Thrust vector type short-distance vertical take-off and landing aircraft hovering control method and device

Abstract

The invention relates to the technical field of flight control, in particular to a thrust vector type short-range vertical take-off and landing aircraft hovering control method and device, and the method comprises the steps: building a thrust vector type short-range vertical take-off and landing aircraft hovering dynamic model based on the nonlinear relation of the aircraft speed, the Euler angle, the angular speed, the thrust and the torque; designing a reconfiguration controller of a power system of the thrust vector type short-range vertical take-off and landing aircraft, and designing a hovering controller of the thrust vector type short-range vertical take-off and landing aircraft; designing an extended state observer used for estimating a nonlinear term and a state derivative in the hovering dynamics model; and feeding back the estimated nonlinear term and the estimated state derivative of the extended state observer to a hovering controller so as to carry out hovering control on the thrust vector type short-distance vertical take-off and landing aircraft. Therefore, the problem that efficient decoupling and robust control of multiple execution mechanisms in an aircraft system are difficult to realize by a dynamic inverse-based hovering control method in related technologies is solved.

Description

Technical Field

[0001] The present application relates to the field of flight control technology, and in particular to a method and device for hovering control of a thrust vectoring short-distance vertical take-off and landing aircraft. Background Art

[0002] The thrust-vectoring short-range vertical take-off and landing aircraft achieves vertical take-off and landing and hovering functions through the coordinated control of multiple actuators such as the main engine, three-bearing vector nozzle, lift fan and roll nozzle, combining the advantages of high-speed cruising of fixed-wing aircraft and flexible take-off and landing of helicopters.

[0003] In related technologies, for the hovering control of the above-mentioned complex power system, a dynamic inversion-based method is mainly used, which linearizes the nonlinear model at multiple equilibrium points and relies on a precise control allocation matrix to achieve coordinated control of various actuators.

[0004] However, the dynamic inversion-based method has significant limitations: first, the nonlinear model needs to be linearized at a large number of operating points, the modeling process is cumbersome and difficult to meet real-time control requirements; second, the dynamic characteristics of actuators in actual systems vary significantly (such as main engine thrust response delay, lift fan nonlinear saturation, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily causes allocation mismatch problems; in addition, the controller designed by the traditional method needs to be repeatedly simulated and experimentally verified for closed-loop performance, which has a long development cycle and high cost.

[0005] In summary, the hovering control method based on dynamic inversion in related technologies is difficult to achieve efficient decoupling and robust control of multiple actuators in the aircraft system due to the complex model linearization, the dependence of control allocation on the precise performance matrix, and the unpredictable closed-loop performance; it is in urgent need of improvement. Summary of the Invention

[0006] The present application provides a hovering control method and device for a thrust vectoring short-distance vertical take-off and landing aircraft to solve the problems of the hovering control method based on dynamic inversion in the related art, which is difficult to achieve efficient decoupling and robust control of multiple actuators in the aircraft system due to complex model linearization, dependence of control allocation on precise performance matrix, and unpredictable closed-loop performance.

[0007] A first aspect of the present application provides a method for hovering control of a thrust vectoring short take-off and landing aircraft, comprising the following steps: A method for hovering control of a thrust vectoring short take-off and landing aircraft, characterized in that it comprises the following steps: establishing a hovering dynamics model of the thrust vectoring short take-off and landing aircraft based on the nonlinear relationship among aircraft speed, Euler angles, angular velocity, thrust, and torque; designing a reconstruction controller for the power system of the thrust vectoring short take-off and landing aircraft, and designing a hover controller for the thrust vectoring short take-off and landing aircraft; designing an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model; and feeding back the estimated nonlinear terms and estimated state derivatives of the extended state observer to the hover controller to perform hover control on the thrust vectoring short take-off and landing aircraft.

[0008] Through the above technical solution, the embodiment of the present application can establish a hovering dynamics model of a thrust vectoring short-distance vertical take-off and landing aircraft based on various state parameters of the aircraft system, and further design a reconstruction controller, a hovering controller, and an expanded state controller. Through the cooperation between the four, closed-loop control and stable control of the aircraft hovering can be achieved, which can effectively simplify the model processing process, realize dynamic decoupling of the actuator and improve control robustness.

[0009] Optionally, in one embodiment of the present application, the state of the hovering dynamics model includes at least one of forward speed, lateral speed, vertical speed, roll angle, pitch angle, yaw angle, roll angular rate, pitch angular rate and yaw angular rate, and the control input includes at least one of main engine thrust, lift fan thrust, left and right roll nozzle thrust difference, three-bearing vector nozzle longitudinal deflection angle and three-bearing vector nozzle lateral deflection angle.

[0010] Through the above technical solution, the embodiment of the present application can construct a hovering dynamics model through multiple types of variables such as forward speed, vertical speed, main engine inference, etc., so that the hovering dynamics model can accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0011] Optionally, in one embodiment of the present application, the design of the reconstruction controller of the power system of the thrust vectoring short vertical take-off and landing aircraft includes: establishing a high-order all-wheel drive model based on a defined actuator state vector; defining a tracking error based on a desired control quantity of the power system; and designing the reconstruction controller based on the closed-loop desired state matrix of the power system based on the high-order all-wheel drive model and the tracking error.

[0012] Through the above technical solution, the embodiment of the present application can establish a high-order all-wheel drive model of the power system actuator, design a reconstructed controller based on the all-wheel drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce dependence on precise mathematical models, enhance robustness to nonlinearity, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0013] Optionally, in one embodiment of the present application, the expression of the reconstruction controller is:

[0014]

[0015] Among them, s Indicates the control input, B y represents the control allocation matrix, g y represents the coupled nonlinear term, A y represents the desired state matrix of the closed-loop system of the power system actuator, represents the first-order derivative of the desired control, e y represents the control tracking error.

[0016] Through the above technical solution, the embodiment of the present application can reconstruct the control of the power system actuator by establishing a reconstruction controller model to overcome the significant differences in the dynamic characteristics of the actuators in the traditional dynamic inversion method (such as the thrust response delay of the main engine, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control distribution matrix and easily causes the distribution mismatch problem.

[0017] Optionally, in one embodiment of the present application, the design of the hover controller for the thrust vectoring short vertical take-off and landing aircraft includes: converting the hover dynamics model into the high-order all-wheel drive system model in a preset compact format; defining the state tracking error according to the expected state quantity of the thrust vectoring short vertical take-off and landing aircraft; and designing the hover controller according to a block diagonal characteristic matrix based on the high-order all-wheel drive system model and the state tracking error.

[0018] Through the above technical solution, the embodiment of the present application can convert the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft into a high-order all-wheel drive system model, and upgrade and decouple the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft based on the high-order all-wheel drive system theory, thereby reducing the model dimension and simplifying the complex multi-point linearization process in the traditional dynamic inverse method.

[0019] Optionally, in one embodiment of the present application, the expression of the hover controller is:

[0020]

[0021] in, Indicated by A k The block matrix composed of x represents the equivalent control allocation matrix, e X represents the state tracking error, f x represents the total nonlinear term of the corresponding state.

[0022] Through the above technical solution, the embodiment of the present application can track the hovering state instructions and adjust the control input by modeling the hovering controller to achieve stable hovering of the aircraft.

[0023] Optionally, in one embodiment of the present application, the expression of the extended state observer is:

[0024]

[0025] Among them, α k,i is the status The estimated value of Represents α k,i The derivative of is the nonlinear term f k The estimated value of k，1 represents the observation error of the kth state, x k represents the kth state, y c represents expected control, B x (;, k) represents the matrix B x The kth column vector of .

[0026] Through the above technical solution, the embodiment of the present application can use the extended state observer to estimate the missing information, and then replace the corresponding variables of the hovering controller based on the estimated information to achieve closed-loop control of the hovering.

[0027] A second aspect of the present application provides a hover control device for a thrust vectoring short vertical take-off and landing aircraft, comprising: a modeling module for establishing a hovering dynamics model of the thrust vectoring short vertical take-off and landing aircraft based on the nonlinear relationship among aircraft speed, Euler angles, angular velocity, thrust, and torque; a first design module for designing a reconstruction controller for a power system of the thrust vectoring short vertical take-off and landing aircraft, and designing a hover controller for the thrust vectoring short vertical take-off and landing aircraft; a second design module for designing an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model; and a control module for feeding back the estimated nonlinear terms and estimated state derivatives of the extended state observer to the hover controller to perform hover control on the thrust vectoring short vertical take-off and landing aircraft.

[0028] Through the above technical solution, the embodiment of the present application can establish a hovering dynamics model of a thrust vectoring short-distance vertical take-off and landing aircraft based on various state parameters of the aircraft system, and further design a reconstruction controller, a hovering controller, and an expanded state controller. Through the cooperation between the four, closed-loop control and stable control of the aircraft hovering can be achieved, which can effectively simplify the model processing process, realize dynamic decoupling of the actuator and improve control robustness.

[0029] Optionally, in one embodiment of the present application, the state of the hovering dynamics model includes at least one of forward speed, lateral speed, vertical speed, roll angle, pitch angle, yaw angle, roll angular rate, pitch angular rate and yaw angular rate, and the control input includes at least one of main engine thrust, lift fan thrust, left and right roll nozzle thrust difference, three-bearing vector nozzle longitudinal deflection angle and three-bearing vector nozzle lateral deflection angle.

[0030] Through the above technical solution, the embodiment of the present application can construct a hovering dynamics model through multiple types of variables such as forward speed, vertical speed, main engine inference, etc., so that the hovering dynamics model can accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0031] Optionally, in one embodiment of the present application, the first design module includes: a modeling unit for establishing a high-order all-wheel drive model based on a defined actuator state vector; a tracking unit for defining a tracking error based on a desired control quantity of the power system; and a first design unit for designing the reconstruction controller based on the closed-loop desired state matrix of the power system based on the high-order all-wheel drive model and the tracking error.

[0032] Through the above technical solution, the embodiment of the present application can establish a high-order all-wheel drive model of the power system actuator, design a reconstructed controller based on the all-wheel drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce dependence on precise mathematical models, enhance robustness to nonlinearity, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0033] Optionally, in one embodiment of the present application, the expression of the reconstruction controller is:

[0034]

[0035] Among them, s Indicates the control input, B y represents the control allocation matrix, g y represents the coupled nonlinear term, A y represents the desired state matrix of the closed-loop system of the power system actuator, represents the first-order derivative of the desired control, e y represents the control tracking error.

[0036] Through the above technical solution, the embodiment of the present application can reconstruct the control of the power system actuator by establishing a reconstruction controller model to overcome the significant differences in the dynamic characteristics of the actuators in the traditional dynamic inversion method (such as the thrust response delay of the main engine, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control distribution matrix and easily causes the distribution mismatch problem.

[0037] Optionally, in one embodiment of the present application, the first design module further includes: a conversion unit for converting the hovering dynamics model into the high-order all-wheel drive system model in a preset compact format; a definition unit for defining the state tracking error based on the expected state quantity of the thrust vectoring short take-off and landing aircraft; and a second design unit for designing the hovering controller according to a block diagonal characteristic matrix based on the high-order all-wheel drive system model and the state tracking error.

[0038] Through the above technical solution, the embodiment of the present application can convert the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft into a high-order all-wheel drive system model, and use the high-order all-wheel drive system theory to upgrade and decouple the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft, thereby reducing the model dimension and simplifying the complex multi-point linearization process in the traditional dynamic inverse method.

[0039] Optionally, in one embodiment of the present application, the expression of the hover controller is:

[0040]

[0041] in, Indicated by A k The block matrix composed of x represents the equivalent control allocation matrix, e X represents the state tracking error, f x represents the total nonlinear term of the corresponding state.

[0042] Through the above technical solution, the embodiment of the present application can track the hovering state instructions and adjust the control input by modeling the hovering controller to achieve stable hovering of the aircraft.

[0043] Optionally, in one embodiment of the present application, the expression of the extended state observer is:

[0044]

[0045] Among them, α k,i is the status The estimated value of Represents αk,i The derivative of is the nonlinear term f k The estimated value of k，1 represents the observation error of the kth state, x k represents the kth state, y c represents expected control, B x (;, k) represents the matrix B x The kth column vector of .

[0046] Through the above technical solution, the embodiment of the present application can use the extended state observer to estimate the missing information, and then replace the corresponding variables of the hovering controller based on the estimated information to achieve closed-loop control of the hovering.

[0047] A third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hovering control method for a thrust vectoring short vertical take-off and landing aircraft as described in the above embodiment.

[0048] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned thrust vectoring short vertical take-off and landing aircraft hovering control method.

[0049] The fifth aspect of the present application provides a computer program product, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned thrust vectoring short-distance vertical take-off and landing aircraft hovering control method.

[0050] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0052] Figure 1 This is a flow chart of a method for hovering control of a thrust vectoring short vertical take-off and landing aircraft according to an embodiment of the present application;

[0053] Figure 2 Schematic diagram of a thrust vectoring short-takeoff and vertical landing aircraft power system according to a specific embodiment of the present application;

[0054] Figure 3 This is a schematic diagram illustrating variables of a thrust vectoring short-takeoff and vertical landing aircraft power system according to a specific embodiment of the present application;

[0055] Figure 4 1 is a schematic structural diagram of a hovering control method for a thrust vectoring short vertical take-off and landing aircraft according to a specific embodiment of the present application;

[0056] Figure 5 This is a flow chart of a method for hovering control of a thrust vectoring short-distance vertical take-off and landing aircraft according to a specific embodiment of the present application;

[0057] Figure 6 1 is a block diagram of a thrust vectoring short-takeoff and vertical landing aircraft hovering control device according to an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0060] The following describes a method and apparatus for hovering control of a thrust vectoring short-distance vertical take-off and landing aircraft according to an embodiment of the present application with reference to the accompanying drawings. In view of the problem that the hovering control method based on dynamic inversion in the related art mentioned in the background technology center is difficult to achieve efficient decoupling and robust control of multiple actuators in the aircraft system due to the complexity of model linearization, the dependence of control allocation on an accurate performance matrix, and the unpredictable closed-loop performance, the present application provides a method for hovering control of a thrust vectoring short-distance vertical take-off and landing aircraft. In this method, the power system actuator can be reconstructed and controlled based on the high-order all-wheel drive system theory, and the established hovering dynamics model of the thrust vectoring short-distance vertical take-off and landing aircraft is converted into a high-order all-wheel drive system model, the state tracking error is defined, and the hovering controller is designed. Then, the stable closed-loop control of the aircraft hovering is achieved through the coordinated action of the reconstructed controller, the hovering controller, and the expanded state controller. In this approach, the thrust-vectoring short-distance vertical takeoff and landing (STOL) aircraft hovering model is upgraded and decoupled using high-order all-wheel drive system theory. This reduces the model's dimensionality, simplifies the complex multi-point linearization process in traditional dynamic inversion methods, eliminates the reliance on precise control allocation matrices, and significantly improves controller design efficiency. This overcomes the difficulties inherent in conventional dynamic inversion-based hover control methods in achieving efficient decoupling and robust control of multiple actuators in aircraft systems, due to complex model linearization, reliance on precise performance matrices for control allocation, and unpredictable closed-loop performance.

[0061] Specifically, Figure 1A flow chart of a method for hovering control of a thrust vectoring short-distance vertical take-off and landing aircraft provided in an embodiment of the present application.

[0062] like Figure 1 As shown, the thrust vectoring short-distance vertical take-off and landing aircraft hovering control method includes the following steps:

[0063] In step S101 , a hovering dynamics model of a thrust vectoring short take-off and landing aircraft is established based on the nonlinear relationship among aircraft speed, Euler angles, angular velocity, thrust, and torque.

[0064] A nonlinear relationship is one in which the relationship between two or more variables cannot be represented by a linear function (a straight line), but rather exhibits more complex patterns such as curves, fluctuations, and exponential changes. Simply put, a nonlinear relationship occurs when the rate of change between the variables is not constant (i.e., not in a fixed ratio).

[0065] The thrust and torque can be calculated from the main engine thrust, lift fan thrust, roll nozzle thrust and three-bearing vector nozzle deflection angle.

[0066] In one embodiment of the present application, a thrust vectoring short-distance vertical take-off and landing aircraft hovering model is established as follows:

[0067]

[0068] Among them, u, v, w are the aircraft speeds, φ, θ, ψ are the Euler angles, p, q, r are the angular velocities, and m is the aircraft mass. c5=(I z -I x ) / I y , c6=I xz / I y , c7=1 / I y , I x ,I y ,I z Represents the moment of inertia of the aircraft along three axes, I xz is the product of inertia, F x ,F y ,F z is the thrust force on the aircraft expressed in the body coordinate system, M x ,M y ,M z is the expression of the moment on the aircraft in the body coordinate system. The specific calculation formula is:

[0069]

[0070] Among them, T LN is the main engine thrust, TLF is the lift fan thrust, T LR ,T RR is the left and right rolling nozzle thrust, δ LN is the longitudinal deflection angle of the three-bearing vector nozzle, δ LNy is the lateral deflection angle of the three-bearing vector nozzle. LN ,z LN are the forward distance and vertical distance from the main engine thrust point to the center of mass respectively; x LF is the forward distance from the lift fan thrust point to the center of mass; x R ,y R are the forward and lateral distances from the thrust action point of the rolling nozzle to the center of mass, and g is the acceleration due to gravity.

[0071] The hovering dynamics model described above describes the motion of an aircraft in a hovering state. It serves as the theoretical basis for subsequent controller design and the mathematical foundation for simulation verification. This model provides a basis for the controller's dynamic characteristics, and the controller's performance directly depends on the model's accuracy and its ability to analyze nonlinear and coupling effects.

[0072] The embodiments of the present application can better describe the nonlinear dynamic characteristics of aircraft speed, attitude angle and angular velocity by establishing a hovering dynamics model of a thrust vectoring short-distance vertical take-off and landing aircraft, thereby better controlling the hovering of the aircraft.

[0073] In step S102 , a reconstruction controller of a power system of a thrust vectoring short take-off and vertical landing aircraft is designed, and a hovering controller of the thrust vectoring short take-off and vertical landing aircraft is designed.

[0074] Among them, such as Figure 2 As shown, the power system of the thrust vectoring short-distance vertical take-off and landing aircraft may include: a main engine, a lift fan, a three-bearing vector nozzle and a roll nozzle; the main engine can be used to provide core thrust, and the thrust direction can be adjusted through the three-bearing vector nozzle; the lift fan can be used to provide auxiliary lift during the vertical take-off and landing phase; the roll nozzle can be used to adjust the aircraft's roll attitude.

[0075] During actual implementation, the embodiment of the present application can reconstruct the control of the power system actuator based on the high-order all-wheel drive system theory, including defining the actuator state vector, establishing a high-order all-wheel drive model, designing the control tracking error and reconstructing the control law; the hovering dynamics model of the thrust vectoring short-distance vertical take-off and landing aircraft established in step S101 can be converted into a high-order all-wheel drive system model, and the state tracking error can be defined to design the hovering controller.

[0076] The reconfiguration controller maps virtual control variables to actual control variables, converting abstract instructions into specific actuator actions. The hover controller maps state control to virtual control variables, achieving closed-loop control of the state. The two are connected in series to achieve hover control of the aircraft. The hover controller calculates virtual control variables based on the flight state and control objectives, focusing on control effects rather than actuator details. The reconfiguration controller implements control distribution, focusing on how to achieve control. This design isolates top-level control from underlying control mechanisms, reducing design complexity.

[0077] The thrust vectoring short take-off and vertical landing aircraft power system reconstruction controller of the embodiment of the present application is based on a high-order all-wheel drive system design, which can be used to decouple the dynamic response of the main engine, lift fan, and three-bearing vector nozzle; the thrust vectoring vertical short take-off and landing aircraft hovering controller is based on a high-order all-wheel drive system design, which can be used to track hovering state instructions and adjust control inputs.

[0078] In step S103 , an extended state observer is designed for estimating nonlinear terms and state derivatives in the hovering dynamics model.

[0079] It can be understood that the extended state observer is the core component of active disturbance rejection control. Its core idea is to treat the internal uncertainty and external disturbance of the system as a "total disturbance" and estimate and compensate them in real time through the observer, thereby improving the robustness of the control system.

[0080] In actual implementation, when designing a hovering controller in the embodiment of the present application, the required nonlinear terms and derivatives of the aircraft state cannot be directly obtained, so they can be obtained by introducing an extended state observer.

[0081] The extended state observer designed in the embodiment of the present application can be used to estimate the nonlinear terms and state derivatives in the hover model in real time, and the information estimated by the extended state observer is brought into the hover controller to obtain the final thrust vectoring vertical short-range aircraft hover controller.

[0082] In step S104 , the estimated nonlinear term and the estimated state derivative of the extended state observer are fed back to the hovering controller to perform hovering control on the thrust vectoring short take-off and vertical landing aircraft.

[0083] During the actual implementation process, the embodiment of the present application can control the hovering flight behavior of the force vector short take-off and landing aircraft through a hover controller. During the construction of the hover controller, it is necessary to obtain nonlinear terms and estimate state derivatives. Therefore, the embodiment of the present application can introduce an extended state observer to estimate the nonlinear terms in the model in real time, thereby significantly enhancing the robustness of the model.

[0084] The embodiment of the present application can obtain hovering controller parameter data by introducing an extended state observer, and cooperate with the hovering controller to better achieve closed-loop control of aircraft hovering.

[0085] Optionally, in one embodiment of the present application, the state of the hovering dynamics model includes at least one of forward speed, lateral speed, vertical speed, roll angle, pitch angle, yaw angle, roll angular rate, pitch angular rate and yaw angular rate, and the control input includes at least one of main engine thrust, lift fan thrust, left and right roll nozzle thrust difference, three-bearing vector nozzle longitudinal deflection angle and three-bearing vector nozzle lateral deflection angle.

[0086] In one embodiment of the present application, the hovering dynamics model can be constructed using the state variables and control input variables of the hovering dynamics model. The specific construction method can refer to step formulas (1)-(2), which will not be elaborated here.

[0087] The embodiment of the present application can construct a hovering dynamics model through multiple types of variables such as forward speed, vertical speed, main engine inference, etc., which can enable the hovering dynamics model to accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0088] Optionally, in one embodiment of the present application, a reconstruction controller for the power system of a thrust vectoring short vertical take-off and landing aircraft is designed, including: establishing a high-order all-wheel drive model based on a defined actuator state vector; defining a tracking error based on a desired control quantity of the power system; and designing a reconstruction controller based on the closed-loop desired state matrix of the power system based on the high-order all-wheel drive model and the tracking error.

[0089] like Figure 3 As shown, Figure 3 Characterizing the thrust vectoring short-distance vertical take-off and landing aircraft power system variables provided in the embodiment of the present application, including: main engine thrust T LN , lift fan thrust T LF , left and right rolling nozzle thrust T LR ,T RR The longitudinal deflection angle δ of the three-bearing vector nozzle LN , lateral deflection angle δ of the three-bearing vector nozzle LNy The forward and vertical distances x from the main engine thrust point to the center of mass LN ,z LN ; Forward distance x from the lift fan thrust point to the center of mass LF ; The forward and lateral distances x from the thrust action point of the rolling nozzle to the center of mass R ,y R .

[0090] It is understandable that the actual actuators of the thrust vectoring short-distance vertical take-off and landing aircraft power system are the main engine thrust T LN , lift fan thrust T LF , left and right rolling nozzle thrust T LR ,T RR , the longitudinal deflection angle δ of the three-bearing vector nozzle LN , lateral deflection angle δ of the three-bearing vector nozzle LNy The control quantity directly related to the aircraft state change is T LF , ΔT R =T LR -T RR , T LN cosδ LN , T LN sinδ LN sinδ LNy , T LN sinδ LN cosδ LNy Therefore, the first step is to restructure the control of the power system's actuators. Actuators are devices in a power system that convert control signals (such as electrical or hydraulic signals) into physical motion or force, driving system state changes. They serve as the "executing mechanism" of the control system, directly impacting the system's dynamic response and performance.

[0091] Specifically, the embodiment of the present application can design a reconfiguration controller for the power system of a thrust vectoring short-takeoff and vertical landing aircraft through the following process:

[0092] First, establish a high-order all-wheel drive model of the power system actuator. Define y: = [y1, y2, y3, y4, y5] T , where y1 = T LN cosδ LN , y2=T LN sinδ LN sinδ LNy , y3=T LN sinδ LN cosδ LNy , y4=T LF , y5=ΔT R , representing 5 virtual control quantities respectively; its dynamic system can be written as:

[0093]

[0094] in,

[0095] is the corresponding control input, represents the control input of the main thrust engine, represents the control input of the longitudinal deflection angle of the three-bearing vector nozzle, represents the control input of the lateral deflection angle of the three-bearing vector nozzle, represents the control input for the lift fan thrust, A control input representing the roll thrust difference.

[0096] Then define the tracking error of the power system actuator control. According to the high-order all-wheel drive model of the power system actuator, the reconstructed controller is designed based on the all-wheel drive system theory. Define the expected control as y c =[y c1 ,y c2 ,y c3 ,y c4 ,y c5 ] T ,y c1 -y c5 The expected instructions of the five virtual control quantities are expressed in sequence, and the control tracking error is e y =yy c .

[0097] Finally, the power system reconstruction controller is designed.

[0098] The reconstruction controller can realize the mapping of virtual control quantity and actual control quantity. The full-drive system method can establish a direct correspondence between the actual control quantity and the virtual control quantity, and eliminate the nonlinear coupling term (which includes the difference in the dynamic characteristics of the actual actuator system). The embodiment of the present application can use the closed-loop desired state matrix and tracking error to directly design the reconstruction controller. The performance of the closed-loop system is controllable and can effectively solve the significant differences in the dynamic characteristics of the actuators (such as the thrust response delay of the main engine, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control distribution matrix and easily causes the distribution mismatch problem.

[0099] The embodiments of the present application can establish a high-order all-wheel drive model of the power system actuator, design a reconstructed controller based on the all-wheel drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce dependence on precise mathematical models, enhance robustness to nonlinearities, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0100] Optionally, in one embodiment of the present application, the expression of the reconstruction controller is:

[0101]

[0102] Among them, ν s Indicates the control input, B y represents the control allocation matrix, g y represents the coupled nonlinear term, A yrepresents the desired state matrix of the closed-loop system of the power system actuator, represents the first-order derivative of the desired control, e y represents the control tracking error.

[0103] During actual execution, the embodiment of the present application can reconstruct controller modeling based on parameters such as control input quantity and the desired state matrix of the closed-loop system of the power system actuator.

[0104] The embodiment of the present application can reconstruct the control of the power system actuator by establishing a reconstruction controller model to overcome the significant differences in the dynamic characteristics of the actuators in the traditional dynamic inversion method (such as the thrust response delay of the main engine, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily causes the allocation mismatch problem.

[0105] Optionally, in one embodiment of the present application, a hover controller for a thrust vectoring short vertical take-off and landing aircraft is designed, including: converting a hovering dynamics model into a high-order all-wheel drive system model in a preset compact format; defining a state tracking error based on a desired state quantity of the thrust vectoring short vertical take-off and landing aircraft; and designing a hover controller according to a block diagonal characteristic matrix based on the high-order all-wheel drive system model and the state tracking error.

[0106] Specifically, in the short takeoff / hover mode, the main state variables of the aircraft are u, v, w, θ, ψ, respectively, the forward velocity, lateral velocity, vertical velocity, pitch angle, and yaw angle; and the control input is y c Define the state vector x: = [x1, x2, x3, x4, x5] T , where x1:=u, x2:=v, x3:=w, x4:=θ, x5:=ψ.

[0107] First, the thrust vectoring short-distance vertical take-off and landing aircraft hovering model is converted into a high-order all-wheel drive system model. The process is as follows.

[0108] First, derive each state and establish a direct relationship between the state and the control variable:

[0109] First state:

[0110]

[0111] Among them, f1 is the total nonlinear term of the corresponding state.

[0112] Second state:

[0113]

[0114] in, are the intermediate transition nonlinear term and the total nonlinear term of the corresponding state respectively.

[0115] The third state:

[0116]

[0117] Among them, f3 is the total nonlinear term of the corresponding state.

[0118] The fourth state:

[0119]

[0120] Among them, f4 is the total nonlinear term of the corresponding state.

[0121] The fifth state:

[0122]

[0123] Among them, f5 is the total nonlinear term of the corresponding state.

[0124] Arrange the equation into a compact format. As follows:

[0125]

[0126] Among them, f x :=[f1,f2,f3,f4,f5] T ,

[0127]

[0128] Then define the hover state tracking error.

[0129] is the desired state instruction, then the state tracking error is e X =XX c , X is the expanded state vector composed of state vectors, and Xc is the expected state instruction of X.

[0130] Finally, a thrust vectoring short take-off and vertical landing aircraft hover controller is designed.

[0131] In this embodiment, first, a high-order all-wheel drive model of the aircraft hovering dynamics model is established through the all-wheel drive system method. This model can serve as a connection between the virtual control quantity and the target state quantity, and is nonlinear. Therefore, the problem of linearization at the working point can be avoided; then, through block diagonal matrix design, each state can be controlled separately according to its actual characteristics, thereby realizing decoupling control between the states; and by eliminating the nonlinear coupling term, the hovering controller is directly designed using the expected closed-loop characteristic matrix and the state tracking error. The closed-loop performance is determined by the expected matrix, and there is no need for repeated iterations. This effectively solves the technical problem that the controller designed by the traditional method needs to verify the closed-loop performance through repeated simulation and experiments, and the development cycle is long and the cost is high.

[0132] The embodiments of the present application can convert the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft into a high-order all-wheel drive system model, and use the high-order all-wheel drive system theory to upgrade and decouple the hovering model of the thrust vectoring short-distance vertical take-off and landing aircraft, thereby reducing the model dimension and simplifying the complex multi-point linearization process in the traditional dynamic inversion method.

[0133] Optionally, in one embodiment of the present application, the expression of the hover controller is:

[0134]

[0135] in, Indicated by A k The block matrix composed of x represents the equivalent control allocation matrix, e X represents the state tracking error, f x represents the total nonlinear term of the corresponding state.

[0136] Furthermore, is the characteristic matrix of the corresponding state of the closed-loop system, k = 1, 2, 3, 4, 5, m1 = m3 = 1, m2 = 3, m4 = m5 = 2.

[0137] During actual implementation, the embodiment of the present application can model the hovering controller based on state tracking errors and nonlinear terms.

[0138] The embodiments of the present application can track hovering state instructions and adjust control inputs by modeling a hovering controller to achieve stable hovering of the aircraft.

[0139] Optionally, in one embodiment of the present application, the expression of the extended state observer is:

[0140]

[0141] Among them, α k,i is the status The estimated value of Represents α k,i The derivative of is the nonlinear term f k The estimated value of k，1 represents the observation error of the kth state, x k represents the kth state, y c represents expected control, B x (;,k) represents the matrix B x The kth column vector of Represents α k,i The derivative of Represents state x k The (i-1)th order derivative of .

[0142] In actual implementation, the embodiment of the present application may model the extended state observer based on parameters such as the estimated value of the nonlinear term.

[0143] In the embodiment of the present application, an extended state observer can be used to estimate missing information, and then corresponding variables of the hovering controller can be replaced based on the estimated information to achieve closed-loop control.

[0144] like Figure 4 and Figure 5 As shown, in order to enable those skilled in the art to more clearly understand the thrust vectoring short-distance vertical take-off and landing aircraft hovering control method of the present application, the method is described in detail below with a specific embodiment.

[0145] Figure 4 This is a structural diagram of a thrust vectoring short-distance vertical take-off and landing aircraft hovering control method based on an all-wheel drive system provided in an embodiment of the present application, including: a thrust vectoring short-distance vertical take-off and landing aircraft model, a thrust vectoring short-distance vertical take-off and landing aircraft power system reconstruction controller, a thrust vectoring vertical short-distance take-off and landing aircraft hovering controller, and an expanded state observer.

[0146] The thrust-vectoring short-takeoff and vertical landing (STOL) aircraft model describes the aircraft's motion and nonlinear coupled dynamics, serving as the mathematical model and foundation for controller design. The hover controller generates virtual control variables based on the model and tracking errors to achieve hover attitude stability. The reconfiguration controller converts the control variables into instructions for the actual actuators, addressing redundancy and physical constraints. The extended state observer estimates the unmeasurable system states (angular acceleration signals) and external total disturbances in real time, and feeds the estimated signals into the hover controller for control. These four components each implement closed-loop control, while also being connected in series to form a single, larger closed-loop system for precise hover control.

[0147] Reference Figure 5The hovering control method for a thrust vectoring short-distance vertical take-off and landing aircraft based on an all-wheel drive system provided in an embodiment of the present application includes the following steps:

[0148] Step 1: Establish a thrust vectoring short-range vertical take-off and landing aircraft hovering model;

[0149] Step 2: Design a reconfigured controller for the thrust vectoring short-distance vertical takeoff and landing aircraft power system. The specific process is as follows:

[0150] Step 2.1: Establish a high-order all-wheel drive model of the powertrain actuator;

[0151] Step 2.2: Define the tracking error of the power system actuator control;

[0152] Step 2.3: Design the power system reconstruction controller;

[0153] Step 3: Design a hover controller for a thrust vectoring short-distance vertical takeoff and landing aircraft. The specific process is as follows:

[0154] Step 3.1: Convert the thrust vectoring short take-off and vertical landing aircraft hovering model into a high-order all-wheel drive system model;

[0155] Step 3.2: Arrange the equation into a compact format;

[0156] Step 3.3: Define the hover state tracking error;

[0157] Step 3.4: Design a thrust vectoring short take-off and vertical landing aircraft hover controller;

[0158] Step 4: Design the expansion state sensor;

[0159] Step 5: Replace the corresponding variables of the hovering controller with the information estimated by the expansion state sensor to form a closed-loop control.

[0160] According to the thrust-vectoring short-distance vertical takeoff and landing (SVTOL) aircraft hover control method proposed in the present application, based on high-order all-wheel drive system theory, the power system actuators can be reconstructed and controlled. The established thrust-vectoring SVTOL aircraft hover dynamics model can be converted into a high-order all-wheel drive system model, the state tracking error can be defined, and a hover controller can be designed. Furthermore, stable closed-loop control of the aircraft hover can be achieved through the coordinated action of the reconstructed controller, the hover controller, and the extended state controller. In this scheme, the thrust-vectoring SVTOL aircraft hover model is upgraded and decoupled using high-order all-wheel drive system theory. This reduces the model dimension, simplifies the complex multi-point linearization process in traditional dynamic inversion methods, eliminates the reliance on precise control allocation matrices, and significantly improves controller design efficiency. This solves the problems of hover control methods based on dynamic inversion in related technologies, which are difficult to achieve efficient decoupling and robust control of multiple actuators in an aircraft system due to complex model linearization, reliance on precise performance matrices for control allocation, and unpredictable closed-loop performance.

[0161] Next, refer to the attached Figure 6 A thrust vectoring short take-off and landing aircraft hovering control device proposed in an embodiment of the present application is described.

[0162] Figure 6 It is a block diagram of a thrust vectoring short-distance vertical take-off and landing aircraft hovering control device according to an embodiment of the present application.

[0163] like Figure 6 As shown, the thrust vectoring short-distance vertical take-off and landing aircraft hovering control device 10 includes: a modeling module 100, a first design module 200, a second design module 300, and a control module 400.

[0164] The modeling module 100 is used to establish a hovering dynamics model of a thrust vectoring short-distance vertical take-off and landing aircraft based on the nonlinear relationship among aircraft speed, Euler angles, angular velocity, thrust, and torque.

[0165] The first design module 200 is used to design a reconstruction controller of the power system of the thrust vectoring short take-off and vertical landing aircraft, and to design a hovering controller of the thrust vectoring short take-off and vertical landing aircraft.

[0166] The second design module 300 is used to design an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model.

[0167] The control module 400 is used to feed back the estimated nonlinear term and the estimated state derivative of the extended state observer to the hovering controller to perform hovering control on the thrust vectoring short take-off and vertical landing aircraft.

[0168] Optionally, in one embodiment of the present application, the state of the hovering dynamics model includes at least one of forward speed, lateral speed, vertical speed, roll angle, pitch angle, yaw angle, roll angular rate, pitch angular rate and yaw angular rate, and the control input includes at least one of main engine thrust, lift fan thrust, left and right roll nozzle thrust difference, three-bearing vector nozzle longitudinal deflection angle and three-bearing vector nozzle lateral deflection angle.

[0169] Optionally, in one embodiment of the present application, the first design module includes a modeling unit, a tracking unit, and a first design unit; wherein the modeling unit is used to establish a high-order all-wheel drive model based on the defined actuator state vector; the tracking unit is used to define the tracking error based on the desired control quantity of the power system; the first design unit is used to design a reconstruction controller based on the closed-loop desired state matrix of the power system based on the high-order all-wheel drive model and the tracking error.

[0170] Optionally, in one embodiment of the present application, the expression of the reconstruction controller is:

[0171]

[0172] Among them, s Indicates the control input, B y represents the control allocation matrix, g y represents the coupled nonlinear term, A y represents the desired state matrix of the closed-loop system of the power system actuator, represents the first-order derivative of the desired control, e y represents the control tracking error.

[0173] Optionally, in one embodiment of the present application, the first design module further includes a conversion unit, a definition unit, and a second design unit; wherein the conversion unit is used to convert the hovering dynamics model into a high-order all-wheel drive system model in a preset compact format; the definition unit is used to define the state tracking error based on the expected state quantity of the thrust vectoring short take-off and landing aircraft; the second design unit is used to design the hovering controller according to the block diagonal characteristic matrix based on the high-order all-wheel drive system model and the state tracking error.

[0174] Optionally, in one embodiment of the present application, the expression of the hover controller is:

[0175]

[0176] in, Indicated by A k The block matrix composed of x represents the equivalent control allocation matrix, e X represents the state tracking error, f x represents the total nonlinear term of the corresponding state.

[0177] Optionally, in one embodiment of the present application, the expression of the extended state observer is:

[0178]

[0179] Among them, α k,i is the status The estimated value of Represents α k,i The derivative of is the nonlinear term f k The estimated value of k，1 represents the observation error of the kth state, x k represents the kth state, y c represents expected control, B x (;, k) represents the matrix B x The kth column vector of .

[0180] It should be noted that the aforementioned explanation of the embodiment of the thrust vectoring short-distance vertical take-off and landing aircraft hovering control method is also applicable to the thrust vectoring short-distance vertical take-off and landing aircraft hovering control device of this embodiment, and will not be repeated here.

[0181] The thrust-vectoring short-distance vertical takeoff and landing (SVTOL) aircraft hover control device proposed in the present application embodiment reconstructs and controls the power system actuators based on high-order all-wheel drive system theory. It also converts the established thrust-vectoring SVTOL aircraft hover dynamics model into a high-order all-wheel drive system model, defines the state tracking error, and designs a hover controller. Furthermore, through the coordinated action of the reconstructed controller, hover controller, and extended state controller, stable closed-loop control of the aircraft's hover is achieved. In this scheme, the thrust-vectoring SVTOL aircraft hover model is upgraded and decoupled based on high-order all-wheel drive system theory. This reduces the model dimension, simplifies the complex multi-point linearization process in traditional dynamic inversion methods, eliminates the reliance on precise control allocation matrices, and significantly improves controller design efficiency. This solves the problems of conventional dynamic inversion-based hover control methods, which suffer from complex model linearization, reliance on precise performance matrices for control allocation, and unpredictable closed-loop performance, making efficient decoupling and robust control of multiple actuators in an aircraft system difficult.

[0182] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0183] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0184] When the processor 702 executes the program, the hovering control method for the thrust vectoring short vertical take-off and landing aircraft provided in the above embodiment is implemented.

[0185] Furthermore, the electronic device further includes:

[0186] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0187] The memory 701 is used to store computer programs that can be run on the processor 702 .

[0188] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0189] If the memory 701, processor 702, and communication interface 703 are implemented independently, the communication interface 703, memory 701, and processor 702 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0190] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0191] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0192] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned thrust vectoring short-distance vertical take-off and landing aircraft hovering control method.

[0193] An embodiment of the present application also provides a computer program product having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned thrust vectoring short-distance vertical take-off and landing aircraft hovering control method.

[0194] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0195] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0196] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0197] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0198] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0199] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0200] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0201] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling a thrust vectoring short take-off and vertical landing aircraft to hover, characterized in that: The following steps are involved: Based on the nonlinear relationship between aircraft speed, Euler angles, angular velocity, thrust and torque, a hovering dynamics model of a thrust vectoring short-distance vertical take-off and landing aircraft is established. Designing a reconfiguration controller for the power system of the thrust vectoring short take-off and vertical landing aircraft, and designing a hover controller for the thrust vectoring short take-off and vertical landing aircraft; Designing an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model; The estimated nonlinear term and the estimated state derivative of the extended state observer are fed back to the hovering controller to perform hovering control on the thrust vectoring short take-off and vertical landing aircraft.

2. The method according to claim 1, characterized in that The state of the hovering dynamics model includes at least one of forward speed, lateral speed, vertical speed, roll angle, pitch angle, yaw angle, roll angular rate, pitch angular rate and yaw angular rate, and the control input includes at least one of main engine thrust, lift fan thrust, left and right roll nozzle thrust difference, three-bearing vector nozzle longitudinal deflection angle and three-bearing vector nozzle lateral deflection angle.

3. The method according to claim 1, characterized in that The design of the reconfiguration controller for the power system of the thrust vectoring short take-off and vertical landing aircraft includes: Establish a high-order all-wheel drive model based on the defined actuator state vector; The tracking error is defined based on the desired control quantity of the dynamic system; The reconstruction controller is designed based on the high-order all-wheel drive model and the tracking error according to a closed-loop desired state matrix of the power system.

4. The method according to claim 3, characterized in that The expression of the reconstruction controller is: Among them, v s Indicates the control input, B y represents the control allocation matrix, g y represents the coupled nonlinear term, A y represents the desired state matrix of the closed-loop system of the power system actuator, represents the first-order derivative of the desired control, e y represents the control tracking error.

5. The method according to claim 1, wherein The hover controller of the thrust vectoring short take-off and vertical landing aircraft is designed, comprising: Converting the hovering dynamics model into a high-order all-wheel drive system model in a preset compact format; Defining the state tracking error according to the desired state quantity of the thrust vectoring short take-off and vertical landing aircraft; Based on the high-order all-wheel drive system model and the state tracking error, the hovering controller is designed according to a block diagonal characteristic matrix.

6. The method according to claim 5, characterized in that The expression of the hover controller is: in, Indicated by A k The block matrix composed of x represents the equivalent control allocation matrix, e X represents the state tracking error, f x represents the total nonlinear term of the corresponding state.

7. The method according to any one of claims 1 to 6, characterized in that The expression of the extended state observer is: Among them, α k,i is the status The estimated value of Represents α k,i The derivative of is the nonlinear term f k The estimated value of k,1 represents the observation error of the kth state, x k represents the kth state, y c represents expected control, B x (;, k) represents the matrix B x The kth column vector of .

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hovering control method for a thrust vectoring short vertical take-off and landing aircraft according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the hovering control method for a thrust vectoring short-distance vertical take-off and landing aircraft as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program, characterized in that The computer program is executed to implement the hovering control method for a thrust vectoring short take-off and landing aircraft according to any one of claims 1 to 7.

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