Efficient flight control system of low-altitude manned unmanned aerial vehicle based on tilting composite wings

Abstract

The invention discloses an efficient flight control system of a low-altitude manned unmanned aerial vehicle based on tilting composite wings, and relates to the technical field of unmanned aerial vehicle control systems. The low-altitude manned unmanned aerial vehicle efficient flight control system based on the tilting composite wings comprises an initialization and pre-check module, a vertical take-off and landing control module, a transition flight control module, an obstacle avoidance and path planning module and a landing control module. Through integration of vertical take-off and landing, smooth transition to cruise, intelligent obstacle avoidance, path planning and other modules, autonomous and efficient flight in a complex environment is realized, and the application scene of the unmanned aerial vehicle is greatly widened. Meanwhile, the accurate flight control and data post-processing analysis capability not only guarantees the safety and comfort of passengers, but also promotes the continuous optimization of the system performance through the real-time performance evaluation and feedback mechanism. In addition, the aerial refueling / charging technology is supported, the cruising ability is prolonged, and the task execution continuity and flexibility are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control systems, and in particular to a high-efficiency flight control system for a low-altitude manned unmanned aerial vehicle based on a tilt-rotating composite wing. Background Art

[0002] A low-altitude manned drone is a drone system that can carry out manned flights at low altitudes. It combines the flexibility of drones with the convenience of manned flights, and has the characteristics of high efficiency, convenience, and environmental protection. Low-altitude manned drones usually adopt a modular design to facilitate maintenance and upgrades. The body structure is mostly made of high-strength, lightweight composite materials, such as carbon fiber and titanium alloy, to ensure strength and reduce weight.

[0003] CN112947525A discloses a flight control system and a flight control method for an electric manned aircraft, comprising a central processing unit module, the central processing unit module comprising at least two processors, the at least two processors comprising a first processor and a second processor, the first processor and the second processor being connected to each other; wherein the first processor is used to obtain flight data of the electric manned aircraft, perform calculations and processing on the flight data, form control instructions, and send the control instructions to the second processor; the second processor is used to be connected to the first processor and the power system of the electric manned aircraft respectively, convert the control instructions received from the first processor into control signals, and output the control signals to the power system, so that the power system controls the flight of the electric manned aircraft according to the control signals, thereby improving the control response speed and realizing faster and real-time control of the electric manned aircraft.

[0004] Low-altitude manned drones not only need to improve the control reaction speed as shown in the above technology, but also need to overcome many problems in actual flight, especially for tilt-rotor drones, such as: Difficulty in transitional flight modes: Tilt-rotor UAVs need to switch quickly and smoothly between helicopter (or multi-rotor) mode and fixed-wing aircraft mode. During this process, the flow field and wake of the rotor are complex, and the aerodynamic changes of the blades directly affect the balance and control of the aircraft, making the control of the transitional mode particularly difficult.

[0005] Aerodynamic interference problem: During vertical flight and hovering, the aerodynamic interference between the rotor and the wing is particularly serious, which will significantly affect the stability and payload of the UAV.

[0006] Multi-mode control fusion: Tilt-rotor UAVs need to integrate the control systems of helicopters (or multi-rotors) and fixed-wing aircraft to achieve seamless switching of the two control logics, which increases the complexity of the system and the difficulty of operation.

[0007] Flight stability: Faced with complex weather conditions and flight environment, the stability of the flight control system still needs to be improved to prevent shaking and loss of control.

[0008] In summary, there is still much room for improvement in the control systems of current tilt-rotor low-altitude manned UAVs. Summary of the invention

[0009] In view of the deficiencies in the prior art, the present invention provides an efficient flight control system for low-altitude manned UAVs based on tilt-rotor composite wings, which solves the problems existing in the control systems of current tilt-rotor low-altitude manned UAVs.

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: an efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing, comprising: Initialization and pre-check module, used to start the system, self-check hardware, load flight plan, check weather and airspace safety; The vertical take-off and landing control module is used to control the rotor to achieve stable hovering and vertical take-off and landing, and maintain flight stability through PID regulation and ground effect compensation algorithm; Transition flight control module, used for rotor tilt to horizontal, smooth transition between vertical and horizontal flight modes, dynamic adjustment of thrust distribution, integrated vibration suppression system, stable transition flight; Cruise flight control module, used to control the aircraft to cruise stably in fixed-wing mode, autopilot to control attitude, altitude, speed, support aerial refueling / charging and dynamic waypoint adjustment; Obstacle avoidance and path planning module, used to detect obstacles in real time, dynamically plan obstacle avoidance paths, and optimize flight strategies by combining multi-sensor fusion and autonomous decision-making; Landing control module, used to start the landing mode, control the vertical tilt of the rotor and accurately control the rotor speed, achieve a smooth landing through PID control, and evaluate the safety of the landing area; The post-flight processing and analysis module is used to record and analyze flight data, evaluate performance, collect passenger feedback, conduct remote fault diagnosis and maintenance planning, and provide data for the optimization of subsequent flight strategies.

[0011] Preferably, the specific working steps of the initialization and pre-check module are: S1.1. System startup and hardware self-check: After the system is started, the hardware self-check is first performed to ensure that key components including rotors, wings, engines, and sensors are in normal working condition; S1.2. Load flight plan and parameter settings: S1.2.1. Load the flight plan, including the take-off point, cruise path, landing point and emergency stop points in between; S1.2.2. Set the take-off mode and set the flight parameters of cruising altitude and speed limit; S1.2.3. Set minimum safe flight conditions, including wind speed limits and visibility requirements, based on the flight plan area and current meteorological conditions, for subsequent automatic weather and airspace checks; S1.3, Automatic weather and airspace checking: S1.3.1. Automatically check weather conditions and airspace restrictions in the flight plan area by connecting to the meteorological database and air traffic control system; S1.3.2. Verify whether the current wind speed and visibility meet the set minimum safe flight conditions; S1.3.3 Ensure that the flight path does not infringe any restricted airspace or violate aviation regulations.

[0012] Preferably, the specific working steps of the vertical take-off and landing control module are: S2.1. Switch to vertical take-off and landing mode: After the aircraft receives the vertical take-off and landing command, the rotor begins to tilt to the vertical position, preparing for vertical take-off or landing; S2.2. Adjust the rotor speed by PID controller: Use PID controller to accurately adjust the rotor speed to achieve stable hovering or vertical ascent or descent. The calculation formula of rotor speed control signal ω is: ; Where e(t) is the current height and the target hovering height h hover The error between represents the rate of change of height error e(t) with time t, K p , K i , K d are the proportional, integral, and differential gains of the PID controller, τ is the integral variable, is the integrand; S2.3, add ground effect compensation algorithm: when the aircraft is close to the ground, that is, the height is lower than the ground effect threshold height h ge When the ground effect compensation algorithm is automatically activated, the rotor speed and the attitude of the aircraft are adjusted to reduce the impact of the ground effect on the hovering stability. The setting parameters include: target hovering height h hover , vertical speed v z , ground effect threshold height h ge , compensation gain K ge .

[0013] Preferably, the specific working steps of the transition flight control module are: S3.1. Start transition mode: When the aircraft reaches a predetermined flight altitude or position, the system automatically or manually triggers the transition mode; at this time, the tilt rotor begins to gradually transition from a vertical position to a horizontal position; S3.2, Dynamically adjust thrust distribution: S3.2.1. Calculate thrust distribution: Use formula T rotor = f(θ,T total ) calculates the thrust required by the rotor, where θ is the current rotor tilt angle, T total It is the total thrust required to meet flight requirements. The thrust required by the wing is obtained by subtracting the rotor thrust from the total thrust. wing = T total -T rotor ; S3.2.2, Real-time adjustment: As the rotor tilt angle changes, the system adjusts the thrust distribution of the rotor and wing in real time based on sensor data to maintain the stability and attitude control of the aircraft; S3.3, Integrated Active Vibration Suppression System: S3.3.1. Setting parameters: The transition angular velocity θ^, which defines the maximum permissible angular velocity of the rotor tilt; Transition time t transition , which is the estimated time required to complete the entire transition process; Vibration threshold ν threshold , that is, to set an upper limit of the vibration level. When the vibration is detected to exceed the vibration threshold ν threshold When the vibration suppression measures are initiated; Vibration suppression gain K vibration , i.e., the gain factor that adjusts the control input to reduce vibration, dynamically adjusted according to vibration feedback; S3.3.2 Real-time vibration monitoring and suppression: Vibration levels are monitored in real time by vibration sensors installed on the aircraft. When the vibration level exceeds the set threshold value ν threshold When the system starts the active vibration suppression algorithm, according to the vibration suppression gain K vibration , dynamically adjust the control inputs of the rotor and wing to reduce vibration; through closed-loop control, continuously monitor the vibration level and adjust the control input as needed until the vibration level drops to the threshold ν threshold within the range.

[0014] Preferably, the specific working steps of the cruise flight control module are: S4.1. Control the rotor to fully tilt to the horizontal position and enter the fixed-wing flight mode; S4.2. Control the attitude, altitude and speed of the aircraft through the autopilot to maintain a stable cruising state; During the cruise phase, the autopilot takes over control of the aircraft and adjusts the aircraft's attitude, altitude, and speed according to the preset flight plan or real-time instructions; using the speed control formula v = v desired + Δv correction , the autopilot maintains the aircraft's speed at the desired speed v desired Nearby, and apply speed correction Δv as needed correction To cope with wind resistance changes and airflow disturbance factors; at the same time, through the altitude and attitude control algorithm, the cruising altitude of the aircraft is maintained cruise and stable flight attitude; S4.3. Add aerial refueling or charging function, and perform aerial refueling or charging operation through the aerial docking system; S4.4, introduce dynamic waypoint adjustment function, allowing the autopilot to automatically calculate and adjust the aircraft's cruise path according to real-time traffic conditions, weather conditions or changes in mission requirements; set the waypoint adjustment interval t adjust Defines how often the system re-evaluates and adjusts the flight path; at each adjustment the autopilot will take all relevant factors into account and generate a cruise path.

[0015] Preferably, in S4.4, the step of the autopilot automatically adjusting and generating a cruise path is specifically as follows: S4.4.1. Initialization and parameter setting: Load basic flight plan: load the initial take-off point, cruise path, landing point and intermediate stops from the database or flight mission file; Set adjustment interval: Set the waypoint adjustment interval according to mission requirements or system performance. adjust ; Initialize the sensor data interface: ensure that the autopilot can receive data from the gyroscope, accelerometer, GPS, weather station, and traffic monitoring system in real time; S4.4.2. Real-time data collection and preprocessing: At each t adjust During the interval, collect real-time data of current position, speed, altitude, wind direction, wind speed, visibility, and surrounding traffic conditions, and clean, verify, and format the collected data; S4.4.3 Waypoint Adjustment Assessment: Evaluate current status: Based on real-time data, evaluate whether the aircraft's current position, speed, and altitude deviate from the planned path, and the degree of deviation; Analyze external factors: Analyze weather conditions, traffic conditions, and changes in mission requirements; S4.4.4, Path replanning and optimization: Based on the current position and external environment, use the path planning algorithm to generate multiple candidate cruise paths, evaluate each candidate path, consider safety, efficiency, and mission requirements, and select the cruise path with the highest score as the new flight plan based on the evaluation result score; S4.4.5, Path Smoothing and Adjustment: Path Smoothing: Smooth the selected new path to reduce sharp turns and unnecessary maneuvers. Update the aircraft's waypoint list based on the smoothed path, including position, altitude, and speed parameters; S4.4.6, Execution and Monitoring: Send the updated waypoint list to the flight control system, execute the new cruise path, continuously monitor real-time data during flight, and prepare for the next t adjust Evaluate and adjust again within the interval; S4.4.7. Abnormal situation handling: Detect any abnormal situation during the flight and implement appropriate emergency response measures based on the type and severity of the abnormal situation.

[0016] Preferably, during the flight, the aircraft also needs to adjust the flight speed and altitude according to the current power or fuel situation to extend the flight time. The specific steps include: Parameter settings: Current power / fuel amount E: Indicates the current remaining power or fuel amount of the aircraft; Maximum power / fuel quantity E max : Indicates the amount of electricity / fuel when the aircraft is fully charged or fully fueled; Endurance time T: indicates the time the aircraft can continue to fly at the current speed and altitude; Speed ​​adjustment factor k v : A coefficient used to adjust the flight speed. It is a positive number less than or equal to 1. When the power / fuel level is low, k v will be reduced to slow down and save energy; Height adjustment factor k h : A coefficient used to adjust the flight altitude, which is also a positive number less than or equal to 1. In some cases, lowering the flight altitude can reduce air resistance and engine power requirements, thereby saving energy; Base Speed base and base height h base : Respectively represent the recommended speed and altitude of the aircraft when fully charged / fully fueled; Estimated remaining battery life: ; Among them, T full It is the total flight time of the aircraft at the base speed and altitude with full charge / full fuel. Adjusted speed v a The formula is: v a =v base ×k v ; Adjusted height h a The formula is: h a =h base ×k h ; Among them, the flight speed and altitude of the aircraft need to take into account factors such as safety, mission requirements, and regulatory restrictions, and a minimum speed and altitude must be set.

[0017] Preferably, the specific working steps of the obstacle avoidance and path planning module are: S5.1. Real-time acquisition of surrounding environment information: The aircraft uses a variety of sensors to collect three-dimensional information of the surrounding environment in real time; S5.2, Dynamically adjust the flight path to avoid collision: Based on the obstacle information obtained in S5.1, the aircraft uses a real-time obstacle avoidance algorithm to dynamically adjust the flight path; when adjusting the path, consider the safety distance d safe , that is, the minimum distance that should be maintained between the aircraft and the obstacle to ensure that there is no collision during the flight; at the same time, according to the obstacle avoidance speed v avoid To adjust the flight speed.

[0018] Preferably, the specific working steps of the landing control module are: S6.1. When the aircraft approaches the preset landing point, the system automatically starts the landing mode and adjusts the flight status: S6.2. After the landing mode is activated, the rotors of the aircraft are tilted again to the vertical position for vertical landing; S6.3, accurately control the rotor speed through the PID controller to achieve a smooth landing; S6.4. Add the function of automatic identification and evaluation of landing area: use sensors to scan and analyze the ground conditions of the landing area in real time, and calculate the size of the landing area L land ×W land and ground slope α slope The landing area is evaluated to determine whether it meets the safe landing conditions. If the evaluation result shows that the landing area size is smaller than the size safety value or the ground slope is greater than the slope safety value, it is determined that there is a safety hazard in the landing area, and the aircraft will automatically adjust the landing strategy or select another suitable landing area.

[0019] Preferably, the specific working steps of the post-flight processing and analysis module are: S7.1. Record flight data, including flight trajectory, speed, altitude, and energy consumption; S7.2. Analyze flight data, evaluate flight performance, and optimize control parameters and algorithms; S7.3. Add passenger feedback collection function to collect passengers’ feedback on flight experience through questionnaire survey or voice interaction for subsequent service improvement; S7.4. Implement remote fault diagnosis and maintenance plans to automatically detect potential faults through uploaded flight data and schedule maintenance tasks in advance.

[0020] The present invention provides an efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing. Compared with the prior art, it has the following beneficial effects: 1. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings has comprehensively improved the flight safety, flexibility and intelligence level; by integrating modules such as vertical take-off and landing, smooth transition to cruising, intelligent obstacle avoidance and path planning, it has achieved autonomous and efficient flight in complex environments, greatly broadening the application scenarios of UAVs; at the same time, precise flight control and data post-processing and analysis capabilities not only ensure the safety and comfort of passengers, but also promote the continuous optimization of system performance through real-time performance evaluation and feedback mechanisms; in addition, it supports aerial refueling / charging technology, extends the endurance, enhances the continuity and flexibility of mission execution, and lays a solid foundation for the widespread application of low-altitude manned UAVs.

[0021] 2. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings ensures that all key components are in good condition before takeoff through detailed hardware self-inspection, avoiding flight accidents caused by hardware failures. At the same time, loading flight plans and precise parameter settings not only make the flight more in line with the predetermined goals, but also achieves early prediction and avoidance of complex weather and airspace environments by presetting minimum safe flight conditions, enhancing the flexibility and adaptability of flight. The introduction of automatic weather and airspace inspections minimizes human errors, ensures compliance and safety throughout the flight, and provides more reliable flight guarantees for UAVs or manned aircraft.

[0022] 3. The efficient flight control system of the low-altitude manned UAV based on the tilt-rotating composite wing achieves highly stable control of the aircraft during hovering, vertical ascent and descent by accurately switching to the vertical take-off and landing mode and using the PID controller to finely adjust the rotor speed, thereby reducing the safety risks caused by altitude fluctuations. In particular, the introduction of the ground effect compensation algorithm effectively addresses the problem of unstable hovering caused by the ground effect when the aircraft approaches the ground, and significantly improves the stability of low-altitude hovering by intelligently adjusting the rotor speed and attitude. These optimization measures not only improve the operational safety of the aircraft, but also broaden its operating range and scene adaptability, providing solid technical support for the application of vertical take-off and landing aircraft in complex environments.

[0023] 4. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings effectively avoids the flight risks caused by sudden attitude changes through a smooth and controllable rotor tilt process; the strategy of dynamically adjusting thrust distribution, combined with real-time sensor data, ensures that the aircraft can maintain a stable flight state during the transition phase; more importantly, the integrated active vibration suppression system effectively suppresses the vibration that may be generated during the transition process through real-time monitoring and closed-loop control, which not only improves flight comfort, but also further ensures the structural safety of the aircraft; the combined effect of these measures makes the performance of the aircraft in the transition flight phase even better, laying a solid foundation for the successful execution of complex flight missions.

[0024] 5. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings has achieved a smooth transition from vertical take-off and landing to fixed-wing cruising by introducing rotor tilt technology and precise control of the autopilot, thereby improving flight efficiency. The addition of aerial refueling or charging functions has greatly expanded the range of the aircraft, enabling it to perform longer and longer-distance missions. In addition, the dynamic waypoint adjustment function enables the aircraft to automatically optimize the cruise path according to real-time environmental changes, enhancing the ability to respond to emergencies and ensuring flight safety. At the same time, the flight speed and altitude are adjusted according to the power or fuel conditions, further extending the endurance time and improving the efficiency and economy of mission execution.

[0025] 6. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings integrates a variety of high-precision sensors to obtain environmental information in real time, realizes comprehensive perception of complex environments, and can quickly and accurately identify and avoid obstacles; the strategy of dynamically adjusting the flight path and speed not only ensures flight safety, but also improves the ability to deal with emergencies; at the same time, the introduction of advanced algorithms such as A* or RRT for path planning optimizes the flight path and improves the efficiency of mission execution; in addition, the flight strategy is adjusted according to the power or fuel situation, which effectively extends the flight time and enhances the endurance of the aircraft; the combined effect of these advantages makes the aircraft perform better in complex tasks, greatly improving its application value.

[0026] 7. The efficient flight control system of this low-altitude manned UAV based on tilt-rotating composite wings automatically starts the landing mode and fine-tunes the flight status to ensure that the aircraft can smoothly transition to the landing stage when approaching the landing point. In particular, the precise tilt control of the rotor and the application of the PID controller enable fine regulation of the aircraft's attitude and position, greatly improving the stability and accuracy of the landing. In addition, the introduction of the automatic identification and evaluation function of the landing area can analyze the safety of the landing area in real time, and automatically adjust the landing strategy or select a safer landing point accordingly, effectively avoiding landing accidents caused by unsafe landing areas, and significantly improving the overall safety and intelligence level of the aircraft.

[0027] 8. The efficient flight control system of the low-altitude manned UAV based on the tilt-rotating composite wing, by recording the flight data in detail, not only covers the basic flight trajectory, speed, altitude, and energy consumption information, but also adds in-depth evaluation and optimization of flight performance, which helps to accurately improve flight efficiency and safety and reduce operating costs; secondly, the introduction of a passenger feedback collection mechanism directly connects passenger experience with service improvement, enhances the personalization and satisfaction of services, and is the key to improving brand image; finally, the implementation of remote fault diagnosis and maintenance plans, the use of big data to predict potential faults, and the arrangement of maintenance in advance, effectively avoids unplanned downtime, ensures the continuity and stability of operations, reduces maintenance costs and time costs, and overall improves the efficiency and benefits of aviation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a system flow chart of the present invention; Figure 2 It is a schematic diagram of the steps of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 2 , the present invention provides the following eight technical solutions: The first implementation method: an efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing, comprising: Initialization and pre-check module, used to start the system, self-check hardware, load flight plan, check weather and airspace safety; The vertical take-off and landing control module is used to control the rotor to achieve stable hovering and vertical take-off and landing, and maintain flight stability through PID regulation and ground effect compensation algorithm; Transition flight control module, used for rotor tilt to horizontal, smooth transition between vertical and horizontal flight modes, dynamic adjustment of thrust distribution, integrated vibration suppression system, stable transition flight; Cruise flight control module, used to control the aircraft to cruise stably in fixed-wing mode, autopilot to control attitude, altitude, speed, support aerial refueling / charging and dynamic waypoint adjustment; Obstacle avoidance and path planning module, used to detect obstacles in real time, dynamically plan obstacle avoidance paths, and optimize flight strategies by combining multi-sensor fusion and autonomous decision-making; Landing control module, used to start the landing mode, control the vertical tilt of the rotor and accurately control the rotor speed, achieve a smooth landing through PID control, and evaluate the safety of the landing area; The post-flight processing and analysis module is used to record and analyze flight data, evaluate performance, collect passenger feedback, conduct remote fault diagnosis and maintenance planning, and provide data for the optimization of subsequent flight strategies.

[0031] The flight control system has comprehensively improved flight safety, flexibility and intelligence. By integrating modules such as vertical take-off and landing, smooth transition to cruising, intelligent obstacle avoidance and path planning, it has achieved autonomous and efficient flight in complex environments, greatly broadening the application scenarios of drones. At the same time, precise flight control and data post-processing and analysis capabilities not only ensure the safety and comfort of passengers, but also promote the continuous optimization of system performance through real-time performance evaluation and feedback mechanisms. In addition, it supports aerial refueling / charging technology, extends endurance, enhances the continuity and flexibility of mission execution, and lays a solid foundation for the widespread application of low-altitude manned drones.

[0032] The second implementation mode is mainly different from the first implementation mode in that the specific working steps of the initialization and pre-checking module are: S1.1. System startup and hardware self-check: After the system is started, the hardware self-check is first performed to ensure that key components including rotors, wings, engines, sensors (such as gyroscopes, accelerometers, GPS, etc.) are in normal working condition; S1.2. Load flight plan and parameter settings: S1.2.1. Load the flight plan, including the take-off point, cruise path, landing point and emergency stop points in between; S1.2.2. Set the take-off mode (such as vertical take-off and landing mode) and set the flight parameters of cruising altitude and speed limit; S1.2.3. Set minimum safe flight conditions, including wind speed limits and visibility requirements, based on the flight plan area and current meteorological conditions, for subsequent automatic weather and airspace checks; S1.3, Automatic weather and airspace checking: S1.3.1. Automatically check weather conditions and airspace restrictions in the flight plan area by connecting to the meteorological database and air traffic control system; S1.3.2. Verify whether the current wind speed and visibility meet the set minimum safe flight conditions; S1.3.3 Ensure that the flight path does not infringe any restricted airspace or violate aviation regulations.

[0033] Through detailed hardware self-checking, all key components are ensured to be in good condition before takeoff, avoiding flight accidents caused by hardware failure. At the same time, loading flight plans and precise parameter settings not only make the flight more in line with the predetermined goals, but also achieve early prediction and avoidance of complex weather and airspace environments by presetting minimum safe flight conditions, enhancing the flexibility and adaptability of flight. The introduction of automatic weather and airspace inspections minimizes human errors, ensures compliance and safety throughout the flight, and provides more reliable flight guarantees for drones or manned aircraft.

[0034] The third implementation mode is mainly different from the first implementation mode in that the specific working steps of the vertical take-off and landing control module are: S2.1. Switch to vertical take-off and landing mode: After the aircraft receives the vertical take-off and landing command, the rotor begins to tilt to the vertical position, preparing for vertical take-off or landing; S2.2. Adjust the rotor speed by PID controller: Use PID controller to accurately adjust the rotor speed to achieve stable hovering or vertical ascent or descent. The calculation formula of rotor speed control signal ω is: ; Where e(t) is the current height and the target hovering height h hover The error between represents the rate of change of height error e(t) with time t, K p , K i , K d are the proportional, integral, and differential gains of the PID controller, τ is the integral variable, is the integrand; S2.3, add ground effect compensation algorithm: when the aircraft is close to the ground, that is, the height is lower than the ground effect threshold height h ge When the ground effect compensation algorithm is automatically activated, the rotor speed and the attitude of the aircraft (such as pitch angle and roll angle) are adjusted to reduce the impact of the ground effect on hovering stability. The setting parameters include: target hovering height h hover , vertical speed v z (current vertical speed, used for monitoring and adjustment), ground effect threshold altitude h ge (height threshold to trigger compensation algorithm), compensation gain K ge (Gain factor used to adjust rotor speed and attitude).

[0035] By accurately switching to the vertical take-off and landing mode and using the PID controller to finely adjust the rotor speed, the highly stable control of the aircraft during hovering, vertical ascent and descent is achieved, reducing the safety risks caused by altitude fluctuations. In particular, the introduction of the ground effect compensation algorithm effectively addresses the problem of unstable hovering caused by ground effect when the aircraft approaches the ground, and significantly improves the stability of low-altitude hovering by intelligently adjusting the rotor speed and attitude. These optimization measures not only improve the operational safety of the aircraft, but also broaden its operating range and scene adaptability, providing solid technical support for the application of vertical take-off and landing aircraft in complex environments.

[0036] The fourth implementation mode is mainly different from the first implementation mode in that the specific working steps of the transition flight control module are: S3.1, start transition mode: when the aircraft reaches the predetermined flight altitude or position, the system automatically or manually triggers the transition mode; at this time, the tilt rotor begins to gradually transition from the vertical position to the horizontal position; this process needs to be smooth and controllable to avoid abrupt attitude changes; S3.2, Dynamically adjust thrust distribution: S3.2.1. Calculate thrust distribution: Use formula T rotor = f(θ,T total ) calculates the thrust required by the rotor, where θ is the current rotor tilt angle, T totalIt is the total thrust required to meet flight requirements. The thrust required by the wing is obtained by subtracting the rotor thrust from the total thrust. wing = T total -T rotor ; S3.2.2, Real-time adjustment: As the rotor tilt angle changes, the system adjusts the thrust distribution of the rotor and wing in real time based on sensor data to maintain the stability and attitude control of the aircraft; S3.3, Integrated Active Vibration Suppression System: S3.3.1. Setting parameters: Transition angular velocity θ^, which defines the maximum permissible angular velocity of the rotor tilt to avoid flight instability caused by too fast or too slow; Transition time t transition , which is the estimated time required to complete the entire transition process, used to optimize the control strategy; Vibration threshold ν threshold , that is, setting an upper limit of the vibration level. When the vibration is detected to exceed this threshold, the vibration suppression measures are initiated; Vibration suppression gain K vibration , i.e., the gain factor that adjusts the control input to reduce vibration, dynamically adjusted according to vibration feedback; S3.3.2 Real-time vibration monitoring and suppression: Vibration levels are monitored in real time by vibration sensors installed on the aircraft. When the vibration level exceeds the set threshold value ν threshold When the system starts the active vibration suppression algorithm, according to the vibration suppression gain K vibration , dynamically adjust the control inputs of the rotor and wing, such as changing the rotor speed, adjusting the angle of the wing control surface, etc., to reduce vibration; through closed-loop control, continuously monitor the vibration level and adjust the control input as needed until the vibration level drops to the threshold ν threshold within the range.

[0037] Through the smooth and controllable rotor tilt process, the flight risks that may be caused by sudden attitude changes are effectively avoided. The strategy of dynamically adjusting the thrust distribution, combined with real-time sensor data, ensures that the aircraft can maintain a stable flight state during the transition phase. More importantly, the integrated active vibration suppression system effectively suppresses the vibration that may be generated during the transition process through real-time monitoring and closed-loop control, which not only improves flight comfort, but also further ensures the structural safety of the aircraft. The combined effect of these measures makes the performance of the aircraft in the transition flight phase even better, laying a solid foundation for the successful execution of complex flight missions.

[0038] The fifth implementation mode is mainly different from the first implementation mode in that the specific working steps of the cruise flight control module are: S4.1: Control the rotor to fully tilt to the horizontal position and enter the fixed-wing flight mode; During this phase, the aircraft's rotors are fully tilted to a horizontal position, marking a successful transition from vertical takeoff and landing mode to fixed-wing flight mode. This conversion process requires precise control of the rotor's tilt angular velocity and stability to ensure a smooth transition without affecting the aircraft's attitude and altitude. Once the rotors reach a horizontal position, the aircraft enters fixed-wing flight mode and begins to use the wings to generate lift. S4.2: Control the attitude, altitude and speed of the aircraft through the autopilot to maintain a stable cruising state; During the cruise phase, the autopilot takes over control of the aircraft and adjusts the aircraft's attitude, altitude, and speed according to the preset flight plan or real-time instructions; using the speed control formula v = v desired + Δv correction , the autopilot maintains the aircraft's speed at the desired speed v desired Nearby, and apply speed correction Δv as needed correction To cope with wind resistance changes and airflow disturbance factors; at the same time, through the altitude and attitude control algorithm, the cruising altitude of the aircraft is maintained cruise and stable flight attitude; S4.3: Add aerial refueling or charging function to extend the flight endurance through the aerial docking system; In order to extend the cruising time and mission radius of the aircraft, an aerial refueling or charging function is introduced; when the aircraft needs to replenish fuel or electricity, it will dock with a dedicated aerial refueling machine or charging drone; the docking process requires precise control of the position and speed of the aircraft to ensure the accuracy and safety of the docking; once the docking is successful, the aircraft will begin to accept aerial refueling or charging, and the charging speed P recharge Or refueling speed R refuel It will be adjusted dynamically based on the docking system's capabilities and the current aircraft status; S4.4: In order to improve the flexibility of the aircraft and its ability to respond to emergencies, a dynamic waypoint adjustment function is introduced, allowing the autopilot to automatically calculate and adjust the aircraft's cruise path based on real-time traffic conditions, weather conditions or changes in mission requirements; set the waypoint adjustment interval t adjust Defines how often the system reevaluates and adjusts the flight path; with each adjustment, the autopilot will take all relevant factors into account and generate an optimal cruise path to ensure the vehicle reaches its destination safely and efficiently.

[0039] In S4.4, the steps for the autopilot to automatically adjust and generate the cruise path are as follows: S4.4.1. Initialization and parameter setting: Load basic flight plan: load the initial take-off point, cruise path, landing point and intermediate stops from the database or flight mission file; Set adjustment interval: Set the waypoint adjustment interval according to mission requirements or system performance. adjust ; Initialize the sensor data interface: ensure that the autopilot can receive data from the gyroscope, accelerometer, GPS, weather station, and traffic monitoring system in real time; S4.4.2. Real-time data collection and preprocessing: At each t adjust During the interval, collect real-time data of current position, speed, altitude, wind direction, wind speed, visibility, and surrounding traffic conditions, and clean, verify, and format the collected data; S4.4.3 Waypoint Adjustment Assessment: Evaluate current status: Based on real-time data, evaluate whether the aircraft's current position, speed, and altitude deviate from the planned path, and the degree of deviation; Analyze external factors: Analyze weather conditions, traffic conditions, and changes in mission requirements; S4.4.4, Path replanning and optimization: Based on the current position and external environment, use the path planning algorithm to generate multiple candidate cruise paths, evaluate each candidate path, consider safety, efficiency, and mission requirements, and select the cruise path with the highest score as the new flight plan based on the evaluation result score; S4.4.5, Path Smoothing and Adjustment: Path Smoothing: Smooth the selected new path to reduce sharp turns and unnecessary maneuvers. Update the aircraft's waypoint list based on the smoothed path, including position, altitude, and speed parameters; S4.4.6, Execution and Monitoring: Send the updated waypoint list to the flight control system, execute the new cruise path, continuously monitor real-time data during flight, and prepare for the next t adjust Evaluate and adjust again within the interval; S4.4.7. Abnormal situation handling: Detect any abnormal situation during the flight and implement appropriate emergency response measures based on the type and severity of the abnormal situation.

[0040] During the flight, the aircraft needs to adjust the flight speed and altitude according to the current power or fuel status to extend the flight time. The specific steps include: Parameter settings: Current power / fuel amount E: Indicates the current remaining power or fuel amount of the aircraft; Maximum power / fuel quantity E max : Indicates the amount of electricity / fuel when the aircraft is fully charged or fully fueled; Endurance time T: indicates the time the aircraft can continue to fly at the current speed and altitude; Speed ​​adjustment factor k v : A coefficient used to adjust the flight speed. It is a positive number less than or equal to 1. When the power / fuel level is low, k v will be reduced to slow down and save energy; Height adjustment factor k h : A coefficient used to adjust the flight altitude, which is also a positive number less than or equal to 1. In some cases, lowering the flight altitude can reduce air resistance and engine power requirements, thereby saving energy; Base Speed base and base height h base : Respectively represent the recommended speed and altitude of the aircraft when fully charged / fully fueled; Estimated remaining battery life: ; Among them, T full It is the total flight time of the aircraft at the base speed and altitude with full charge / full fuel. Adjusted speed v a The formula is: v a =v base ×k v ; Adjusted height h a The formula is: h a =h base ×k h ; Among them, the flight speed and altitude of the aircraft need to take into account factors such as safety, mission requirements, and regulatory restrictions, and a minimum speed and altitude must be set.

[0041] For example: Current power / fuel amount E: Assume that the aircraft currently has 60% of its full power, that is, E=0.6×E max .

[0042] Maximum power / fuel quantity E max : Set E max =100 units.

[0043] Speed ​​adjustment factor k v : When the power is less than 30%, assuming k v =0.8; when the power is between 30% and 70%, k v =0.9; when the power is higher than 70%, k v =1. According to the current power, k v=0.9.

[0044] Height adjustment factor k h : Assume that at any charge, the height remains unchanged, that is, k h =1.

[0045] Base Speed base : Set v base =100 km / h.

[0046] Base height h base :Set h base =5000 m.

[0047] Total cruising time T when fully charged / fueled full :Assume T full =4 hours.

[0048] Estimated remaining battery life: Use the formula T s =E / E max × T full To estimate the remaining battery life: T s =60 / 100×4=2.4 hours; Speed ​​adjustment: Use the formula v a =v base ×k v To calculate the adjusted speed: v a =100×0.9=90 km / h; Height adjustment: Due to k h =1, the adjusted height remains unchanged: h a =h base ×k h =5000×1=5000 meters; Right now: The aircraft's current remaining power is 60% of full power, or 60 units.

[0049] The remaining battery life is estimated to be 2.4 hours.

[0050] To save energy, the aircraft adjusted its speed from its base speed of 100 km / h to 90 km / h.

[0051] The flight altitude remained unchanged at 5,000 meters.

[0052] By introducing rotor tilt technology and precise control of the autopilot, a smooth transition from vertical takeoff and landing to fixed-wing cruise is achieved, improving flight efficiency. The addition of aerial refueling or charging functions greatly expands the range of the aircraft, enabling it to perform longer and longer-distance missions. In addition, the dynamic waypoint adjustment function enables the aircraft to automatically optimize the cruise path according to real-time environmental changes, enhancing the ability to respond to emergencies and ensuring flight safety. At the same time, adjusting the flight speed and altitude according to the power or fuel situation further extends the endurance time and improves the efficiency and economy of mission execution.

[0053] The sixth implementation mode is mainly different from the first implementation mode in that the specific working steps of the obstacle avoidance and path planning module are as follows: S5.1. Real-time acquisition of surrounding environment information: The aircraft uses a variety of sensors (including but not limited to radar, LiDAR, cameras, etc.) to collect three-dimensional information of the surrounding environment in real time; S5.2, Dynamically adjust the flight path to avoid collision: Based on the obstacle information obtained in S5.1, the aircraft uses a real-time obstacle avoidance algorithm to dynamically adjust the flight path; when adjusting the path, consider the safety distance d safe , that is, the minimum distance that should be maintained between the aircraft and the obstacle to ensure that there is no collision during the flight; at the same time, according to the obstacle avoidance speed v avoid To adjust the flight speed so as to quickly avoid obstacles in an emergency; S5.3. Introduce autonomous decision-making capabilities and optimize flight strategies: Use the A algorithm (A-star algorithm is an algorithm for finding the shortest path from the starting point to the end point in a path with multiple nodes on a graph plane. It combines the advantages of best-first search and Dijkstra algorithm, and improves algorithm efficiency through heuristic search) or RRT algorithm (RRT algorithm, namely Rapidly-exploring Random Tree algorithm, is a random algorithm used for path planning. It iteratively explores the search space through random sampling and tree structure until a path connecting the starting point and the target point is found), and quickly generate an optimal or suboptimal path from the starting point to the end point based on environmental information and mission requirements; in addition, the aircraft adjusts the flight speed and altitude according to the current power or fuel conditions to maximize the flight time.

[0054] By integrating a variety of high-precision sensors to obtain environmental information in real time, a comprehensive perception of complex environments is achieved, so that obstacles can be quickly and accurately identified and avoided. The strategy of dynamically adjusting the flight path and speed not only ensures flight safety, but also improves the ability to respond to emergencies. At the same time, the introduction of advanced algorithms such as A* or RRT for path planning optimizes the flight path and improves the efficiency of mission execution. In addition, adjusting the flight strategy according to the power or fuel situation effectively extends the flight time and enhances the endurance of the aircraft. The combined effect of these advantages makes the aircraft perform better in complex tasks, greatly enhancing its application value.

[0055] The seventh implementation mode is mainly different from the first implementation mode in that the specific working steps of the landing control module are: S6.1. When the aircraft approaches the preset landing point, the system automatically starts the landing mode and adjusts the flight status: In this mode, the aircraft will begin to gradually lower its altitude and slow down its speed to ensure a smooth transition to landing. This adjustment process needs to take into account the current altitude, speed, and surrounding environment to ensure a safe and stable landing process. S6.2. After the landing mode is activated, the rotors of the aircraft are tilted again to the vertical position for vertical landing; This S is particularly important for multi-rotor aircraft because it allows the aircraft to achieve precise vertical take-off and landing in a limited landing space; the tilting process of the rotors requires precise control to ensure that the aircraft remains stable during the tilting process; S6.3, accurately control the rotor speed through the PID controller to achieve a smooth landing; During the landing process, the PID (proportional-integral-differential) controller will play a key role; by real-time monitoring of the aircraft's altitude, speed, acceleration and other parameters, the PID controller will continuously adjust the rotor speed to achieve precise control of the aircraft's attitude and position; this process will ensure that the aircraft can smoothly lower its altitude and eventually land safely; S6.4. Add the function of automatic identification and assessment of landing area: Use the onboard camera, radar or lidar and other sensors to scan and analyze the ground conditions of the landing area in real time and calculate the landing area size L land ×W land and ground slope α slope The landing area is evaluated to determine whether it meets the safe landing conditions. If the evaluation result shows that the landing area size is smaller than the size safety value or the ground slope is greater than the slope safety value, it is determined that there is a safety hazard in the landing area, and the aircraft will automatically adjust the landing strategy or select another suitable landing area.

[0056] By automatically starting the landing mode and fine-tuning the flight status, it is ensured that the aircraft can smoothly transition to the landing stage when approaching the landing point. In particular, the precise tilt control of the rotor and the application of the PID controller enable fine control of the aircraft's attitude and position, greatly improving the stability and accuracy of the landing. In addition, the introduction of the automatic identification and evaluation function of the landing area can analyze the safety of the landing area in real time, and automatically adjust the landing strategy or select a safer landing point accordingly, effectively avoiding landing accidents caused by unsafe landing areas, and significantly improving the overall safety and intelligence level of the aircraft.

[0057] The eighth implementation mode is mainly different from the first implementation mode in that the specific working steps of the post-flight processing and analysis module are as follows: S7.1. Record flight data, including flight trajectory, speed, altitude, and energy consumption; S7.2. Analyze flight data, evaluate flight performance, and optimize control parameters and algorithms; S7.3. Add passenger feedback collection function to collect passengers’ feedback on flight experience through questionnaire survey or voice interaction for subsequent service improvement; S7.4. Implement remote fault diagnosis and maintenance plans to automatically detect potential faults through uploaded flight data and schedule maintenance tasks in advance.

[0058] First, by recording flight data in detail, it not only covers basic flight trajectory, speed, altitude, and energy consumption information, but also adds in-depth evaluation and optimization of flight performance, which helps to accurately improve flight efficiency and safety and reduce operating costs. Secondly, the introduction of a passenger feedback collection mechanism directly connects passenger experience and service improvement, enhances the personalization and satisfaction of services, and is the key to improving brand image. Finally, the implementation of remote fault diagnosis and maintenance plans, the use of big data to predict potential faults, and the arrangement of maintenance in advance effectively avoid unplanned downtime, ensure the continuity and stability of operations, reduce maintenance costs and time costs, and overall improve the efficiency and benefits of aviation operations.

[0059] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0060] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An efficient flight control system for low-altitude manned UAV based on tilt-rotating composite wings, characterized in that: include: Initialization and pre-check module, used to start the system, self-check hardware, load flight plan, check weather and airspace safety; The vertical take-off and landing control module is used to control the rotor to achieve stable hovering and vertical take-off and landing, and maintain flight stability through PID regulation and ground effect compensation algorithm; Transition flight control module, used for rotor tilt to horizontal, smooth transition between vertical and horizontal flight modes, dynamic adjustment of thrust distribution, integrated vibration suppression system, stable transition flight; Cruise flight control module, used to control the aircraft to cruise stably in fixed-wing mode, autopilot to control attitude, altitude, speed, support aerial refueling / charging and dynamic waypoint adjustment; Obstacle avoidance and path planning module, used to detect obstacles in real time, dynamically plan obstacle avoidance paths, and optimize flight strategies by combining multi-sensor fusion and autonomous decision-making; Landing control module, used to start the landing mode, control the vertical tilt of the rotor and accurately control the rotor speed, achieve a smooth landing through PID control, and evaluate the safety of the landing area; The post-flight processing and analysis module is used to record and analyze flight data, evaluate performance, collect passenger feedback, conduct remote fault diagnosis and maintenance planning, and provide data for the optimization of subsequent flight strategies.

2. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the initialization and pre-check module are: S1.

1. System startup and hardware self-check: After the system is started, the hardware self-check is first performed to ensure that key components including rotors, wings, engines, and sensors are in normal working condition; S1.

2. Load flight plan and parameter settings: S1.2.

1. Load the flight plan, including the take-off point, cruise path, landing point and emergency stop points in between; S1.2.

2. Set the take-off mode and set the flight parameters of cruising altitude and speed limit; S1.2.

3. Set minimum safe flight conditions, including wind speed limits and visibility requirements, based on the flight plan area and current meteorological conditions, for subsequent automatic weather and airspace checks; S1.3, Automatic weather and airspace checking: S1.3.

1. Automatically check weather conditions and airspace restrictions in the flight plan area by connecting to the meteorological database and air traffic control system; S1.3.

2. Verify whether the current wind speed and visibility meet the set minimum safe flight conditions; S1.3.3 Ensure that the flight path does not infringe any restricted airspace or violate aviation regulations.

3. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the vertical take-off and landing control module are: S2.

1. Switch to vertical take-off and landing mode: After the aircraft receives the vertical take-off and landing command, the rotor begins to tilt to the vertical position, preparing for vertical take-off or landing; S2.

2. Adjust the rotor speed by PID controller: Use PID controller to accurately adjust the rotor speed to achieve stable hovering or vertical ascent or descent. The calculation formula of rotor speed control signal ω is: ； Where e(t) is the current height and the target hovering height h hover The error between represents the rate of change of height error e(t) with time t, K p , K i , K d are the proportional, integral, and differential gains of the PID controller, τ is the integral variable, is the integrand; S2.3, add ground effect compensation algorithm: when the aircraft is close to the ground, that is, the height is lower than the ground effect threshold height h ge When the ground effect compensation algorithm is automatically activated, the rotor speed and the attitude of the aircraft are adjusted to reduce the impact of the ground effect on the hovering stability. The setting parameters include: target hovering height h hover , vertical speed v z , ground effect threshold height h ge , compensation gain K ge .

4. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the transition flight control module are: S3.

1. Start transition mode: When the aircraft reaches a predetermined flight altitude or position, the system automatically or manually triggers the transition mode; at this time, the tilt rotor begins to gradually transition from a vertical position to a horizontal position; S3.2, Dynamically adjust thrust distribution: S3.2.

1. Calculate thrust distribution: Use formula T rotor = f(θ,T total ) calculates the thrust required by the rotor, where θ is the current rotor tilt angle, T total It is the total thrust required to meet flight requirements. The thrust required by the wing is obtained by subtracting the rotor thrust from the total thrust. wing = T total -T rotor ; S3.2.2, Real-time adjustment: As the rotor tilt angle changes, the system adjusts the thrust distribution of the rotor and wing in real time based on sensor data to maintain the stability and attitude control of the aircraft; S3.3, Integrated Active Vibration Suppression System: S3.3.

1. Setting parameters: The transition angular velocity θ^, which defines the maximum permissible angular velocity of the rotor tilt; Transition time t transition , which is the estimated time required to complete the entire transition process; Vibration threshold ν threshold , that is, to set an upper limit of the vibration level. When the vibration is detected to exceed the vibration threshold ν threshold When the vibration suppression measures are initiated; Vibration suppression gain K vibration , i.e., the gain factor that adjusts the control input to reduce vibration, dynamically adjusted according to vibration feedback; S3.3.2 Real-time vibration monitoring and suppression: Vibration levels are monitored in real time by vibration sensors installed on the aircraft. When the vibration level exceeds the set threshold value ν threshold When the system starts the active vibration suppression algorithm, according to the vibration suppression gain K vibration , dynamically adjust the control inputs of the rotor and wing to reduce vibration; through closed-loop control, continuously monitor the vibration level and adjust the control input as needed until the vibration level drops to the threshold ν threshold within the range.

5. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the cruise flight control module are: S4.

1. Control the rotor to fully tilt to the horizontal position and enter the fixed-wing flight mode; S4.

2. Control the attitude, altitude and speed of the aircraft through the autopilot to maintain a stable cruising state; During the cruise phase, the autopilot takes over control of the aircraft and adjusts the aircraft's attitude, altitude, and speed according to the preset flight plan or real-time instructions; using the speed control formula v = v desired + Δv correction , the autopilot maintains the aircraft's speed at the desired speed v desired Nearby, and apply speed correction Δv as needed correction To cope with wind resistance changes and airflow disturbance factors; at the same time, through the altitude and attitude control algorithm, the cruising altitude of the aircraft is maintained cruise and stable flight attitude; S4.

3. Add aerial refueling or charging function, and perform aerial refueling or charging operation through the aerial docking system; S4.4, introduce dynamic waypoint adjustment function, allowing the autopilot to automatically calculate and adjust the aircraft's cruise path according to real-time traffic conditions, weather conditions or changes in mission requirements; set the waypoint adjustment interval t adjust Defines how often the system re-evaluates and adjusts the flight path; at each adjustment the autopilot will take all relevant factors into account and generate a cruise path.

6. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 5 is characterized in that: In S4.4, the steps for the autopilot to automatically adjust and generate the cruise path are as follows: S4.4.

1. Initialization and parameter setting: Load basic flight plan: load the initial take-off point, cruise path, landing point and intermediate stops from the database or flight mission file; Set adjustment interval: Set the waypoint adjustment interval according to mission requirements or system performance. adjust ; Initialize the sensor data interface: ensure that the autopilot can receive data from the gyroscope, accelerometer, GPS, weather station, and traffic monitoring system in real time; S4.4.

2. Real-time data collection and preprocessing: At each t adjust During the interval, collect real-time data of current position, speed, altitude, wind direction, wind speed, visibility, and surrounding traffic conditions, and clean, verify, and format the collected data; S4.4.3 Waypoint Adjustment Assessment: Evaluate current status: Based on real-time data, evaluate whether the aircraft's current position, speed, and altitude deviate from the planned path, and the degree of deviation; Analyze external factors: Analyze weather conditions, traffic conditions, and changes in mission requirements; S4.4.4, Path replanning and optimization: Based on the current position and external environment, use the path planning algorithm to generate multiple candidate cruise paths, evaluate each candidate path, consider safety, efficiency, and mission requirements, and select the cruise path with the highest score as the new flight plan based on the evaluation result score; S4.4.5, Path Smoothing and Adjustment: Path Smoothing: Smooth the selected new path to reduce sharp turns and unnecessary maneuvers. Update the aircraft's waypoint list based on the smoothed path, including position, altitude, and speed parameters; S4.4.6, Execution and Monitoring: Send the updated waypoint list to the flight control system, execute the new cruise path, continuously monitor real-time data during flight, and prepare for the next t adjust Evaluate and adjust again within the interval; S4.4.

7. Abnormal situation handling: Detect any abnormal situation during the flight and implement appropriate emergency response measures based on the type and severity of the abnormal situation.

7. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 6 is characterized by: During the flight, the aircraft needs to adjust the flight speed and altitude according to the current power or fuel status to extend the flight time. The specific steps include: Parameter settings: Current power / fuel amount E: Indicates the current remaining power or fuel amount of the aircraft; Maximum power / fuel quantity E max : Indicates the amount of electricity / fuel when the aircraft is fully charged or fully fueled; Endurance time T: indicates the time the aircraft can continue to fly at the current speed and altitude; Speed ​​adjustment factor k v : A coefficient used to adjust the flight speed. It is a positive number less than or equal to 1. When the power / fuel level is low, k v will be reduced to slow down and thus save energy; Height adjustment factor k h : The coefficient used to adjust the flight altitude, which is also a positive number less than or equal to 1; Base Speed base and base height h base : Respectively represent the recommended speed and altitude of the aircraft when fully charged / fully fueled; Estimated remaining battery life: ； Among them, T full It is the total flight time of the aircraft at the base speed and altitude with full charge / full fuel; Adjusted speed v a The formula is: v a =v base ×k v ; Adjusted height h a The formula is: h a =h base ×k h ; Among them, the flight speed and altitude of the aircraft need to take into account factors such as safety, mission requirements, and regulatory restrictions, and a minimum speed and altitude must be set.

8. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the obstacle avoidance and path planning module are: S5.

1. Real-time acquisition of surrounding environment information: The aircraft uses a variety of sensors to collect three-dimensional information of the surrounding environment in real time; S5.2, Dynamically adjust the flight path to avoid collision: Based on the obstacle information obtained in S5.1, the aircraft uses a real-time obstacle avoidance algorithm to dynamically adjust the flight path; when adjusting the path, consider the safety distance d safe , that is, the minimum distance that should be maintained between the aircraft and the obstacle to ensure that there is no collision during the flight; at the same time, according to the obstacle avoidance speed v avoid To adjust the flight speed.

9. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the landing control module are: S6.

1. When the aircraft approaches the preset landing point, the system automatically starts the landing mode and adjusts the flight status: S6.

2. After the landing mode is activated, the rotors of the aircraft are tilted again to the vertical position for vertical landing; S6.3, accurately control the rotor speed through the PID controller to achieve a smooth landing; S6.

4. Add the function of automatic identification and evaluation of landing area: use sensors to scan and analyze the ground conditions of the landing area in real time, and calculate the size of the landing area L land ×W land and ground slope α slope The landing area is evaluated to determine whether it meets the safe landing conditions. If the evaluation result shows that the landing area size is smaller than the size safety value or the ground slope is greater than the slope safety value, it is determined that there is a safety hazard in the landing area, and the aircraft will automatically adjust the landing strategy or select another suitable landing area.

10. The efficient flight control system for a low-altitude manned UAV based on a tilt-rotating composite wing according to claim 1 is characterized in that: The specific working steps of the post-flight processing and analysis module are: S7.

1. Record flight data, including flight trajectory, speed, altitude, and energy consumption; S7.

2. Analyze flight data, evaluate flight performance, and optimize control parameters and algorithms; S7.

3. Add passenger feedback collection function to collect passengers’ feedback on flight experience through questionnaire survey or voice interaction for subsequent service improvement; S7.

4. Implement remote fault diagnosis and maintenance plans to automatically detect potential faults through uploaded flight data and schedule maintenance tasks in advance.

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