传感器系统单元121的飞行状态数据生成飞行控制指令，在检测到第一传感器系统单元121运行异常且第二传感器系统单元122运行正常时，根据操作指令和来自第二传感器系统单元122的飞行状态数据生成飞行控制指令。可以理解的，传感器系统单元运行异常包括传感器系统单元中的部分或全部传感器出现故障(例如通过飞行器姿态数据异常或发散判定位姿传感器出现故障等)，和/或传感器系统单元与飞控单元之间的数据传输出现故障。这样，在其中一个传感器系统单元运行异常时，可以通过另一个传感器系统单元向飞控单元可靠地提供飞行状态数据，从而保障了飞控器控制系统的稳定运行。
在一些实施例中，第二飞控单元132为主飞控单元，第一飞控单元131为从飞控单元。第一飞控单元131的数据传输接口101还用于从第二飞控单元132接收校验信号；第一飞控单元131的处理单元还用于根据校验信 号判断第二飞控单元132的运行是否正常，在判定第二飞控单元132运行正常时，使第一飞控单元131的数据传输接口不向控制执行单元140输出飞行控制指令，在判定第二飞控单元132运行故障且第一飞控单元131运行正常时，使第一飞控单元131的数据传输接口向控制执行单元140输出飞行控制指令。这样，与仅配置单一飞控单元相比，本实施例中通过配置两个飞控单元，能够在其中一个飞控单元出现故障时，使另一个运行正常的飞控单元提供飞行控制，从而避免单一飞控单元故障而造成飞行事故，实现了飞行器的可靠控制，从而保证飞行器的安全飞行。可以理解的，根据校验信号判断飞控单元的运行是否正常包括校验该飞控单元的处理单元是否运行正常，和/或检验该飞控单元的数据传输接口是否运行正常，例如接收的操作指令、飞行状态数据或生成的飞行控制指令是否正确；使第一飞控单元131的数据传输接口不向控制执行单元140输出飞行控制指令包括处理单元102不再生成飞行控制指令的情形，和/或处理单元102生成飞行控制指令传输到数据传输接口101但将数据传输接口101的状态配置为不接收或不向外输出数据的情形。
在一些实施例中，第一总线接口被配置为优先级高于第二总线接口，即飞控单元优先使用第一总线接口接收的数据和/或优先使用第一总线接口向外输出数据。第一飞控单元131的处理单元102还用于检测第一总线接口是否出现通信异常；在第一总线接口出现通信异常且第二总线接口通信正常时，屏蔽通过第一总线接口传输的数据，使通过第二总线接口传输的数据为有效数据；在第一总线接口通信正常时，屏蔽通过第二总线接口传输的数据，使通过第一总线接口传输的数据为有效数据。这样，保证了第一飞控单元131或第二飞控单元132所接收到的数据的有效性。可以理解的，屏蔽通过总线接口传输的数据包括不向该总线接口传输数据的情形，或向该总线接口传输但该总线接口的状态被配置为不接收数据或接收但不进行数据传输的情形，或该总线接口接收且进行数据传输但不使用所传输数据的情形。使通过总线接口传输的数据为有效数据指该总线接口接收且进行数据传输后所传输数据被使用的情形。可以理解的，第三总线接口和第四总线接口可参照上述第一总线接口和第二总线接口实现，不再赘述。
在一个具体实例中，当处理单元检测到某个总线接口出现通信异常且 持续时间超过设定时长时，可判定该总线接口通信异常。其中，设定时长可以是45ms、50ms或者55ms。
本实施例中，第二飞控单元132为主飞控单元。在第一飞控单元131和第二飞控单元132均正常运行的情况下，可以由第二飞控单元132输出飞行控制指令，第一飞控单元131不输出飞行控制指令，第一飞控单元131处于备用状态。也就是说，在第二飞控单元132正常运行的情况下，无论第一飞控单元131是否发生故障，飞行器控制系统都可以保持正常稳定运行。当第二飞控单元132发生故障时，第一飞控单元131可以根据第二飞控单元132输出的校验信号，判断出第二飞控单元132故障。此时，则由第一飞控单元131向控制执行单元140输出飞行控制指令，以维持飞行器控制系统的正常稳定运行。如此，避免单一飞控单元130故障而造成飞行事故，实现了飞行器可靠控制，从而保证飞行器的安全飞行。
进一步的，第一飞控单元131也可以向第二飞控单元132输出校验信号；第二飞控单元132可以根据校验信号判断第一飞控单元131的运行是否正常，进而根据判断结果进行预设处理。即第一飞控单元131和第二飞控单元132相互输出检验信号，对对方的运行状态和所生成的飞行控制指令的准确性进行互检。
在一实施方式中，第一飞控单元131和第二飞控单元132之间通过不同协议的至少两路串行通信线路连接；第一飞控单元131可通过至少两路串行通信线路中的至少其中一路向第二飞控单元132输出第一校验信号。第二飞控单元132可通过相同或不同的线路向第一飞控单元131输出第二校验信号。
其中，第一飞控单元131可以用于通过至少两路串行通信线路中的至少其中一路向第二飞控单元132输出第一校验信号，第二飞控单元132用于通过至少两路串行通信线路中的至少其中一路向第一飞控单元131输出第二校验信号。
第一飞控单元131还用于根据第二飞控单元132输出的第二校验信号，判断第一飞控单元131及第二飞控单元132的运行是否正常；在判定第二飞控单元132运行故障且第一飞控单元131运行正常时，使第一飞控单元131输出飞行控制指令。第二飞控单元132还用于根据第一飞控单元131 输出的第一校验信号，判断第一飞控单元131及第二飞控单元132的运行是否正常；在判定第二飞控单元132运行正常且第一飞控单元131运行故障时，使第二飞控单元132输出飞行控制指令；在判定第一飞控单元131与第二飞控单元132均运行正常时，使第二飞控单元132输出飞行控制指令。这样，能够在其中一个飞控单元出现故障时，使另一个运行正常的飞控单元提供飞行控制，从而避免单一飞控单元故障而造成飞行事故，实现了飞行器的可靠控制，从而保证飞行器的安全飞行。
其中，不同协议的至少两路串行通信线路可以包括：UART(Universal Asynchronous Receiver/Transmitter，通用异步收发传输器)串行总线与SPI(Serial Peripheral Interface，串行外设接口)串行总线。也就是说，第一飞控单元131和第二飞控单元132之间可以通过UART串行总线和/或SPI串行总线连接，从而实现通信数据的交互，进而进行相互检验并同步控制指令。
可以理解，当其中一路串行通信线路发生异常故障时，第一飞控单元131和第二飞控单元132之间仍可以通过其余的串行通信线路连接，从而能够保障第一飞控单元131和第二飞控单元132之间数据传输的可靠性。
图3中示出第一传感器系统单元121和第二传感器系统单元122各自分别与飞控单元130之间通过第一总线151和第二总线152连接，操纵系统单元110和控制执行单元140各自分别与飞控单元130之间通过第三总线153和第四总线154连接。可以理解的，本申请不限于此，例如，操纵系统单元110、控制执行单元140、第一传感器系统单元121和第二传感器系统单元122其中之一与第一飞控单元131和/或第二飞控单元132之间通过至少两路总线连接，例如，操纵系统单元110与第一飞控单元131和/或第二飞控单元132之间通过两路或多于两路总线连接；或者，控制执行单元140与第一飞控单元131和/或第二飞控单元132之间通过两路或多于两路总线连接；或者，第一传感器系统单元121和/或第二传感器系统单元122各自与第一飞控单元131和/或第二飞控单元132之间通过两路或多于两路总线连接；或者，操纵系统单元110、控制执行单元140、第一传感器系统单元121和第二传感器系统单元122中任意两者或三者与飞控单元130之间通过两路或多于两路总线连接。即，操纵系统单元110、控制执 行单元140、第一传感器系统单元121和第二传感器系统单元122至少其中之一与第一飞控单元131和/或第二飞控单元132之间通过至少两路总线连接。
在一实施方式中，第一总线151和第二总线152为不同协议的总线，第三总线153和第四总线154为不同协议的总线。例如，第一总线151可以是RS系列总线，第二总线152可以是CAN总线，从而使得第一总线151和第二总线152为不同协议的总线。例如，第三总线153可以是CAN总线，第四总线154可以是RS系列总线，从而使得第三总线153和第四总线154为不同协议的总线。
进一步的，在一实施方式中，第一总线151和第四总线154为相同协议的总线，第二总线152和第三总线153为相同协议的总线。例如，第一总线151可以是RS系列总线，第四总线154也可以是RS系列总线，从而使得第一总线151和第四总线154为相同协议的总线。例如，第二总线152可以是CAN总线，第三总线153也可以是CAN总线，从而使得第二总线152和第三总线153为不同协议的总线。
在其中一个优选的实施方式中，第一总线151是RS422总线，第二总线152是CAN总线，第三总线153是CAN总线，第四总线154是RS422总线。这样，实现专线专用的效果。不同的总线，传送不同协议类型的数据，从而优化数据传送的分配方式，优化线路结构。
与前述飞行器控制系统实施例相对应，本申请还提供了一种飞行器控制方法。
一种飞行器控制方法，该方法由第一飞控单元执行，第一飞控单元配置有用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，方法包括：
接收来自操纵系统单元的操作指令；
接收来自至少一个传感器系统单元的飞行状态数据；
根据操作指令和飞行状态数据生成飞行控制指令；
向控制执行单元输出飞行控制指令，以使控制执行单元执行飞行控制指令；
其中，第一飞控单元通过第一总线接口和/或第二总线接口接收操作指 令和飞行状态数据至少其中之一，和/或通过第一总线接口和/或第二总线接口接收输出飞行控制指令。
在一种实施方式中，输出飞行控制指令，包括：
从第二飞控单元接收校验信号；
根据校验信号判断第二飞控单元的运行是否正常；
若判定第二飞控单元运行故障且第一飞控单元运行正常，输出飞行控制指令。
在一种实施方式中，接收来自至少一个传感器系统单元的飞行状态数据包括：通过第一总线接口接收来自第一传感器系统单元的飞行状态数据，通过第二总线接口接收来自第二传感器系统单元的飞行状态数据；
根据操作指令和飞行状态数据生成飞行控制指令包括：
判断第一传感器系统单元是否运行异常；
在第一传感器系统单元运行正常时，根据操作指令和来自第一传感器系统单元的飞行状态数据生成飞行控制指令；
在第一传感器系统单元运行异常且第二传感器系统单元运行正常时，根据操作指令和来自第二传感器系统单元的飞行状态数据生成飞行控制指令。
在一种实施方式中，该方法还包括：
判断第一总线接口是否出现通信异常；
在第一总线接口出现通信异常且第二总线接口通信正常时，屏蔽通过第一总线接口传输的数据，使通过第二总线接口传输的数据为有效数据；
在第一总线接口通信正常时，屏蔽通过第二总线接口传输的数据，使通过第一总线接口传输的数据为有效数据。
关于上述实施例中的方法，其中各个步骤执行的具体方式已经在有关该系统的实施例中进行了详细描述，此处将不再做详细阐述说明。
以上实施例介绍了本申请实施例提供的飞行器控制系统，相应地，本申请还提供一种飞行器的实施例，本实施例提供的飞行器包括如上述任意实施例所描述的飞行器控制系统。
本实施例提供的飞行器，包括飞行器控制系统。飞行器控制系统包括：操纵系统单元110、至少一个传感器系统单元120、至少一个飞控单元130 及控制执行单元140；操纵系统单元110，用于输出操作指令；至少一个传感器系统单元120，用于输出飞行状态数据；至少一个飞控单元130，用于根据操作指令和飞行状态数据生成飞行控制指令；控制执行单元140，用于执行飞行控制指令；其中，操纵系统单元110、控制执行单元140和至少一个传感器系统单元120至少其中之一与飞控单元130之间通过至少两路总线连接。
从该实施例可以看出，本申请实施例提供的飞行器，当飞行器控制系统的其中一路总线发生故障时，飞控单元130仍然可以通过其余任一路正常的总线接收操纵系统单元110输出的操作指令、传感器系统单元120输出的飞行状态数据，以生成飞行控制指令并向控制执行单元140发送，使得控制执行单元140可以执行飞行控制指令。这样，形成飞行器控制系统的余度设计，从而增强了飞控单元130进行数据交互的可靠性，能够确保飞行器控制系统稳定运行，保障飞行器的飞行安全稳定性。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (15)

  1. 一种飞控单元，其特征在于，包括：
    数据传输接口，用于接收来自操纵系统单元的操作指令，以及来自至少一个传感器系统单元的飞行状态数据；
    处理单元，所述处理单元与所述数据传输接口连接，用于根据所述操作指令和飞行状态数据生成飞行控制指令；
    所述数据传输接口还用于向控制执行单元输出所述飞行控制指令，以使所述控制执行单元执行所述飞行控制指令；
    其中，所述数据传输接口包括用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，所述操作指令、所述飞行状态数据和所述飞行控制指令至少其中之一通过所述第一总线接口和/或所述第二总线接口传输。
  2. 如权利要求1所述的飞控单元，其特征在于：
    所述数据传输接口还包括用于连接第三总线的第三总线接口和用于连接第四总线的第四总线接口；
    所述飞行状态数据通过所述第一总线接口和/或第二总线接口传输；
    所述操作指令和/或飞行控制指令通过所述第三总线接口或第四总线接口传输，或通过所述第三总线接口和第四总线接口传输。
  3. 根据权利要求2所述的飞控单元，其特征在于：
    所述第一总线接口和第二总线接口为不同协议的总线接口；
    所述第三总线接口和第四总线接口为不同协议的总线接口。
  4. 如权利要求1所述的飞控单元，其特征在于：
    所述第一总线接口用于接收来自第一传感器系统单元和第二传感器系统单元的飞行状态数据；所述第二总线接口用于接收来自第一传感器系统单元和来自第二传感器系统单元的飞行状态数据；
    所述处理单元根据所述操作指令和飞行状态数据生成飞行控制指令具体为：在所述第一传感器系统单元运行正常时，根据所述操作指令和来自所述第一传感器系统单元的飞行状态数据生成所述飞行控制指令，在检测到所述第一传感器系统单元运行异常且所述第二传感器系统单元运行正常时，根据所述操作指令和来自所述第二传感器系统单元的飞行状态数 据生成所述飞行控制指令。
  5. 如权利要求1所述的飞控单元，其特征在于：
    所述飞控单元为第一飞控单元；
    所述数据传输接口还用于从第二飞控单元接收校验信号；
    所述处理单元还用于根据所述校验信号判断所述第二飞控单元的运行是否正常，在判定所述第二飞控单元运行正常时，使所述数据传输接口不向所述控制执行单元输出所述飞行控制指令，在判定所述第二飞控单元运行故障且所述第一飞控单元运行正常时，使所述数据传输接口向所述控制执行单元输出所述飞行控制指令。
  6. 根据权利要求1至5任一项所述的飞控单元，其特征在于：
    所述处理单元还用于检测所述第一总线接口是否出现通信异常；在所述第一总线接口出现通信异常且所述第二总线接口通信正常时，屏蔽通过所述第一总线接口传输的数据，使通过所述第二总线接口传输的数据为有效数据；在所述第一总线接口通信正常时，屏蔽通过所述第二总线接口传输的数据，使通过所述第一总线接口传输的数据为有效数据。
  7. 一种飞行器控制系统，其特征在于，包括：
    操纵系统单元，用于输出操作指令；
    至少一个传感器系统单元，用于输出飞行状态数据；
    至少一个飞控单元，所述飞控单元为如权利要求1至5任一项所述的飞控单元；
    控制执行单元，用于执行所述至少一个飞控单元输出的飞行控制指令；
    其中，所述操纵系统单元、控制执行单元和至少一个传感器系统单元至少其中之一与所述飞控单元之间通过至少两路总线连接。
  8. 根据权利要求7所述的系统，其特征在于：
    所述至少一个飞控单元包括第一飞控单元和第二飞控单元；
    所述操纵系统单元、控制执行单元和至少一个传感器系统单元至少其中之一分别通过至少两路总线与所述第一飞控单元和第二飞控单元连接。
  9. 根据权利要求8所述的系统，其特征在于：
    所述第一飞控单元和第二飞控单元之间通过不同协议的至少两路串行通信线路连接；
    所述第一飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第二飞控单元输出第一校验信号；和/或，所述第二飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第一飞控单元输出第二校验信号。
  10. 根据权利要求8所述的系统，其特征在于：
    所述第一飞控单元用于通过至少两路串行通信线路中的至少其中一路向所述第二飞控单元输出第一校验信号，所述第二飞控单元用于通过所述至少两路串行通信线路中的至少其中一路向所述第一飞控单元输出第二校验信号；
    所述第一飞控单元还用于根据所述第二飞控单元输出的所述第二校验信号，判断所述第一飞控单元及所述第二飞控单元的运行是否正常；在判定所述第二飞控单元运行故障且所述第一飞控单元运行正常时，使所述第一飞控单元输出所述飞行控制指令；
    所述第二飞控单元还用于根据所述第一飞控单元输出的所述第一校验信号，判断所述第一飞控单元及所述第二飞控单元的运行是否正常；在判定所述第二飞控单元运行正常且所述第一飞控单元运行故障时，使所述第二飞控单元输出所述飞行控制指令；在判定所述第一飞控单元与所述第二飞控单元均运行正常时，使所述第二飞控单元输出所述飞行控制指令。
  11. 一种飞行器控制方法，其特征在于，所述方法由第一飞控单元执行，所述第一飞控单元配置有用于连接第一总线的第一总线接口和用于连接第二总线的第二总线接口，所述方法包括：
    接收来自操纵系统单元的操作指令；
    接收来自至少一个传感器系统单元的飞行状态数据；
    根据所述操作指令和飞行状态数据生成飞行控制指令；
    向控制执行单元输出所述飞行控制指令，以使所述控制执行单元执行所述飞行控制指令；
    其中，所述第一飞控单元通过所述第一总线接口和/或第二总线接口接收所述操作指令和飞行状态数据至少其中之一，和/或通过所述第一总线接口和/或第二总线接口接收输出所述飞行控制指令。
  12. 根据权利要求11所述的方法，其特征在于，所述输出所述飞行 控制指令，包括：
    从第二飞控单元接收校验信号；
    根据所述校验信号判断所述第二飞控单元的运行是否正常；
    若判定所述第二飞控单元运行故障且所述第一飞控单元运行正常，输出所述飞行控制指令。
  13. 根据权利要求11所述的方法，其特征在于：
    所述接收来自至少一个传感器系统单元的飞行状态数据包括：通过所述第一总线接口接收来自第一传感器系统单元的飞行状态数据，通过所述第二总线接口接收来自第二传感器系统单元的飞行状态数据；
    所述根据所述操作指令和飞行状态数据生成飞行控制指令包括：
    判断所述第一传感器系统单元是否运行异常；
    在所述第一传感器系统单元运行正常时，根据所述操作指令和来自所述第一传感器系统单元的飞行状态数据生成所述飞行控制指令；
    在所述第一传感器系统单元运行异常且所述第二传感器系统单元运行正常时，根据所述操作指令和来自所述第二传感器系统单元的飞行状态数据生成飞行控制指令。
  14. 根据权利要求11至13任一项所述的方法，其特征在于，还包括：
    判断所述第一总线接口是否出现通信异常；
    在所述第一总线接口出现通信异常且所述第二总线接口通信正常时，屏蔽通过所述第一总线接口传输的数据，使通过所述第二总线接口传输的数据为有效数据；
    在所述第一总线接口通信正常时，屏蔽通过所述第二总线接口传输的数据，使通过所述第一总线接口传输的数据为有效数据。
  15. 一种飞行器，其特征在于：包括如权利要求7至10任一项所述的系统。
PCT/CN2021/133498 2021-09-27 2021-11-26 飞控单元、飞行器控制系统、方法及飞行器 WO2023045067A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111133383.6 2021-09-27
CN202111133383.6A CN113791642A (zh) 2021-09-27 2021-09-27 飞控单元、飞行器控制系统、方法及飞行器

Publications (1)

Publication Number Publication Date
WO2023045067A1 true WO2023045067A1 (zh) 2023-03-30

Family

ID=78877226

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/133498 WO2023045067A1 (zh) 2021-09-27 2021-11-26 飞控单元、飞行器控制系统、方法及飞行器

Country Status (2)

Country Link
CN (1) CN113791642A (zh)
WO (1) WO2023045067A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114104267A (zh) * 2021-12-17 2022-03-01 广东汇天航空航天科技有限公司 飞行器的变距控制方法、控制装置及飞行器
CN114275148B (zh) * 2022-01-13 2024-02-20 广东汇天航空航天科技有限公司 飞行器的控制方法、系统、飞行器及计算设备
CN115022159A (zh) * 2022-06-27 2022-09-06 汉中一零一航空电子设备有限公司 一种控制设备主控制器冗余备份系统及方法
CN115657707A (zh) * 2022-09-27 2023-01-31 成都沃飞天驭科技有限公司 一种飞行器的操控方法、系统、飞行器及介质
CN116774570B (zh) * 2023-08-23 2023-11-07 成都飞航智云科技有限公司 一种多余度数据分析方法、分析系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3611300A (en) * 1966-02-25 1971-10-05 Honeywell Inf Systems Multicomputer system for real-time environment
CN104914872A (zh) * 2015-04-20 2015-09-16 中国科学院长春光学精密机械与物理研究所 适用于小型民用无人机的传感器双余度飞控计算机系统
CN109062028A (zh) * 2018-09-04 2018-12-21 北京实干兴邦科技有限公司 一种飞控计算机的多余度控制系统
WO2021023632A1 (fr) * 2019-08-02 2021-02-11 Safran Electronics & Defense Aeronef comprenant un dispositif de secours en cas de panne
CN112363468A (zh) * 2020-10-28 2021-02-12 中国商用飞机有限责任公司 用于航空飞行器的全分布式飞控系统及其操作方法和航空飞行器
CN112714893A (zh) * 2020-04-21 2021-04-27 深圳市大疆创新科技有限公司 双飞控切换方法、飞控系统和飞行器

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102611598B (zh) * 2012-01-31 2015-07-15 长沙中联消防机械有限公司 控制器局域网络总线冗余系统及冗余切换的方法和装置
CN206819162U (zh) * 2017-05-23 2017-12-29 上海东古航空科技有限公司 一种基于can总线的无人机飞控硬件系统
CN107037724A (zh) * 2017-05-23 2017-08-11 上海东古航空科技有限公司 一种基于can总线的无人机冗余系统
US11097834B2 (en) * 2019-02-19 2021-08-24 Honeywell International Inc. Fly-by-wire systems and related operating methods
CN111077841A (zh) * 2020-01-10 2020-04-28 沈阳航空航天大学 一种基于双can总线的无人机飞行控制系统
CN111443593A (zh) * 2020-04-08 2020-07-24 中国人民解放军国防科技大学 一种网络化多余度的飞行器控制系统
CN112671627B (zh) * 2020-12-29 2022-08-09 中国航空工业集团公司西安飞机设计研究所 一种机载飞行控制系统的体系化总线选型方法及装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3611300A (en) * 1966-02-25 1971-10-05 Honeywell Inf Systems Multicomputer system for real-time environment
CN104914872A (zh) * 2015-04-20 2015-09-16 中国科学院长春光学精密机械与物理研究所 适用于小型民用无人机的传感器双余度飞控计算机系统
CN109062028A (zh) * 2018-09-04 2018-12-21 北京实干兴邦科技有限公司 一种飞控计算机的多余度控制系统
WO2021023632A1 (fr) * 2019-08-02 2021-02-11 Safran Electronics & Defense Aeronef comprenant un dispositif de secours en cas de panne
CN112714893A (zh) * 2020-04-21 2021-04-27 深圳市大疆创新科技有限公司 双飞控切换方法、飞控系统和飞行器
CN112363468A (zh) * 2020-10-28 2021-02-12 中国商用飞机有限责任公司 用于航空飞行器的全分布式飞控系统及其操作方法和航空飞行器

Also Published As

Publication number Publication date
CN113791642A (zh) 2021-12-14

Similar Documents

Publication Publication Date Title
WO2023045067A1 (zh) 飞控单元、飞行器控制系统、方法及飞行器
EP3709181A2 (en) Fly-by-wire systems and related operating methods
US20170277152A1 (en) Two-way architecture with redundant ccdl's
US9876598B2 (en) Switch for transmission of data between heterogeneous networks for aircraft
CN106774367B (zh) 一种飞行器的冗余控制方法
US9838436B2 (en) Aircraft data networks
EP3668765B1 (en) Systems and methods for redundant wheel speed sensing
US10162314B2 (en) Two-way architecture
JP2009523658A (ja) 分散型飛行制御システムのバックアップ制御のための装置及び方法
CN105867418A (zh) 一种通用小型无人机双核飞行控制计算机及控制方法
CA2809740C (en) Remote data concentrator
EP3738872B1 (en) Redundant fly-by-wire systems with fault resiliency
CN115390432B (zh) 一种多余度无人机飞控系统及飞控方法
CN104199440B (zh) 一种四机三总线冗余异构gnc系统
CN206877150U (zh) 一种无人机控制系统及无人机
KR101431110B1 (ko) 다기종 무인기용 표준 소프트웨어를 이용한 시리얼통신처리장치
EP1980924B1 (en) System and method of redundancy management for fault effect mitigation
CN115246426A (zh) 基于列车感知传感器行车的安全计算平台及方法
KR20220084456A (ko) 표준 인터페이스 장치를 활용한 이기종 자율주행 차량 정보의 서버 전송 방법
CN116661331B (zh) 一种利用软硬件协同的多余度飞控计算机系统
CN117395133A (zh) 一种屏幕自修复系统、方法、介质和电子设备
CN111338265A (zh) 一种异构多余度无人机自动驾驶仪
KR20230150057A (ko) 무인 항공기용 뉴럴 네트워크 시스템, 이를 포함하는 무인 항공기 제어 시스템 및 이를 이용한 무인 항공기 제어 방법
CN110187717A (zh) 无人机飞行控制系统及无人机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21958179

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE