Method, system and control device for adjusting a flight control device

Abstract

The application belongs to the technical field of aircrafts, and discloses a kind of adjusting method, system and operating device of flight operating device.The method is applied to flight control module, flight control module is connected with the operating module in operating device, operating device includes: operating lever, rotating mechanism, operating module connected in turn, and damper connected with rotating mechanism;The method comprises: determining the corresponding operating torque according to the current flight control mode;According to operating torque, operating module is controlled, so that operating module is adjusted to the position of operating lever by rotating mechanism.The above-mentioned mode is used to determine the operating torque according to the flight control mode, and the operating lever force is provided for the operating lever by using the operating module, so that the operating lever can be flexibly adapted to different flight control modes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a flight control device adjustment method, system and control device. BACKGROUND

[0002] Currently, the control sticks applied to multi-rotor aircrafts are divided into two types: centering rocker and stick force-free rocker. The centering rocker refers to the rocker returning to the neutral position under the action of its own spring force when not being controlled. The stick force-free rocker refers to the stick position remaining unchanged after the pilot releases the stick after operating the stick to a certain position.

[0003] In different flight modes, the control objects of the control stick can be different, and a single type of control stick is not suitable for the current variable flight modes. When the aircraft switches modes, the control stick type does not match the mode requirements, which will cause a sudden change in the response relationship, resulting in a sudden change in the flight control data of the aircraft, and reducing the stability and safety of the aircraft.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a flight control device adjustment method, system and control device, which aims to make the control device flexible and suitable for different flight control modes.

[0006] To achieve the above purpose, the present application provides a flight control device adjustment method, which is applied to a flight control module, the flight control module is connected with an actuating module in a control device, and the control device comprises a control stick, a rotating mechanism, the actuating module connected in sequence, and a damper connected with the rotating mechanism.

[0007] The flight control device adjustment method comprises:

[0008] determining a corresponding actuating torque according to the current flight control mode;

[0009] controlling the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control stick through the rotating mechanism.

[0010] Optionally, the control device further comprises a displacement sensor, and the flight control module is connected with the displacement sensor.

[0011] The determination of the corresponding actuating torque according to the current flight control mode comprises:

[0012] determine a displacement and torque curve corresponding to the first mode when the current flight control mode is the first mode;

[0013] obtain a current control stick displacement fed back by the displacement sensor, and determine an actuating torque corresponding to the current control stick displacement according to the displacement and torque curve.

[0014] Optionally, the adjustment method of the flight control device further comprises:

[0015] obtain a current displacement fed back by the displacement sensor when the current flight control mode is switched from the second mode to the first mode;

[0016] control the actuating module to be powered on according to first mode switching information;

[0017] control the actuating module to drive the control stick to move from the current displacement to a neutral position according to the displacement and torque curve corresponding to the first mode.

[0018] Optionally, the determining of the actuating torque according to the current flight control mode comprises:

[0019] determining that the actuating torque is a preset value when the current flight control mode is the second mode;

[0020] the control of the actuating module according to the actuating torque comprises:

[0021] controlling the actuating module to be powered off according to the actuating torque of the preset value.

[0022] Optionally, the adjustment method of the flight control device further comprises:

[0023] obtain a control displacement corresponding to the control device according to a control law of the second mode when the current flight control mode is switched from the first mode to the second mode;

[0024] control the actuating module to drive the control stick to move to the control displacement;

[0025] control the actuating module to be powered off according to second mode switching information.

[0026] In addition, to achieve the above object, the application further provides an adjustment system of a flight control device, characterized in that the adjustment system of the flight control device comprises a flight control module and a control device, and the flight control module is used to implement the adjustment method of the flight control device as described above.

[0027] the control device comprises a control stick, a rotating mechanism, an actuating module and a damper connected with the rotating mechanism in sequence, and the flight control module is connected with the actuating module.

[0028] The flight control module is configured to determine a corresponding actuating torque according to a current flight control mode, and control the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control stick through the rotating mechanism.

[0029] In addition, to achieve the above object, the application further provides a control device, which is applied to the adjusting system of the flight control device and comprises:

[0030] a control stick having a connecting end and an operating end;

[0031] a rotating mechanism comprising a mechanism support, a joint bearing arranged on the mechanism support, and a mounting portion arranged in the joint bearing, the mounting portion being fixedly connected with the connecting end of the control stick, and the mechanism support being fixed on the aircraft body;

[0032] an actuating module drivingly connected with the mounting portion; and

[0033] a damper drivingly connected with the mounting portion.

[0034] Optionally, the actuating module comprises a torque motor, and an output main shaft of the torque motor is drivingly connected with the mounting portion.

[0035] Optionally, the control device further comprises a damper mounting support and a mounting rod, and the damper mounting support is fixed on the aircraft body.

[0036] The damper comprises a first damping portion and a first fixed portion, the first damping portion being slidingly mounted, and the first fixed portion being fixedly connected with the damper mounting support.

[0037] One end of the mounting rod is hingedly connected with the first damping portion, and the other end is hingedly connected with the mounting portion.

[0038] Optionally, the damper comprises a second damping portion and a second fixed portion, the second damping portion being drivingly connected with the mounting portion, and the second fixed portion being fixedly connected with the mechanism support.

[0039] The adjusting method of the flight control device provided by the application is applied to a flight control module, the flight control module is connected with an actuating module in the control device, and the control device comprises a control lever, a rotating mechanism, the actuating module connected in sequence, and a damper connected with the rotating mechanism; the method comprises the following steps: determining a corresponding actuating torque according to a current flight control mode; and controlling the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control lever through the rotating mechanism. In the foregoing manner, the actuating torque is determined according to the flight control mode, the actuating module is used to provide a control lever force for the control lever, so that the control lever can be flexibly adapted to different flight control modes, the type switching of the control lever can be controlled by the actuating module and the damper to be a centering rocker or a rocker without a lever force, the flight control data is prevented from instantaneously changing due to the mismatch between the type of the control lever and the mode requirement, and the stability and safety of the aircraft are improved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a structural schematic diagram of a flight control module of a hardware running environment related to an embodiment scheme of the application.

[0041] Figure 2 is a flowchart of a first embodiment of the adjusting method of the flight control device of the application.

[0042] Figure 3 is a flowchart of a second embodiment of the adjusting method of the flight control device of the application.

[0043] Figure 4 is a flowchart of a third embodiment of the adjusting method of the flight control device of the application.

[0044] Figure 5 is a structural block diagram of a first embodiment of the adjusting system of the flight control device of the application.

[0045] Figure 6 is a structural schematic diagram of a first embodiment of the control device of the application.

[0046] Figure 7 is a structural schematic diagram of a second embodiment of the control device of the application.

[0047] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are merely intended to explain the application and are not intended to limit the application.

[0049] Reference Figure 1 , Figure 1 is a structural schematic diagram of a flight control module of a hardware running environment related to an embodiment scheme of the application.

[0050] As Figure 1 shown, the flight control module can include: a processor 1001, for example, a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Among them, the communication bus 1002 is used to realize the connection communication between these components. The user interface 1003 can include a display screen, an input unit such as a keyboard. The optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0051] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the flight control module, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0052] As Figure 1 shown, the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a flight control device adjustment program.

[0053] In Figure 1 the flight control module shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the flight control module of the application can be arranged in the flight control module, and the flight control module calls the flight control device adjustment program stored in the memory 1005 through the processor 1001, and executes the flight control device adjustment method provided by the embodiment of the application.

[0054] The embodiment of the application provides a flight control device adjustment method, referring to Figure 2 , Figure 2 is a flowchart of the first embodiment of the flight control device adjustment method of the application.

[0055] The adjustment method of the flight control device is applied to a flight control module, the flight control module is connected with an actuation module in a control device, and the control device comprises a control lever, a rotating mechanism, the actuation module connected in sequence, and a damper connected with the rotating mechanism.

[0056] The adjustment method of the flight control device comprises the following steps.

[0057] In step S10, a corresponding actuation torque is determined according to a current flight control mode.

[0058] It can be understood that the flight control module and the control device in the embodiment are installed on a flight vehicle, which can be a drone, a flying car, an airplane, etc. The embodiment is described by taking a rotary-wing flying car as an example. Optionally, the flight control module in the embodiment is integrated with a driving module. Optionally, the flight control module in the embodiment is connected with the actuation module through the driving module, and the driving module is used to drive the actuation module. The communication form between the flight control module and the actuation module is not limited in the embodiment.

[0059] It should be noted that the flight vehicle has multiple flight control modes, and the control objects of the control device and the types of control levers used are different in different flight control modes. Optionally, the flight control modes in the embodiment include but are not limited to an attitude control mode, a constant-height mode, and a constant-point hovering mode. Most current multi-rotor flight vehicles use double-lever control, and the two control levers correspond to the pitch control, roll control, yaw control, and throttle control of the flight vehicle respectively. The control lever in the embodiment includes but is not limited to a throttle lever. Taking a throttle rocker as an example, in the attitude control mode, the control object of the throttle rocker is the propeller speed, and the displacement of the throttle lever is mapped to the propeller speed of the flight vehicle, and the speed increases with the increase of the displacement of the throttle lever; in the constant-height mode and the constant-point hovering mode, the control object of the throttle rocker is the vertical speed, and the displacement of the throttle lever is mapped to the vertical speed of the flight vehicle. The constant-height mode and the constant-point hovering mode are suitable for centering rockers, and the attitude control mode is suitable for no-lever-force rockers.

[0060] It should be understood that the actuation torque corresponding to different flight control modes is different. Optionally, in the attitude control mode, the actuation torque is 0, and in the constant-height mode and the constant-point hovering mode, the actuation torque is related to the current displacement of the control lever. In a specific implementation, a theoretical displacement-torque curve in the constant-height mode and the constant-point hovering mode is constructed in advance, the corresponding actuation torque is found from the displacement-torque curve according to the current displacement of the control lever, the torque corresponding to the midpoint of the displacement stroke of the control lever in the displacement-torque curve is 0, and the torque at the highest and lowest limit positions is the largest.

[0061] Step S20: controlling the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control stick through the rotating mechanism.

[0062] It should be noted that, in one implementation, the control actuating module outputs the actuating torque to overcome the movement resistance provided by the damper, drives the control stick to rotate through the rotating mechanism, and rotates to the neutral position of the control stick displacement stroke, so that the type of the control stick is switched to a centering rocker; in another implementation, the actuating torque is 0, the actuating module does not output torque, and the control stick remains unchanged under the damping action of the damper, so that the type of the control stick is switched to a no-rod-force rocker.

[0063] The method of the embodiment is described below in combination with examples:

[0064] When the driver pulls the throttle control stick, the control stick rotates around the rotating mechanism, drives the actuating module to rotate, generates a rotary displacement, and a displacement sensor integrated in the actuating module detects the change in the displacement of the control stick and sends the current displacement of the throttle control stick to the flight control computer as a throttle control instruction.

[0065] When in the constant-height mode or the point-hold mode, the flight control computer controls the actuating module to output a control torque according to the current displacement of the throttle control stick and continuously provides a linear control stick force characteristic.

[0066] When in the attitude control mode, the flight control computer outputs an instruction of 0 torque to control the actuating module to be powered off, at this time, the throttle control stick is a no-rod-force rocker, and only the damper provides a damping action, and the damping force linearly changes with the control speed of the throttle control stick.

[0067] The adjustment method of the flight control device provided in the embodiment is applied to a flight control module, the flight control module is connected with an actuating module in the control device, the control device comprises, in sequence, a control stick, a rotating mechanism, the actuating module, and a damper connected with the rotating mechanism, and the method comprises the following steps: determining a corresponding actuating torque according to a current flight control mode; and controlling the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control stick through the rotating mechanism. In the foregoing manner, the actuating torque is determined according to the flight control mode, the actuating module is used to provide a control stick force for the control stick, the control stick can be flexibly adapted to different flight control modes, the type of the control stick can be switched to a centering rocker or a no-rod-force rocker through the actuating module and the damper, the flight control data is prevented from instantaneously changing due to the mismatch between the type of the control stick and the mode requirement, and the stability and safety of the aircraft are improved.

[0068] Reference Figure 3 , Figure 3Flowchart of the second embodiment of the adjusting method of the flight control device.

[0069] Based on the first embodiment, the flight control device further comprises a displacement sensor in the adjusting method of the flight control device.

[0070] The step S10 comprises:

[0071] Step S101: determining the displacement and torque curve corresponding to the first mode when the current flight control mode is the first mode.

[0072] It should be understood that the first mode is a flight control mode suitable for a centering rocker. Assuming that the control stick is a throttle control stick, the flight control mode comprises an attitude control mode, a constant height mode and a point hovering mode, and the first mode is the constant height mode or the point hovering mode. The theoretical displacement and torque curves in different flight control modes are stored in advance. In the displacement and torque curve, the torque corresponding to the midpoint of the control stick displacement stroke is 0, and the torque of the highest and lowest limit positions is the largest.

[0073] Step S102: obtaining the current control stick displacement fed back by the displacement sensor, and determining the actuating torque corresponding to the current control stick displacement according to the displacement and torque curve.

[0074] It should be noted that the displacement sensor is integrated in the actuating module. When the pilot pulls the control stick, the control stick will rotate around the rotating mechanism, drive the rotating module to rotate, generate a rotating displacement, and the displacement sensor detects the change in the control stick displacement, sends the current control stick displacement to the flight control module, and the flight control module queries the actuating torque corresponding to the current control stick displacement according to the displacement and torque curve corresponding to the first mode. The actuating module outputs the actuating torque to continuously provide a linear control stick force characteristic, and at the same time, the control stick will drive the damper to stretch or compress axially, and the damper movement generates a damping force to provide a suitable damping force feeling for the pilot, and the damping force increases linearly with the increase of the control speed.

[0075] Further, in order to avoid the instantaneous mutation of the flight control data when the mode is switched, the adjusting method of the flight control device further comprises: obtaining the current displacement fed back by the displacement sensor when the current flight control mode is switched from the second mode to the first mode; controlling the actuating module to power on according to the first mode switching information; and controlling the actuating module to drive the control stick to move from the current displacement to the neutral position according to the displacement and torque curve corresponding to the first mode.

[0076] It should be understood that the second mode is a flight control mode suitable for a no-rod-force rocker. Assuming that the control lever is a throttle control lever, the flight control mode includes an attitude control mode, a constant height mode, and a point hovering mode, and the second mode is the attitude control mode. When the attitude control mode is switched to the constant height mode or the point hovering mode, the flight control module sends a mode switching instruction, a throttle lever displacement, and a control force to the driving module, the driving module drives the actuator module to be powered on, instantaneously moves to the neutral position of the throttle lever, and outputs the control force in real time according to the current displacement. By the above-mentioned mode, the flight control data of the aircraft is prevented from instantaneously changing, and the stability and safety of the aircraft are improved.

[0077] It should be noted that the first mode switching information is a mode switching instruction generated when the second mode is switched to the first mode, the actuator module is controlled to be powered on according to the mode switching instruction, and the actuation torque output by the actuator module in real time is controlled according to the displacement and torque curve, so that the control lever is driven to move from the current displacement at the time of switching to the neutral position of the control lever displacement stroke.

[0078] In the embodiment, when the current flight control mode is the first mode, the displacement and torque curve corresponding to the first mode is determined, the current control lever displacement fed back by the displacement sensor is obtained, and the actuation torque corresponding to the current control lever displacement is determined according to the displacement and torque curve. By the above-mentioned mode, the flight control module controls the actuator module to output different actuation torques according to different displacements, provides appropriate lever force characteristics, actively controls the movement of the control lever in the first mode, realizes the type switching of the control lever to a return-to-center rocker, and makes the control lever adapt to the flight control mode of the first mode.

[0079] Reference Figure 4 , Figure 4 The flowchart of the adjusting method of the flight control device is shown in the third embodiment of the adjusting method of the flight control device.

[0080] Based on the first embodiment, in the adjusting method of the flight control device, the step S10 includes the following steps.

[0081] In the step S103, when the current flight control mode is the second mode, the corresponding actuation torque is a preset value.

[0082] It should be understood that the second mode is a flight control mode suitable for a no-rod-force rocker. Assuming that the control lever is a throttle control lever, the flight control mode includes an attitude control mode, a constant height mode, and a point hovering mode, and the second mode is the attitude control mode. The preset value can be 0, and can also be other single marker values for representing power-off, for example, the preset value is 10000, it is agreed in advance that the actuation torque corresponding to the second mode is 10000, and the value 10000 is used to represent the control of the actuator module to be powered off.

[0083] The step S20 includes the following steps.

[0084] Step S201: controlling the actuation module to be powered off according to the preset actuation torque.

[0085] It should be noted that when in the attitude control mode, the flight control module outputs an instruction of a preset torque, and the driving module controls the actuation module to be powered off after receiving the instruction. At this time, the control stick is a stickless force stick, and only the damper provides damping action, and the damping force linearly changes with the operating speed of the throttle lever.

[0086] Further, in order to avoid the instantaneous mutation of the flight control data when the mode is switched, the adjusting method of the flight control device further comprises: when the current flight control mode is switched from the first mode to the second mode, solving the corresponding control displacement of the control device according to the control law of the second mode; controlling the actuation module to drive the control stick to move to the control displacement; and controlling the actuation module to be powered off according to the second mode switching information.

[0087] It should be understood that the first mode is a flight control mode suitable for a centered stick. Assuming that the control stick is a throttle control stick, the flight control mode includes an attitude control mode, a constant height mode and a constant point hovering mode, and the first mode is the constant height mode or the constant point hovering mode. When the flight control mode is switched from the constant height mode or the constant point hovering mode to the attitude control mode, the flight control module records the motor speed of the propeller at the current time, the control law describes the functional relationship between the controlled state variable and the system input signal, the motor speed of the propeller corresponding to the throttle lever control displacement is inversely solved according to the control law of the attitude control mode, the flight control module sends the mode switching instruction and the throttle lever control displacement to the driving module, the actuation module is controlled to drive the control stick to instantaneously move to the corresponding control displacement, the second mode switching information is the mode switching instruction generated when the first mode is switched to the second mode, the actuation module is controlled to be powered off according to the mode switching instruction, and the type of the control stick is switched to a stickless force stick. The transition process proposed in this embodiment eliminates the sudden change of the propeller speed and the tension caused by the sudden change of the rod amount of the throttle control stick, maintains the height stability of the aircraft, helps to reduce the height drop accident, and improves the stability and safety of the aircraft.

[0088] In the embodiment, when the current flight control mode is the second mode, the corresponding actuation torque is determined to be a preset value, and the actuation module is controlled to be powered off according to the preset actuation torque. In the second mode, the actuation module is controlled to be powered off, the type of the control stick is switched to a stickless force stick, and the control stick can adapt to the flight control mode of the second mode.

[0089] Referring to Figure 5 , Figure 5 is a structural block diagram of the adjusting system of the first embodiment of the flight control device.

[0090] As Figure 5 shown, the adjusting system of the flight control device provided by the embodiment of the present application comprises:

[0091] a flight control module 10 for implementing the adjusting method of the flight control device as described above, and a control device 20.

[0092] The control device 20 comprises a control lever, a rotating mechanism, an actuating module 30 connected in sequence, and a damper connected with the rotating mechanism, and the flight control module 10 is connected with the actuating module 30.

[0093] The flight control module 10 is configured to determine a corresponding actuating torque according to a current flight control mode, and control the actuating module 30 according to the actuating torque, so that the actuating module 30 adjusts the position of the control lever through the rotating mechanism.

[0094] It should be understood that the above is only an example, and does not constitute any limitation on the technical solutions of the present application. In specific applications, those skilled in the art can set it up according to the needs, and the present application does not limit it.

[0095] In the embodiment, the flight control module determines a corresponding actuating torque according to a current flight control mode, and controls the actuating module according to the actuating torque, so that the actuating module adjusts the position of the control lever through the rotating mechanism. In the above manner, the actuating torque is determined according to the flight control mode, and the actuating module is used to provide a control lever force for the control lever, so that the control lever can be flexibly adapted to different flight control modes. The type switching of the control lever can be controlled by the actuating module and the damper to be a centering rocker or a rocker without lever force, avoiding the instantaneous mutation of the flight control data caused by the mismatch between the type of the control lever and the mode requirement, and improving the stability and safety of the aircraft.

[0096] It should be noted that the above-described workflow is only illustrative and does not limit the scope of protection of the present application. In actual application, those skilled in the art can select part or all of them to achieve the purpose of the embodiment scheme according to actual needs, which is not limited here.

[0097] In addition, technical details not described in detail in the embodiment can be referred to the adjusting method of the flight control device provided by any embodiment of the present application, which will not be described here.

[0098] Referring to Figure 6 , Figure 6 is a structural schematic diagram of the first embodiment of the control device of the present application.

[0099] As Figure 6As shown, the operating device according to the embodiment of the present application is applied to the adjusting system of the flight operating device as described above, and the operating device comprises:

[0100] The operating lever 1 has a connecting end 2 and an operating end 3.

[0101] The rotating mechanism 4 comprises a mechanism support 5, a joint bearing 6 arranged on the mechanism support 5, and a mounting portion 7 arranged in the joint bearing 6, wherein the mounting portion 7 is fixedly connected with the connecting end 2 of the operating lever 1, and the mechanism support 5 is fixed on the aircraft body.

[0102] The actuating module 8 is drivingly connected with the mounting portion 7.

[0103] The damper 9 is drivingly connected with the mounting portion 7.

[0104] It should be understood that the pilot can hold the operating end 3 and pull the operating lever 1, at this time, the operating lever 1 rotates around the joint bearing 6, drives the rotating of the actuating module 8, generates the rotating displacement, the displacement sensor integrated in the actuating module 8 detects the operating displacement change, and sends the current operating lever displacement to the flight control module. At the same time, the operating lever 1 drives the damper 9 to generate axial stretching or compression, the damper 9 movement generates damping force, and the damping force provides the pilot with suitable damping force feeling, and the damping force linearly increases with the increase of the operating speed. After the flight control module receives the operating lever displacement, the corresponding actuating torque is determined according to the current flight control mode, the actuating module 8 is controlled to output the actuating torque, and the pilot is provided with suitable lever force characteristics.

[0105] It should be understood that the actuating module 8 is used for controlling the operating lever 1 to generate the active displacement, and the damper 9 is used for providing the resistance of the rotating movement of the operating lever 1. In one implementation manner, the flight control module controls the actuating module 8 to output the actuating torque, overcomes the movement resistance provided by the damper 9, drives the operating lever 1 to rotate through the rotating of the mounting portion 7, can realize the rotation to the neutral position of the operating lever displacement stroke, and makes the type of the operating lever 1 switch to the centering rocker; in another implementation manner, the actuating torque is 0, the actuating module 8 does not output the torque, the operating lever 1 keeps the position unchanged under the damping effect of the damper 9, and makes the type of the operating lever 1 switch to the lever force-free rocker.

[0106] Optionally, the actuating module 8 comprises a torque motor, and an output main shaft of the torque motor is drivingly connected with the mounting portion 7.

[0107] In the specific implementation, the actuating module 8 can be a torque motor, a hydraulic actuator or a pneumatic cylinder actuator and the like, which can make the operating lever 1 generate the active displacement, so as to control the type of the operating lever 1 to switch to the centering rocker or the lever force-free rocker through the actuating module 8 and the damper 9.

[0108] Optionally, the control device further includes a damper mounting bracket 10 and a mounting rod 11, wherein the damper mounting bracket 10 is fixed to the aircraft fuselage;

[0109] The damper 9 includes a first damping part and a first fixing part that are slidably installed, and the first fixing part is fixedly connected to the damper mounting support 10.

[0110] One end of the mounting rod 11 is hinged to the first damping part, and the other end is hinged to the mounting part 7.

[0111] It should be noted that, referring to Figure 6 In the control device of this embodiment, the damper 9 is fixed to the aircraft fuselage by the damper mounting bracket 10, and the mounting rod 11 forms a lever between the first damping part and the mounting part 7. When the control stick 1 rotates, the damper 9 is axially stretched or compressed, thereby providing motion resistance to the control stick 1.

[0112] Reference Figure 7 , Figure 7 This is a schematic diagram of the structure of a second embodiment of the operating device of the present invention. Figure 7 As shown, the damper 9 in this embodiment includes a second damping part and a second fixing part that are rotatably mounted relative to each other. The second damping part is driven to be connected to the mounting part 7, and the second fixing part is fixedly connected to the mechanism support 5.

[0113] It should be understood that, with reference Figure 7 In this embodiment, the damper 9 may be a circular damper. The second fixing part of the damper 9 is fixed to the mechanism support 5. The circular damper and the torque motor are mounted on the spherical bearing. The second damping part of the circular damper is coaxially connected to the output main shaft of the torque motor.

[0114] In another implementation, the second damping part of the circular damper is coaxially connected to the output main shaft of the torque motor and fixedly connected to the mechanism support 5. The control lever 1 is directly connected to the fixed part of the torque motor, and the fixed part of the torque motor is fixedly connected to the second fixed part of the circular damper.

[0115] In this embodiment, the actuation module of the control device causes the joystick to actively displace based on the actuation torque provided by the flight control mode. A damper is set to provide resistance to the rotational movement of the joystick. The actuation module and the damper control the joystick type to switch between a return joystick and a joystick without a lever force, so that the joystick can flexibly adapt to different flight control modes. This avoids instantaneous changes in flight control data caused by mismatch between the joystick type and mode requirements, and improves the stability and safety of the aircraft.

[0116] It should be noted that the above-described workflow is merely illustrative and does not limit the scope of protection of the present application. In actual applications, a person skilled in the art can select part or all of the above-described workflow to achieve the purpose of the embodiment according to actual needs, which is not limited herein.

[0117] In addition, technical details not described in detail in the embodiment can be found in the adjustment method of the flight control device provided by any embodiment of the present application, which will not be described here.

[0118] In addition, it should be noted that in this document, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or system that includes the element.

[0119] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0120] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application 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 a read-only memory (ROM) / RAM, a magnetic disk, an optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0121] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A method for adjusting a flight control device, characterized in that, The adjustment method of the flight control device is applied to the flight control module, which is connected to the actuation module in the control device. The control device includes: a joystick, a rotation mechanism, an actuation module connected in sequence, and a damper connected to the rotation mechanism. The method for adjusting the flight control device includes: Determine the corresponding operating torque based on the current flight control mode; The actuation module is controlled according to the actuation torque so that the actuation module adjusts the position of the joystick through the rotation mechanism; The method for adjusting the flight control device further includes: When the current flight control mode is switched from the first mode to the second mode, the control displacement corresponding to the control device is solved according to the control law of the second mode; The actuation module is controlled to move the joystick to the controlled displacement. The actuation module is powered off according to the second mode switching information.

2. The method for adjusting the flight control device as described in claim 1, characterized in that, The control device also includes a displacement sensor, and the flight control module is connected to the displacement sensor. The determination of the corresponding actuator torque based on the current flight control mode includes: When the current flight control mode is the first mode, determine the displacement and torque curves corresponding to the first mode; The current joystick displacement fed back by the displacement sensor is obtained, and the actuation torque corresponding to the current joystick displacement is determined according to the displacement-torque curve.

3. The method for adjusting the flight control device as described in claim 2, characterized in that, The method for adjusting the flight control device further includes: When the current flight control mode switches from the second mode to the first mode, the current displacement fed back by the displacement sensor is obtained; The actuation module is powered on according to the first mode switching information; Based on the displacement and torque curve corresponding to the first mode, the actuation module is controlled to move the joystick from the current displacement to the neutral position.

4. The method for adjusting the flight control device as described in claim 1, characterized in that, The determination of the corresponding actuator torque based on the current flight control mode includes: When the current flight control mode is the second mode, the corresponding actuator torque is determined to be a preset value; The control of the actuation module based on the actuation torque includes: The actuation module is powered off according to the preset torque value.

5. An adjustment system for a flight control device, characterized in that, The flight control device adjustment system includes: a flight control module and a control device, wherein the flight control module is used to implement the flight control device adjustment method as described in any one of claims 1 to 4; The control device includes: a joystick, a rotating mechanism, an actuation module connected in sequence, and a damper connected to the rotating mechanism; the flight control module is connected to the actuation module. The flight control module is used to determine the corresponding actuation torque according to the current flight control mode, and control the actuation module according to the actuation torque so that the actuation module adjusts the position of the joystick through the rotation mechanism.

6. A control device, characterized in that, The control device is applied to the adjustment system of the flight control device as described in claim 5, the control device comprising: A joystick, having a connecting end and an operating end; A rotating mechanism includes a mechanism support, a joint bearing disposed on the mechanism support, and a mounting part disposed within the joint bearing. The mounting part is fixedly connected to the connecting end of the control stick, and the mechanism support is fixed to the fuselage of the aircraft. The actuation module is driven to connect with the mounting part; and, The damper is driven to connect with the mounting part.

7. The operating device as claimed in claim 6, characterized in that, The actuation module includes a torque motor, and the output spindle of the torque motor is drivenly connected to the mounting part.

8. The operating device as claimed in claim 6, characterized in that, The control device also includes a damper mounting bracket and a mounting rod, wherein the damper mounting bracket is fixed to the aircraft fuselage; The damper includes a first damping part and a first fixing part that are slidably installed, and the first fixing part is fixedly connected to the damper mounting support; One end of the mounting rod is hinged to the first damping part, and the other end is hinged to the mounting part.

9. The operating device as claimed in claim 6, characterized in that, The damper includes a second damping part and a second fixing part that are rotatably mounted relative to each other. The second damping part is drivenly connected to the mounting part, and the second fixing part is fixedly connected to the mechanism support.

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