Aircraft multi-system backup method, device and computer-readable storage medium

Abstract

The present invention discloses a method, device and computer-readable storage medium for multi-system backup of an aircraft, wherein the method comprises: a main flight control computing unit of an aircraft shares the control information of the main flight control computing unit on the aircraft with multiple backup flight control computing units of the aircraft through a data bus; when the status data of the main flight control computing unit and / or the backup flight control computing unit meet the preset fault condition or the preset voting condition, the backup flight control computing unit that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information obtained in real time, so as to smoothly execute the main-backup switching of the flight control computing unit. In the present invention, when the current flight control fails, the main flight control can still be switched to the backup flight control in a timely, accurate and effective manner, thereby ensuring the flight safety of the aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an aircraft multi-system backup method, device and computer-readable storage medium. Background Art

[0002] In existing unmanned aerial vehicle technology, aircraft are generally equipped with multiple flight control systems. The parallel working method of multiple systems, or the switching conditions and methods between multiple systems, will directly affect the flight safety of the aircraft.

[0003] Therefore, when an aircraft is installed with multiple flight control systems, how to ensure that the failure of some systems will not affect the normal operation of the aircraft, and how to implement the corresponding primary and backup plans are technical issues that need to be solved urgently. Summary of the invention

[0004] In order to solve the above technical defects in the prior art, the present invention proposes an aircraft multi-system backup method, which includes:

[0005] A main flight control computing unit of an aircraft shares control information of the aircraft with multiple backup flight control computing units of the aircraft through a data bus;

[0006] When the status data of the main flight control calculation unit and / or the backup flight control calculation unit meets a preset fault condition or a preset voting condition, one of the backup flight control calculation units that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information acquired in real time, so as to smoothly execute the main-backup switching of the flight control calculation unit.

[0007] Optionally, the method further comprises:

[0008] The status data of the plurality of flight control computing units of the aircraft are acquired in real time, wherein the status data includes primary and backup flag data, sensor status data and navigation status data.

[0009] The status data of each flight control computing unit is shared in real time via the data bus connected to the plurality of flight control computing units.

[0010] Optionally, the method further comprises:

[0011] Initializing one of the plurality of flight control computing units as the master flight control computing unit according to the state data;

[0012] Initialize the other flight control computing units as the backup flight control computing units.

[0013] Optionally, the sharing of control information of the aircraft by a primary flight control computing unit to multiple backup flight control computing units of the aircraft via a data bus includes:

[0014] continuously sending the control signal including the speed command to the electronic speed governor of the aircraft through the main flight control computing unit;

[0015] The real-time control signal is sent to the data bus at a preset frequency, so that the multiple backup flight control computing units receive the real-time control signal through the data bus and update and adjust their own controller outputs in real time according to the control signal.

[0016] Optionally, the method further comprises:

[0017] When it is detected that the status data of the primary flight control computing unit has timed out from being sent offline, determining that a power failure or a restart failure occurs in the primary flight control computing unit;

[0018] The power failure fault or the restart fault is taken as the fault condition.

[0019] Optionally, the method further comprises:

[0020] comparing the status data of the plurality of flight control computing units of the aircraft, and determining that the primary flight control computing unit has lost control over the aircraft when the status data of the primary flight control computing unit is inferior to the status data of the backup flight control computing unit;

[0021] The switching condition is that the main flight control calculation unit loses the control right.

[0022] Optionally, the method further comprises:

[0023] When the status data of the primary flight control computing unit and / or the backup flight control computing unit meets a preset fault condition or a preset voting condition, obtaining a backup flight control computing unit having the best status data;

[0024] Determine that the backup flight control computing unit with the best status data satisfies the switching condition corresponding to the fault condition or the voting condition.

[0025] Optionally, the method further comprises:

[0026] Before the backup flight control computing unit acquires the control right, entering a preset backup mode;

[0027] In the backup mode, the horizontal speed and vertical speed of the aircraft are controlled to smoothly drop to a hovering state according to the controller output and the status data of the original main flight control calculation unit before the switch, and the main-backup switch is performed without manual takeover.

[0028] The present invention also proposes an aircraft multi-system backup device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the aircraft multi-system backup method as described in any one of the above items.

[0029] The present invention also proposes a computer-readable storage medium, on which an aircraft multi-system backup program is stored. When the aircraft multi-system backup program is executed by a processor, the steps of the aircraft multi-system backup method as described in any one of the above items are implemented.

[0030] The aircraft multi-system backup method, device and computer-readable storage medium of the present invention share the control information of the main flight control computing unit on the aircraft with multiple backup flight control computing units of the aircraft through a data bus through a main flight control computing unit of the aircraft; when the status data of the main flight control computing unit and / or the backup flight control computing unit meet the preset fault condition or the preset voting condition, the backup flight control computing unit that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information obtained in real time, so as to smoothly execute the main-backup switching of the flight control computing unit. The present invention realizes a multi-system backup solution with higher stability and more perfect redundancy design. When the current flight control is powered off, restarted or some components fail, the main flight control can still switch to the backup flight control instantly, accurately and effectively, and the switching process is smooth, which greatly ensures the flight safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0032] Figure 1 is a flow chart of a first embodiment of an aircraft multi-system backup method of the present invention;

[0033] Figure 2 is a flow chart of a second embodiment of the aircraft multi-system backup method of the present invention;

[0034] Figure 3is a flow chart of a third embodiment of the aircraft multi-system backup method of the present invention;

[0035] Figure 4 is a flow chart of a fourth embodiment of the aircraft multi-system backup method of the present invention;

[0036] Figure 5 is a flow chart of a fifth embodiment of the aircraft multi-system backup method of the present invention;

[0037] Figure 6 is a flow chart of a sixth embodiment of the aircraft multi-system backup method of the present invention;

[0038] Figure 7 is a flow chart of a seventh embodiment of the aircraft multi-system backup method of the present invention;

[0039] Figure 8 is a flow chart of an eighth embodiment of the aircraft multi-system backup method of the present invention;

[0040] Fig. 9 This is a schematic diagram of multi-flight control backup data flow of the second embodiment of the aircraft multi-system backup method of the present invention;

[0041] Fig.10 It is a first multi-flight control backup logic flow chart of the fifth embodiment of the aircraft multi-system backup method of the present invention;

[0042] Fig.11 It is a second multi-flight control backup logic flow chart of the fifth embodiment of the aircraft multi-system backup method of the present invention;

[0043] Fig.12 It is a third multi-flight control backup logic flow chart of the fifth embodiment of the aircraft multi-system backup method of the present invention;

[0044] Fig.13 It is the fourth multi-flight control backup logic flow chart of the fifth embodiment of the aircraft multi-system backup method of the present invention. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0046] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0047] Embodiment 1

[0048] Figure 1 1 is a flow chart of a first embodiment of a method for backing up multiple systems of an aircraft according to the present invention. A method for backing up multiple systems of an aircraft, the method comprising:

[0049] S1, a main flight control computing unit of an aircraft shares control information of the aircraft with multiple backup flight control computing units of the aircraft through a data bus;

[0050] S2. When the status data of the main flight control calculation unit and / or the backup flight control calculation unit meets a preset fault condition or a preset voting condition, one of the backup flight control calculation units that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information acquired in real time, so as to smoothly execute the main-backup switching of the flight control calculation unit.

[0051] In this embodiment, first, a main flight control computing unit that currently holds control rights in the aircraft is determined, and in the process of the main flight control computing unit controlling the aircraft according to its own control rights, real-time control information of the main flight control computing unit on the aircraft is collected; then, the main flight control computing unit shares the above-mentioned real-time control information with other multiple backup flight control computing units of the aircraft through a preset data bus, so that the other multiple backup flight control computing units can maintain their own standby status according to the above-mentioned acquired real-time control information.

[0052] In this embodiment, in the process that the main flight control calculation unit controls the aircraft according to its own control right, the status data of the main flight control calculation unit and / or other multiple backup flight control calculation units are monitored and compared in real time. Wherein, fault or voting monitoring is performed according to the real-time status data of the main flight control calculation unit and / or other multiple backup flight control calculation units. For example, when one or more of the main flight control calculation unit and / or other multiple backup flight control calculation units meet the preset fault condition or the preset voting condition, the corresponding fault processing strategy and voting processing strategy are executed to determine whether the current main flight control calculation unit is the best. If not, one of the other multiple backup flight control calculation units is selected for switching, that is, the backup flight control calculation unit with the best status data is switched to the main flight control calculation unit. Wherein, firstly, a switching condition corresponding to the fault condition or the voting condition is preset, and the other multiple backup flight control calculation units are screened according to the switching condition, so as to determine the optimal backup flight control calculation unit to be switched; then, the control information obtained in real time by the backup flight control calculation unit is used to update and adjust its own controller output in real time, so as to perform the main and backup switching of the flight control calculation unit in a smooth manner.

[0053] The beneficial effect of this embodiment is that a main flight control computing unit of the aircraft shares the control information of the main flight control computing unit on the aircraft with multiple backup flight control computing units of the aircraft through a data bus; when the status data of the main flight control computing unit and / or the backup flight control computing unit meets the preset fault condition or the preset voting condition, the backup flight control computing unit that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information obtained in real time, so as to smoothly execute the main-backup switching of the flight control computing unit. This embodiment realizes a multi-system backup solution with higher stability and more perfect redundancy design. When the current flight control is powered off, restarted or some components fail, the main flight control can still switch to the backup flight control instantly, accurately and effectively, and the switching process is smooth, which greatly ensures the flight safety of the aircraft.

[0054] Embodiment 2

[0055] Figure 2 1 is a flow chart of a second embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment further includes the following steps:

[0056] S01. Acquire the status data of the plurality of flight control computing units of the aircraft in real time, wherein the status data includes primary and backup flag data, sensor status data and navigation status data.

[0057] S02. Sharing the status data of each flight control computing unit in real time via the data bus connected to the plurality of flight control computing units.

[0058] In this embodiment, an aircraft having three flight control computing units is used as an example for explanation. Fig. 9 A schematic diagram of multi-flight control backup data flow is shown, wherein FCU1 is the first flight control computing unit, FCU2 is the second flight control computing unit, and CAN is the data bus of this embodiment.

[0059] In this embodiment, the first flight control calculation unit FCU0, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 send their own status data (i.e., the status information in the figure) to the data bus CAN at a preset frequency. The status data includes primary and backup flag data, sensor status data and navigation status data. Optionally, among the first flight control calculation unit FCU0, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2, the main flight control calculation unit uses a frequency higher than that of the other two flight control calculation units to send its own status data to the data bus CAN. Optionally, the first flight control calculation unit FCU0, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 all use the same frequency to send their own status data to the data bus CAN.

[0060] In this embodiment, the first flight control calculation unit FCU0, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 all obtain the status data of other flight control calculation units through the data bus CAN at another preset frequency, thereby realizing real-time sharing of the status data of each flight control calculation unit itself.

[0061] The beneficial effect of this embodiment is that by acquiring the status data of the multiple flight control computing units of the aircraft in real time, wherein the status data includes primary and backup flag data, sensor status data and navigation status data, the status data of each flight control computing unit is shared in real time through the data bus connected to the multiple flight control computing units. This embodiment provides a data interaction basis based on each status data for the multiple flight control computing units of the aircraft.

[0062] Embodiment 3

[0063] Figure 3 : is a flow chart of a third embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment also includes the following steps:

[0064] S03, initializing one of the plurality of flight control computing units as the main flight control computing unit according to the state data;

[0065] S04. Initialize the other flight control computing units as the backup flight control computing units.

[0066] In this embodiment, please refer to Fig. 9The schematic diagram of the multi-flight control backup data flow is shown, wherein, according to the data comparison of the status data of each flight control computing unit, for example, by a preset unified rule and by means of a preset parameter setting, each flight control computing unit is initialized by the above status data. As a result of the initialization, one of the flight control computing units is selected and initialized as the main flight control computing unit, and all other flight control computing units are initialized as backup flight control computing units.

[0067] In this embodiment, if Fig. 9 As shown, after determining that the first flight control calculation unit FCU0 is the main flight control calculation unit, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 are backup flight control calculation units, the first flight control calculation unit FCU0, the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 still send their respective status data (i.e., the status information in the figure) to the data bus at the above-mentioned frequency. At the same time, the main flight control calculation unit FCU0 sends its own control information of the aircraft to the data bus at another preset frequency, so that the second flight control calculation unit FCU1 and the third flight control calculation unit FCU2 obtain the above-mentioned control information through the data bus.

[0068] The beneficial effect of this embodiment is that by initializing one of the plurality of flight control computing units as the primary flight control computing unit according to the state data, and initializing the other flight control computing units as the backup flight control computing units, this embodiment proposes a differentiated data interaction solution for the primary flight control computing unit and the backup flight control computing unit of the aircraft.

[0069] Embodiment 4

[0070] Figure 4 1 is a flow chart of a fourth embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, the step of sharing the control information of the aircraft by a primary flight control computing unit to multiple backup flight control computing units of the aircraft via a data bus includes:

[0071] S11, continuously sending the control signal including the speed command to the electronic speed governor of the aircraft through the main flight control calculation unit;

[0072] S12. Send the real-time control signal to the data bus at a preset frequency, so that the multiple backup flight control computing units receive the real-time control signal through the data bus, and update and adjust their own controller outputs in real time according to the control signal.

[0073] In this embodiment, the main flight control computing unit has the authority to send speed instructions to the electronic speed regulator of the aircraft's motor, and the main flight control computing unit will continue to send speed control signals, while the backup flight control computing unit does not have this authority.

[0074] In this embodiment, the main flight control calculation unit will send its own real-time control information of the aircraft to the data bus CAN at the above-mentioned preset frequency; each backup flight control calculation unit will obtain the above-mentioned control information on the data bus CAN in real time through the above-mentioned data bus CAN.

[0075] In this embodiment, unlike the main flight control calculation unit that continuously sends a speed control signal, each backup flight control calculation unit only updates and adjusts its own controller output in real time according to the acquired control signal, so as to achieve a smooth transition in control performance when switching to the main flight control.

[0076] The beneficial effect of this embodiment is that the control signal containing the speed command is continuously sent to the electronic speed governor of the aircraft through the main flight control calculation unit; the real-time control signal is sent to the data bus at a preset frequency, so that multiple backup flight control calculation units receive the real-time control signal through the data bus, and update and adjust their own controller outputs in real time according to the control signal. This embodiment proposes a sharing solution based on control signals for the main flight control calculation unit and the backup flight control calculation unit of the aircraft, providing a data basis for smooth transition for the switching of the main and backup flight control calculation units.

[0077] Embodiment 5

[0078] Figure 5 4 is a flow chart of a fifth embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment further includes the following steps:

[0079] S05, when it is detected that the status data of the primary flight control computing unit has timed out from being sent offline, determining that a power failure or a restart failure occurs in the primary flight control computing unit;

[0080] S06: Taking the power failure fault or the restart fault as the fault condition.

[0081] In this embodiment, please refer to Fig.10The first multi-flight control backup logic flow chart is shown, in which each flight control computing unit sends its own status data to the data bus, and determines whether it is the main flight control computing unit according to the main flight control flag in the status data. When it is determined that it is the main flight control computing unit, it sends its own control information to the data bus; when it is determined that it is the backup flight control computing unit, it keeps sending its own status data to the data bus.

[0082] In this embodiment, please refer to Fig.11 The second multi-flight control backup logic flow chart is shown, in which each flight control computing unit receives status data shared by other flight control computing units from the data bus, and determines whether it is a backup flight control computing unit according to the main flight control flag in the status data. When it is determined that it is a backup flight control computing unit, it receives and updates the control information shared by the main flight control computing unit, and when it is determined that it is the main flight control computing unit, it keeps sending its own control information to the data bus.

[0083] In this embodiment, please refer to Fig.12 The third multi-flight control backup logic flow chart is shown, in which each flight control computing unit receives status data shared by other flight control computing units from the data bus, and determines whether there is at least one flight control computing unit other than itself online by the status data. If so, the main flight control flag in the status data is used to determine whether the flight control computing unit is the main flight control computing unit. If the flight control computing unit is not the main flight control computing unit, the control target value is updated in real time according to the acquired control information, and the backup mode of the backup flight control computing unit is maintained. If the flight control computing unit is the main flight control computing unit, the status data of the aircraft is updated, and voting and scoring are performed according to the updated status data and the status data of other flight control computing units. If the status data of the main flight control computing unit is not optimal, the corresponding smooth switching strategy is executed after the switching is determined.

[0084] In this embodiment, please refer to Fig.13 The fourth multi-flight control backup logic flow chart is shown, in which each flight control computing unit receives status data shared by other flight control computing units from the data bus, and determines whether it is a backup flight control computing unit according to the main flight control flag in the status data. If it is not the main flight control computing unit, it keeps sharing its own status data; if it is the main flight control computing unit, it outputs the control signal of the electric adjustment to the aircraft.

[0085] In this embodiment, based on the above multiple backup logic processes, a corresponding fault switching mechanism is executed. Specifically, when the main flight control computing unit is powered off, restarted, and / or restarted, etc., its status data will be offline and timed out. When it is detected that the main flight control computing unit is powered off, restarted, and / or restarted, etc., the backup flight control computing unit with better status data will take over the control of the aircraft from the original main flight control computing unit and become the new main flight control computing unit.

[0086] The beneficial effect of this embodiment is that, by monitoring that the status data of the primary flight control computing unit has timed out when it is sent offline, it is determined that the primary flight control computing unit has a power failure or a restart failure; and the power failure or the restart failure is used as the fault condition. This embodiment proposes a corresponding fault switching condition setting scheme based on the status data of the primary flight control computing unit and the backup flight control computing unit.

[0087] Embodiment 6

[0088] Figure 6 4 is a flow chart of a sixth embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment further includes the following steps:

[0089] S07, comparing the status data of the plurality of flight control computing units of the aircraft, and determining that the primary flight control computing unit has lost control over the aircraft when the status data of the primary flight control computing unit is inferior to the status data of the backup flight control computing unit;

[0090] S08. Taking the main flight control calculation unit losing the control right as the switching condition.

[0091] In this embodiment, each flight control computing unit of the aircraft will compare all the status data of all the shared flight control computing units with each other. In this embodiment, the above operation is regarded as voting.

[0092] In this embodiment, when the status data of a certain flight control calculation unit is obviously inferior to that of other flight control calculation units, the flight control calculation unit is regarded as having failed the vote.

[0093] In this embodiment, when the main flight control calculation unit fails to vote, it will lose control of the aircraft, and the better backup flight control calculation unit will obtain control of the aircraft. That is, the backup flight control calculation unit will switch to the new main flight control calculation unit. The above process is called voting switching.

[0094] In this embodiment, the status data of the multiple flight control calculation units of the aircraft are compared, and when the status data of the main flight control calculation unit is inferior to the status data of the backup flight control calculation unit, it is determined that the main flight control calculation unit has lost control over the aircraft; and the loss of control by the main flight control calculation unit is used as a switching condition during voting switching.

[0095] The beneficial effect of this embodiment is that by comparing the state data of the multiple flight control calculation units of the aircraft, when the state data of the main flight control calculation unit is inferior to the state data of the backup flight control calculation unit, it is determined that the main flight control calculation unit has lost control of the aircraft; and the loss of control by the main flight control calculation unit is used as the switching condition. This embodiment proposes a corresponding voting switching condition setting scheme based on the state data of the main flight control calculation unit and the backup flight control calculation unit.

[0096] Embodiment 7

[0097] Figure 7 1 is a flow chart of a seventh embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment further includes the following steps:

[0098] S21, when the status data of the primary flight control computing unit and / or the backup flight control computing unit meets a preset fault condition or a preset voting condition, obtaining a backup flight control computing unit having the best status data;

[0099] S22. Determine that the backup flight control computing unit with the best status data satisfies the failure condition or the switching condition corresponding to the voting condition.

[0100] In this embodiment, please refer to the multi-flight control backup voting check table shown in Table 1.

[0101]

[0102]

[0103] Table 1

[0104] In this embodiment, as shown in Table 1, the voting condition determination of the voting items is performed in order from small to large according to the above priority values.

[0105] Optionally, in this embodiment, in a high-priority voting item, when the above-mentioned switching condition is obtained according to the voting condition decision, the primary-backup switching is started, and subsequent low-priority voting decisions are no longer performed.

[0106] Optionally, in this embodiment, among at least a preset number of high-priority voting items (for example, 3 non-continuous priorities), when the above-mentioned switching conditions are obtained according to the voting condition decision, the primary-backup switching is started and subsequent low-priority voting decisions are no longer made.

[0107] Optionally, in this embodiment, among at least a preset number of consecutive high-priority voting items (for example, 2 consecutive priorities), when the above-mentioned switching conditions are obtained according to the voting condition decision, the primary-backup switching is started and subsequent low-priority voting decisions are no longer made.

[0108] The beneficial effect of this embodiment is that when the status data of the primary flight control calculation unit and / or the backup flight control calculation unit meets the preset fault condition or the preset voting condition, the backup flight control calculation unit with the best status data is obtained; and the backup flight control calculation unit with the best status data is determined to meet the switching condition corresponding to the fault condition or the voting condition. This embodiment proposes a corresponding voting switching strategy based on the status data of the primary flight control calculation unit and the backup flight control calculation unit.

[0109] Embodiment 8

[0110] Figure 8 4 is a flow chart of an eighth embodiment of the aircraft multi-system backup method of the present invention. Based on the above embodiment, this embodiment further includes the following steps:

[0111] S23, before the backup flight control computing unit acquires the control right, entering a preset backup mode;

[0112] S24. In the backup mode, according to the controller output and the status data of the original main flight control calculation unit before the switch, the horizontal speed and vertical speed of the aircraft are controlled to smoothly drop to a hovering state, and the main-backup switch is performed without manual takeover.

[0113] In this embodiment, the backup flight control calculation unit obtains the control information shared by the main flight control calculation unit in real time through the data bus, and updates and adjusts its own controller output in real time according to the real-time control information.

[0114] In this embodiment, before the backup flight control calculation unit switches to the main flight control calculation unit, the backup flight control calculation unit does not have control over the aircraft. However, precisely because the backup flight control calculation unit updates and adjusts its own controller output in real time based on real-time control information, the backup flight control calculation unit can keep its own control target and control output close to the current control target and control output of the main flight control calculation unit, thereby achieving smooth switching control.

[0115] In this embodiment, during the process of executing switching control, the new main flight control calculation unit in backup mode prioritizes controlling the horizontal speed and vertical speed of the aircraft to smoothly drop to a hovering state, and based on the state data, control target and control output of the original main flight control calculation unit before switching, executes the automatic handling logic of the new main flight control calculation unit after switching without manual takeover.

[0116] The beneficial effect of this embodiment is that, before the backup flight control calculation unit obtains the control right, a preset backup mode is entered; in the backup mode, the horizontal speed and vertical speed of the aircraft are controlled to smoothly drop to a hovering state according to the controller output and the state data of the original main flight control calculation unit before the switch, and the main-backup switch is performed without manual takeover. This embodiment proposes a corresponding smooth switching control strategy based on the state data of the main flight control calculation unit and the backup flight control calculation unit.

[0117] Embodiment 9

[0118] Based on the above embodiments, the present invention also proposes an aircraft multi-system backup device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the aircraft multi-system backup method as described in any one of the above items are implemented.

[0119] It should be noted that the above-mentioned device embodiment and method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the device embodiment, which will not be repeated here.

[0120] Embodiment 10

[0121] Based on the above embodiments, the present invention also proposes a computer-readable storage medium, on which an aircraft multi-system backup program is stored. When the aircraft multi-system backup program is executed by a processor, the steps of the aircraft multi-system backup method as described in any one of the above items are implemented.

[0122] It should be noted that the above-mentioned medium embodiment and method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the medium embodiment, which will not be repeated here.

[0123] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0124] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An aircraft multi-system backup method, characterized in that: The method comprises: A main flight control computing unit of an aircraft shares control information of the aircraft with multiple backup flight control computing units of the aircraft through a data bus; When the status data of the primary flight control calculation unit and / or the backup flight control calculation unit meets a preset fault condition or a preset voting condition, one of the backup flight control calculation units that meets the switching condition corresponding to the fault condition or the voting condition updates and adjusts its own controller output in real time through the control information obtained in real time, so as to smoothly perform the primary-backup switching of the flight control calculation unit; The method of sharing control information of the aircraft by a primary flight control computing unit to multiple backup flight control computing units of the aircraft via a data bus includes: continuously sending a control signal including a speed command to an electronic speed governor of the aircraft through the main flight control computing unit; The real-time control signal is sent to the data bus at a preset frequency, so that the multiple backup flight control computing units receive the real-time control signal through the data bus and update and adjust their own controller outputs in real time according to the control signal.

2. The aircraft multi-system backup method according to claim 1, characterized in that: The method further comprises: Acquiring the status data of the plurality of flight control computing units of the aircraft in real time, wherein the status data includes primary and backup flag data, sensor status data, and navigation status data; The status data of each flight control computing unit is shared in real time via the data bus connected to the plurality of flight control computing units.

3. The aircraft multi-system backup method according to claim 2, characterized in that: The method further comprises: Initializing one of the plurality of flight control computing units as the master flight control computing unit according to the state data; Initialize the other flight control computing units as the backup flight control computing units.

4. The aircraft multi-system backup method according to claim 1, characterized in that: The method further comprises: When it is detected that the status data of the primary flight control computing unit has timed out from being sent offline, determining that a power failure or a restart failure occurs in the primary flight control computing unit; The power failure fault or the restart fault is taken as the fault condition.

5. The aircraft multi-system backup method according to claim 4, characterized in that: The method further comprises: comparing the status data of the plurality of flight control computing units of the aircraft, and determining that the primary flight control computing unit has lost control over the aircraft when the status data of the primary flight control computing unit is inferior to the status data of the backup flight control computing unit; The switching condition is that the main flight control calculation unit loses the control right.

6. The aircraft multi-system backup method according to claim 5, characterized in that: The method further comprises: When the status data of the primary flight control computing unit and / or the backup flight control computing unit meets a preset fault condition or a preset voting condition, obtaining a backup flight control computing unit having the best status data; Determine that the backup flight control computing unit with the best status data satisfies the switching condition corresponding to the fault condition or the voting condition.

7. The aircraft multi-system backup method according to claim 6, characterized in that: The method further comprises: Before the backup flight control computing unit acquires the control right, entering a preset backup mode; In the backup mode, the horizontal speed and vertical speed of the aircraft are controlled to smoothly drop to a hovering state according to the controller output and the status data of the original main flight control calculation unit before the switch, and the main-backup switch is performed without manual takeover.

8. An aircraft multi-system backup device, characterized in that: The device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the aircraft multi-system backup method according to any one of claims 1 to 7 when executed by the processor.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an aircraft multi-system backup program, and when the aircraft multi-system backup program is executed by the processor, the steps of the aircraft multi-system backup method according to any one of claims 1 to 7 are implemented.

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