Electric vertical take-off and landing electric transmission bus control system and method based on RS485 communication

Abstract

The application discloses a fly-by-wire bus control system and method based on RS485 communication, which is used for establishing a fly-by-wire communication link between at least one flight control computer and at least one control unit. The fly-by-wire bus control system comprises a plurality of communication nodes connected in communication, each of the communication nodes comprising a bus controller, an asynchronous serial communication controller and an RS485 transmission interface. One end of the bus controller is connected in bidirectional communication with one end of the asynchronous serial communication controller, the other end of the asynchronous serial communication controller is connected in bidirectional communication with the RS485 transmission interface, and the other end of the bus controller is connected in bidirectional communication with an application layer chip. The RS485 transmission interface is used for physical layer connection. The fly-by-wire bus control system based on RS485 communication is constructed through the series connection of the bus controller, the asynchronous serial communication controller and the RS485 transmission interface, and the reliability of flight control message transmission is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control technology, and in particular to an electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication. BACKGROUND

[0002] An eVTOL (electric Vertical Take-off and Landing) aircraft (such as a drone, a manned electric rotorcraft, etc.) is internally configured with a large number of actuating actuators. The controllers of these actuators are usually distributed throughout the aircraft, and the actuators are cross-linked with the flight control electronic system through a fly-by-wire bus. Due to the safety requirements, reliability requirements and weight reduction needs of the eVTOL aircraft, the fly-by-wire bus needs to take into account reliability, safety, lightweight and cost requirements. The fly-by-wire bus in the prior art has the problems of unstable transmission and low transmission reliability in the process of flight control message transmission, which leads to poor flight control effect and affects the safety of aircraft control. SUMMARY

[0003] The embodiments of the present application provide an electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication, aiming to solve the problem of low message transmission reliability of the fly-by-wire bus flight control system applied to the aircraft in the prior art.

[0004] In a first aspect, the embodiments of the present application disclose an electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication, wherein the fly-by-wire bus control system is used to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit; the control unit is a motor control unit or a servo motor control unit, and the fly-by-wire bus control system comprises a plurality of communication nodes connected in communication through the fly-by-wire communication link, each communication node comprising a bus controller, an asynchronous serial communication controller and an RS485 transmission interface.

[0005] One end of the bus controller is in bidirectional communication connection with one end of the asynchronous serial communication controller, the other end of the asynchronous serial communication controller is in bidirectional communication connection with the RS485 transmission interface, and the other end of the bus controller is in bidirectional communication connection with an application layer chip; the RS485 transmission interface is used for physical layer connection.

[0006] In a second aspect, the embodiments of the present application further disclose an electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication, wherein the method is applied to the electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication as described in the first aspect, and the method comprises:

[0007] allocating node types to the communication nodes in the system, wherein at least one communication node of a master node type and at least one communication node of a slave node type are allocated;

[0008] if the communication node of the master node type is in an active state, sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system;

[0009] if the communication node of the slave node type is in an active state, receiving the broadcast message and receiving the request message and feeding back a response message based on a data frame to the communication node of the master node type in the system;

[0010] if the communication node of the master node type is in a pre-position state, receiving the broadcast message and the request message;

[0011] if the communication node of the slave node type is in a silent state, receiving the broadcast message and receiving the request message but not responding.

[0012] The embodiment of the application discloses a kind of electric vertical take-off and landing electric bus control system and method based on RS485 communication, which is used to establish electric communication link between at least one flight control computer and at least one control unit;Control unit is motor control unit or servo motor control unit, electric bus control system includes multiple communication nodes connected by electric communication link for communication, each communication node includes bus controller, asynchronous serial communication controller and RS485 transmission interface;One end of bus controller and one end of asynchronous serial communication controller are bidirectionally connected, the other end of asynchronous serial communication controller and RS485 transmission interface are bidirectionally connected, the other end of bus controller and application layer chip are bidirectionally connected;RS485 transmission interface is used for physical layer connection.The above-mentioned electric vertical take-off and landing electric bus control system based on RS485 communication is connected in series by bus controller, asynchronous serial controller and RS485 transmission interface, to build electric bus control system based on RS485 communication, greatly improve the reliability of flight control message transmission. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0014] Figure 1The application effect diagram of the electric vertical take-off and landing electric transmission bus control system based on RS485 communication provided by the embodiment of the present application is shown in the figure.

[0015] Figure 2 The internal structure diagram of the communication node in the electric vertical take-off and landing electric transmission bus control system based on RS485 communication provided by the embodiment of the present application is shown in the figure.

[0016] Figure 3 The internal structure diagram of the bus controller provided by the embodiment of the present application is shown in the figure.

[0017] Figure 4 The method flow chart of the electric vertical take-off and landing electric transmission bus control method based on RS485 communication provided by the embodiment of the present application is shown in the figure.

[0018] The figure shows the application effect diagram of the electric vertical take-off and landing electric transmission bus control system based on RS485 communication provided by the embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0020] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0021] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0022] It should be further understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0023] The embodiment of the present invention discloses an electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication, such as Figure 1 and Figure 2 As shown, the system is used to establish a telex communication link between at least one flight control computer and at least one control unit, as shown in the present application Figure 1 In the present invention, a fly-by-wire communication link is established between three flight control computers (FCC) and n motor control units (MCU) and m servo motor control units (SCU). The motor control units and servo motor control units are both control units. Each component connected to the fly-by-wire communication link is a communication node in a fly-by-wire bus control system. The communication nodes connected to the fly-by-wire communication link constitute a fly-by-wire bus control system. For example, in this application, the flight control computer is used as the master communication node (Master) and the control unit is used as the slave communication node (Slave).

[0024] like Figure 2 As shown, each communication node includes a bus controller 10, an asynchronous serial communication controller 20 (UART controller), and an RS485 transmission interface 30 (RS485 transceiver). One end of the bus controller 10 is bidirectionally connected to one end of the asynchronous serial communication controller 20, the other end of the asynchronous serial communication controller 20 is bidirectionally connected to the RS485 transmission interface 30, and the other end of the bus controller 10 is bidirectionally connected to the application layer chip 40. The RS485 transmission interface 30 is used for physical layer connection.

[0025] The RS485 transmission interface is the physical layer interface for accessing teletype communication links. This interface standard is RS-485 (TIA / EIA-485-A). Its bus topology supports multipoint communication, including point-to-point polling. The RS485 transmission interface uses differential signaling to enhance anti-interference capabilities. The transmit / receive direction is controlled by the DE / RE pins on the FPGA. To enhance the security and reliability of interface transmission, isolation circuits, TVS protection diodes (for surge protection), and fail-safe settings are also included (to ensure that the system or equipment automatically takes safety measures to prevent accidents or damage in the event of a fault or abnormality).

[0026] The asynchronous serial communication controller serves as the data link layer, using the Universal Asynchronous Receiver / Transmitter (UART) as its basic communication method. Typical transmission parameters are 115200 bps and 8N1. The asynchronous serial communication controller's start and stop bit processing is handled by the UART IP core, while the receive and transmit processes independently implement first-in-first-out data processing. UART frame error and parity error detection are used to detect transmission errors, while byte timeout detection enables time-based framing.

[0027] The bus controller, as the protocol layer, uses an FPGA (Field Programmable Gate Array) or dedicated chip to implement the data link layer or protocol layer. The application layer chip, also known as the application layer, can use a microprocessor or other chip as the application layer.

[0028] Further, such as Figure 3 As shown, the bus controller 10 includes an application manager 11 (App Manager), a message sending buffer 12 (Message TX FIFO), a message receiving buffer 13 (Message RX FIFO), a bus manager 14 (BusManager), a bus frame checker 15 (Bus Frame Check), a bus monitor 16 (Bus Monitor), a bus sending manager 17 (Bus Tx Manager); the bus manager 14 is connected to the message sending buffer 12, the message receiving buffer 13, the bus frame checker 15, the bus monitor 16 and the bus sending manager 17 in a two-way communication manner; an output end of the message receiving buffer 13 is connected to an input end of the application manager 11; two output ends of the application manager 11 are connected to an input end of the bus manager 14 and an input end of the message sending buffer 12 respectively; an output end of the message sending buffer 12 is connected to an input end of the bus sending manager 17; an output end of the bus sending manager 17 is connected to an input end of the bus monitor 16; two output ends of the bus frame checker 15 are connected to an input end of the message receiving buffer 13 and an input end of the bus monitor 16 respectively; an input end of the bus frame checker 15, an input end of the bus monitor 16 and an output end of the bus sending manager 17 are respectively connected to the asynchronous serial communication controller 20; the application manager 11 is connected to the flight control computer in a two-way communication manner.

[0029] The application manager manages input, output, and configuration between the bus controller and the application layer. The message send buffer buffers outgoing messages, while the message receive buffer buffers received messages. The bus manager manages the bus controller, primarily managing bus controller status and conflicts, as well as FIFO (First-In-First-Out) control and association of input and output messages. The bus frame checker verifies the structure of data frames and filters them. The bus monitor monitors the bus controller's status and faults. The bus transmit manager manages the transmission of messages sent out by the bus controller.

[0030] In a more specific embodiment, the message sending buffer is used to cache messages to be sent and follows a first-in, first-out principle; the message receiving buffer is used to cache received messages and follows a first-in, first-out principle. Specifically, the message sending buffer is used to receive messages to be sent, cache them, and process the cached messages according to the first-in, first-out principle; the message receiving buffer is used to cache received messages, and its message processing principles are the same as those of the message sending buffer.

[0031] The present application also discloses an electric vertical take-off and landing (EVTL) fly-by-wire bus control method based on RS485 communication, wherein the fly-by-wire bus control method is applied to the fly-by-wire bus control system described in the above embodiment. Figure 4 As shown, the control method includes steps S110 to S150.

[0032] S110. Allocate a node type to each communication node in the system, and allocate at least one communication node of a master node type and at least one communication node of a slave node type to the system.

[0033] In a more specific embodiment, when starting the aforementioned fly-by-wire bus control system, system initialization must be completed. A node type can be assigned to each communication node in the system. Specifically, the node type can be assigned based on the device type of each communication node. For example, in the embodiment of the present application, the flight control computer (FCC) is configured as a master node type communication node (also known as a master communication node), and the control device is configured as a slave node type communication node (also known as a slave communication node).

[0034] After the complete node type assignment, the system contains at least one master node type communication node and at least one slave node type communication node. The master communication node can send broadcast messages and request messages, and the slave communication node can only send response messages.

[0035] In a more specific embodiment, step S110 further comprises the specific step of setting the activation state switching condition and / or the activation state switching time of the communication node of each master node type, so that at the same time, there is only one communication node of the master node type in the active state.

[0036] The state of the master communication node can be active state or standby state. In the telecommunication bus control system, there is only one master communication node in the active state at the same time, which is responsible for sending broadcast messages and request messages. The master communication node in the standby state is a listening node. The master communication node in the standby state can only receive messages and cannot send any messages. In order to determine the state of each master communication node and switch the state when necessary, the activation state switching condition (such as switching the state of another master communication node to active state when a certain master communication node works abnormally) or the activation state switching time (such as fixed time switching the state of a certain master communication node to active state) can be set for the communication node of the master node type. If the communication node of the master node type meets the activation state switching condition or reaches the activation state switching time, it is switched to the active state.

[0037] In a more specific embodiment, step S110 further comprises the specific step of setting the priority configuration information of the communication node of each master node type.

[0038] Further, the priority configuration information of each master communication node can be set to switch the active state in order according to the priority configuration information. The master communication node with higher priority in the priority configuration information is given priority to switch the active state.

[0039] S120, if the communication node of the master node type is in the active state, a broadcast message based on a data frame is sent to all communication nodes in the system or a request message based on a data frame is sent to any communication node in the system.

[0040] The active master communication node can send broadcast messages and request messages, both of which are data frame-based messages, i.e., sent and received in the form of data frames. The frame structure of a data frame includes a message header (HEAD), a message type field (Transfer Type), a message identifier (Msg ID), a length field (Length), a payload cyclic redundancy check code (Payload CRC), a message header cyclic redundancy check code (Head CRC), a payload (Payload), and an end-of-file (EOF). CRC is cyclic redundancy check. As shown in Table 1, the specific structure of a data frame specifically includes:

[0041] Table 1

[0042]

[0043] In the message type field, the high two bits are the message type bits (Transfer Type Bit), and the low six bits are the node identifier bits (Node Id Bit). In the high two bits, "00" indicates that the message corresponding to the data frame is a broadcast message, "01" indicates that the message is a request message, and "02" indicates that the message is a response message. The low six bits are integers from 0 to 63. If the message is a broadcast message, the node identifier bits correspond to the broadcast node identifier. If the message is a request message, the node identifier bits correspond to the target node identifier of the request. If the message is a response message, the node identifier bits correspond to the response node identifier. Bits 0-11 in the message identifier are used to record the message identifier (message ID), and bits 12-15 are used to record the message priority. In the NB length of the payload (Payload), N is a positive integer greater than 1.

[0044] In a more specific embodiment, step S120 is followed by a step of determining whether a corresponding response message has been received within a maximum response waiting time of the request message. If the corresponding response message has not been received within the maximum response waiting time, the next broadcast message or the next request message is continued to be sent.

[0045] The bus controller includes a bus frame checker for data frame analysis, which can detect errors in the data frame corresponding to the message according to the data frame monitoring format, such as checking the head cyclic redundancy check (Head CRC) in the data frame and checking the payload cyclic redundancy check code (Payload CRC) in the data frame; a bus manager for managing the state of the bus controller (such as an active state or a pre-position state), managing bus conflicts (normal, abnormal, bus transmission disabled), and setting the bus transmission manager and the bus frame checker to enable management; a bus monitor for monitoring the states of the bus controller, including active node alive monitoring, response timeout monitoring, data frame monitoring, transmission / reception buffer overflow monitoring, and transmission conflict monitoring; a bus transmission manager for monitoring the bus idle state, enabling bus transmission control, and transmitting state data according to the priority; and an application manager for managing the communication interface between the application layer, including communication node management (setting, reading, etc.), bus state setting management, data frame read / write / status management.

[0046] The active master communication node can perform response timeout monitoring on the request message through the bus monitor to determine whether the maximum waiting response time of the request message has arrived and whether the corresponding response message has been received; if the corresponding response message has not been received beyond the maximum waiting response time, the next message is continuously transmitted.

[0047] S130, if the communication node of the slave type is in an active state, the broadcast message is received, the request message is received, and a response message based on a data frame is fed back to the communication node of the master type in the system.

[0048] The slave communication node can correspond to two states, when the slave communication node is in an active state (Active), the broadcast message and the request message can be received, and the slave communication node can respond to the request message of the master communication node and correspondingly feed back a response message based on a data frame. When the slave communication node is in a mute state (Mute), the slave communication node only receives messages and refuses to respond to the request message of the master communication node.

[0049] The functions of the communication node based on the bus controller include: a bus frame checker for data frame analysis, which can detect errors of the data frame according to the data frame monitoring format, such as checking the head cyclic redundancy check (Head CRC) in the data frame and checking the payload cyclic redundancy check code (Payload CRC) in the data frame; a bus manager for managing the state of the bus controller (such as an active state or a silent state), managing bus conflicts (normal, abnormal, and bus transmission disabled), setting the bus sending manager and the bus frame checker to enable management, and receiving a request message and delivering the request message to the bus sending manager in a first-in-first-out processing manner; a bus monitor for monitoring various states of the bus controller, including active node alive monitoring, response timeout monitoring, data frame monitoring, transmission / reception buffer overflow monitoring, and transmission conflict monitoring; a bus sending manager for monitoring the bus idle state, bus sending enable control, and state data transmission according to the priority; an application manager for managing the communication interface between the application layer, including communication node management (setting, reading, etc.), bus state setting management, data frame read / write and status management (Bus Frame Read / Write / Status); and a message sending buffer that uses a first-in-first-out processing manner to cache and output messages.

[0050] In a more specific embodiment, step S130 further includes the specific steps of: performing data frame format verification on the received message to obtain a verification result of whether to pass; if the verification result is pass, performing type filtering on the message to retain the broadcast message and the request message; and if the message is a request message, generating a data frame-based response message and feeding back.

[0051] The data frame format verification includes checking the head cyclic redundancy check (Head CRC) in the data frame and checking the payload cyclic redundancy check code (Payload CRC) in the data frame. Specifically, after the message verification passes, the communication node further performs type filtering on the message. Specifically, the bus frame checker in the communication node can be used to achieve the type filtering. The bus frame checker filters the received data frame, only allows the broadcast message and the request message, and outputs the data frame with the same node identifier (Node Id) in the message type field of the data frame to the message receiving buffer for processing. If the message is a request message, a corresponding response message is generated for feedback.

[0052] S140, if the communication node of the master node type is in the pre-position state, receiving the broadcast message and the request message.

[0053] In a more specific embodiment, step S140 is followed by a step of determining the timeout state of the corresponding request message according to the response message (implemented by the bus monitor). That is, if the communication node of the master node type is in the pre-position state, after receiving the broadcast message and the request message, the timeout state of the corresponding request message can also be determined according to the response message; the master communication node in the pre-position state and the master communication node in the active state can interact with each other according to the "interactive connection" in the following table. Figure 1

[0054] S150, if the communication node of the slave node type is in the silent state, receiving the broadcast message, and receiving the request message but not responding.

[0055] If the communication node of the slave node type is in the silent state, only receiving the message but not responding.

[0056] The application discloses an electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication. The system is used for establishing a fly-by-wire communication link between at least one flight control computer and at least one control unit. The control unit is a motor control unit or a servo motor control unit. The fly-by-wire bus control system comprises a plurality of communication nodes connected in communication through the fly-by-wire communication link. Each communication node comprises a bus controller, an asynchronous serial communication controller and an RS485 transmission interface. One end of the bus controller is bidirectionally connected with one end of the asynchronous serial communication controller. The other end of the asynchronous serial communication controller is bidirectionally connected with the RS485 transmission interface. The other end of the bus controller is bidirectionally connected with an application layer chip. The RS485 transmission interface is used for physical layer connection. The above-mentioned fly-by-wire bus control system based on RS485 communication is connected in series through the bus controller, the asynchronous serial communication controller and the RS485 transmission interface, so as to construct the fly-by-wire bus control system based on RS485 communication, and the reliability of the flight control message transmission is greatly improved.

[0057] The above merely illustrates the specific embodiments of the application, but the protection scope of the application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the application, and these modifications or replacements should be covered in the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.​

Claims

1. A method for controlling an electric vertical take-off and landing fly-by-wire bus based on RS485 communication, characterized in that: The method is applied to an electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication, wherein the fly-by-wire bus control system is used to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit; the control unit is a motor control unit or a servo motor control unit, and the fly-by-wire bus control system includes a plurality of communication nodes that are communicatively connected via the fly-by-wire communication link, each communication node including a bus controller, an asynchronous serial communication controller, and an RS485 transmission interface; One end of the bus controller is connected to one end of the asynchronous serial communication controller for bidirectional communication, the other end of the asynchronous serial communication controller is connected to the RS485 transmission interface for bidirectional communication, and the other end of the bus controller is connected to the application layer chip for bidirectional communication; the RS485 transmission interface is used for physical layer connection; The bus controller includes an application manager, a message sending buffer, a message receiving buffer, a bus manager, a bus frame checker, a bus monitor, and a bus sending manager; The bus manager is connected to the message sending buffer, the message receiving buffer, the bus frame checker, the bus monitor and the bus sending manager for bidirectional communication; An output of the message receiving buffer is connected to an input of the application manager; two outputs of the application manager are respectively connected to an input of the bus manager and an input of the message sending buffer; an output of the message sending buffer is connected to an input of the bus sending manager; an output of the bus sending manager is connected to an input of the bus monitor; Two output terminals of the bus frame checker are connected to an input terminal of the message receiving buffer and an input terminal of the bus monitor respectively; an input terminal of the bus frame checker, an input terminal of the bus monitor and an output terminal of the bus sending manager are connected to the asynchronous serial communication controller respectively; The application manager is connected to the flight control computer for bidirectional communication; The method comprises: Assigning a node type to each communication node in the system, assigning at least one communication node of a master node type and at least one communication node of a slave node type to the system; If the communication node of the master node type is in an activated state, sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system; If the communication node of the slave node type is in an activated state, it receives the broadcast message, receives the request message and feeds back a response message based on a data frame to the communication node of the master node type in the system; If the communication node of the master node type is in an armed state, receiving the broadcast message and the request message; If the communication node of the slave node type is in a silent state, it receives the broadcast message and receives the request message but does not respond.

2. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 1, characterized in that: The assigning of a node type to each communication node in the system comprises: The activation state switching condition and / or activation state switching time of the communication node of each master node type is set so that there is only one communication node of the master node type in the active state at the same time.

3. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 2, characterized in that: The assigning a node type to each communication node in the system further comprises: The priority configuration information of the communication node of each master node type is set.

4. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 1, characterized in that: The method further comprises: If the communication node of the master node type is in the pre-positioned state, the timeout state of the corresponding request message is determined according to the response message.

5. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 1, characterized in that: After sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system, the method further includes: Determine whether the maximum waiting time for a response to the request message has expired and no corresponding response message has been received; If no corresponding response message is received within the maximum waiting response time, the next broadcast message or the next request message will be sent.

6. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 1, characterized in that: The receiving the broadcast message, and receiving the request message and feeding back a response message based on a data frame to the communication node of the master node type in the system, comprises: Perform data frame format verification on the received message to obtain a verification result of whether it passes; If the verification result is passed, the message is filtered by type to retain broadcast messages and request messages; If the message is a request message, a response message based on the data frame is generated and fed back.

7. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to any one of claims 1 to 6, characterized in that: The frame structure of the data frame includes a message header, a message type field, a message identifier, a length field, a payload cyclic redundancy check code, a message header cyclic redundancy check code, a payload and a terminator.

8. An electric vertical take-off and landing (EVTL) fly-by-wire bus control system based on RS485 communication, wherein the fly-by-wire bus control system applies the electric vertical take-off and landing (EVTL) fly-by-wire bus control method based on RS485 communication according to any one of claims 1 to 7, characterized in that: The message sending buffer is used to buffer messages to be sent and follows the first-in-first-out principle; the message receiving buffer is used to buffer received messages and follows the first-in-first-out principle.

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