An EVTOL flight control system

Abstract

The application discloses an EVTOL flight control system, introduces external flight environment parameters, matches flight route task instructions with the external flight environment parameters, obtains flight route task instructions that will not conflict with the external flight environment, and detects state performance parameters of the EVTOL aircraft through a state performance detection module; the state performance parameters are matched with requirements of the flight route task instructions by using a flight protection module, so that the flight route task instructions will not exceed the state performance limitations of the EVTOL aircraft itself; then, the running conditions of the EVTOL aircraft in the real-time running process of the EVTOL aircraft are solved through a flight mode switching module and a real-time flight guiding module, the flight route task instructions can be efficiently and accurately optimized according to the actual running environment, the state performance of the EVTOL aircraft and sudden conditions, and then the running process of the EVTOL aircraft is monitored and controlled, so that the safety and reliability of the EVTOL aircraft in the complex urban environment are greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of EVTOL aircraft flight control, specifically relating to an EVTOL flight control system. Background Technology

[0002] EVTOL aircraft, or electric vertical takeoff and landing aircraft, are receiving increasing attention due to their energy-saving and environmentally friendly characteristics, high efficiency and low energy consumption, near-zero emissions, very low noise and vibration levels, good passenger comfort, ease of operation and use, and good economy.

[0003] Compared to large aircraft, large helicopters, and small drones, EVTOL aircraft are characterized by their need to carry passengers over complex urban terrain, thus imposing extremely stringent safety and reliability requirements. Existing flight control systems for large aircraft, helicopters, and small drones cannot meet the flight control requirements of EVTOL aircraft. While there are avionics and flight control systems developed specifically for EVTOL aircraft, such as the avionics system for electric vertical takeoff and landing aircraft disclosed in patent application CN202210669394.4, which manages the flight process of EVTOL aircraft through a dedicated flight control system, this patent application can only control the EVTOL aircraft according to a pre-set flight path plan. It does not further consider the potential conflicts between the flight path plan and the actual operating environment, unforeseen circumstances, or the EVTOL aircraft's own performance characteristics during actual flight. However, in actual operation, due to the complex urban airspace environment, frequent emergencies, and high performance requirements of the EVTOL aircraft itself, the aforementioned patent application cannot solve the technical problem of how to efficiently and reasonably control the normal operation of the EVTOL aircraft when there is a conflict between the flight route plan set by the flight control system and the actual operation process.

[0004] Therefore, this invention addresses the problem that existing EVTOL flight control systems cannot efficiently and flexibly match flight route plans and tasks with the EVTOL's own performance, operating environment, and unforeseen circumstances in situations such as complex urban airspace, frequent emergencies, and high performance requirements of the EVTOL itself. The invention discloses an EVTOL flight control system. Summary of the Invention

[0005] The purpose of this invention is to provide an EVTOL flight control system that can efficiently and accurately match flight route plans and tasks with the EVTOL aircraft's own state performance, operating environment, and unforeseen circumstances in the face of complex urban airspace environments, frequent emergencies, and high requirements for the EVTOL aircraft's own state performance, enabling the EVTOL aircraft to operate normally and safely in urban airspace environments.

[0006] This invention is achieved through the following technical solution: An EVTOL flight control system includes two redundant and heterogeneous main flight control computers and two redundant and heterogeneous auxiliary flight control computers. It also includes a flight mission module, a status performance monitoring module, a flight mode switching module, a real-time flight guidance module, a flight protection module, and a control law matching module, all connected to the main and auxiliary flight control computers. The flight mission module generates flight route plans and performs virtual demonstrations of these plans to obtain flight route instructions that do not conflict with the flight environment. The status performance monitoring module detects the status performance parameters of the EVTOL aircraft. The flight protection module... The system calculates whether the state performance parameters of the EVTOL aircraft meet the requirements of the flight route mission instructions and optimizes the flight route mission instructions. The flight mode switching module switches the EVTOL aircraft to the corresponding flight mode according to the flight mode requirements in the flight route mission instructions. The real-time flight guidance module collects the real-time flight parameters and external environment data of the EVTOL aircraft and generates real-time guidance instructions based on the real-time flight parameters and external environment data. The control law matching module comprehensively calculates the real-time guidance instructions and the flight route mission instructions to generate control law instructions, and controls the servo system and power system of the EVTOL aircraft in real time through the control law instructions.

[0007] To better realize the present invention, the flight mission module further includes a flight plan management module and a flight command processing module. The flight command processing module is used to input flight route mission commands to the flight plan management module. The flight plan management module selects and sets the flight parameters and flight environment terrain data of the EVTOL aircraft from the flight plan database. The flight plan management module generates a virtual flight scenario based on the flight environment terrain data, and performs a virtual flight demonstration of the EVTOL aircraft in the virtual flight scenario based on the flight parameters and flight route mission commands to determine whether the EVTOL aircraft will conflict with the virtual flight scenario when flying with the current flight parameters and flight route mission commands. The flight command processing module optimizes the flight route mission commands that conflict with the virtual flight scenario and sends the optimized flight route mission commands to the flight mode switching module and the control law matching module.

[0008] To better realize the present invention, the flight mission module further includes a flight phase management module connected to the flight plan management module, the flight mode switching module, and the real-time flight guidance module. The flight phase management module calculates the flight route mission instructions generated by the flight plan management module and the mode switching instructions generated by the flight mode switching module to determine whether the EVTOL aircraft is in the takeoff phase, flight phase, or landing phase, and sends the corresponding phase data to the real-time flight guidance module. The real-time flight guidance module provides phased guidance according to the phase in which the EVTOL aircraft is located.

[0009] To better realize the present invention, the flight mission module further includes a notification and warning module, which notifies and warns of abnormal commands input by the flight command processing module and abnormal flight status of the EVTOL aircraft.

[0010] To better realize the present invention, the status performance detection module further includes a status detection module and a performance calculation module. The status detection module is used to detect the status data of the EVTOL aircraft and transmit the status data to the flight protection module. The flight protection module determines whether the EVTOL aircraft is in a normal state based on the status data. When the EVTOL aircraft is in a normal state, the performance calculation module calculates the performance parameters of the EVTOL aircraft and determines whether the performance of the EVTOL aircraft matches the flight route mission instructions, flight mode, and real-time guidance instructions.

[0011] To better realize the present invention, the real-time flight guidance module further includes a terrain-following module, an obstacle avoidance module, and a guidance module. The terrain-following module selects and sets the flight environment terrain-following data of the EVTOL aircraft from the flight plan database and sends the flight environment terrain-following data to the flight mode switching module and the flight plan management module. The obstacle avoidance module collects the external environment data of the EVTOL aircraft and generates obstacle avoidance commands based on the external environment data. The guidance module calculates based on the flight environment terrain-following data, state performance parameters, and obstacle avoidance commands to obtain real-time guidance commands.

[0012] To better realize the present invention, the control law matching module further includes an attitude control law module, a velocity control law module, a position control law module, an altitude control law module, an angular rate control law module, a throttle thrust control law module, and a control law allocation module. The velocity control law module is used to generate velocity control commands, the position control law module is used to generate position control commands, the altitude control law module is used to generate altitude control commands, the attitude control law module generates attitude control commands based on the altitude control commands and position control commands, the angular rate control law module generates angular rate control commands based on the attitude control commands, the throttle thrust control law module generates throttle thrust control commands based on the velocity control commands, position control commands, and altitude control commands, and the control law allocation module controls the servo system of the EVTOL aircraft based on the angular rate control commands, and controls the power system of the EVTOL aircraft based on the throttle thrust control commands.

[0013] To better realize the present invention, the control law matching module further includes an overload limiting module, which is used to detect the real-time load of the EVTOL aircraft and optimize the attitude control command according to the real-time load.

[0014] To better realize the present invention, the flight mode switching module further includes a ground mode switching module, an autonomous flight mode switching module, and a manual control mode switching module. The ground mode switching module is used to switch the EVTOL aircraft to ground mode and control the avionics system of the EVTOL aircraft to work, but controls the servo system and power system of the EVTOL aircraft to shut down. The autonomous flight mode switching module is used to switch the EVTOL aircraft to automatic flight mode and control the EVTOL aircraft to fly automatically according to the control law command. The manual control mode switching module is used to switch the EVTOL aircraft to manual operation mode, so that the EVTOL aircraft is connected to the ground command and control station, and the EVTOL aircraft is controlled by manual input of commands through the ground command and control station.

[0015] To better realize the present invention, a safety locking module is further included, which is used to unlock and start the avionics system, servo system, and power system of the EVTOL aircraft during the startup process; and to lock and shut down the avionics system, servo system, and power system of the EVTOL aircraft when the aircraft is stopped.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: Compared to existing EVTOL aircraft flight control systems, this invention introduces external flight environment parameters through a flight mission module, matches and virtually demonstrates flight route mission commands with these parameters, and thus obtains flight route mission commands that do not conflict with the external flight environment. Furthermore, a status performance detection module detects the EVTOL aircraft's status performance parameters, and a flight protection module matches these parameters with the requirements of the flight route mission commands, ensuring that the commands do not exceed the EVTOL aircraft's inherent status performance limitations. Then, a flight mode switching module and a real-time flight guidance module track and calculate the EVTOL aircraft's operational status during real-time operation. This allows for efficient and accurate adjustment and optimization of flight route mission commands based on the actual operating environment, the EVTOL aircraft's inherent status performance, and unforeseen circumstances. This enables safe, reliable, flexible, and efficient monitoring and control of the EVTOL aircraft's operation in complex urban environments with numerous unforeseen events and high status performance requirements, significantly improving the safety and reliability of EVTOL aircraft operation in complex urban environments. Attached Figure Description

[0017] Figure 1 A schematic diagram of the EVTOL flight control system. Figure 2 This is a schematic diagram of the specific architecture of the EVTOL flight control system. Detailed Implementation

[0018] Example 1: An EVTOL flight control system, such as Figure 1 and Figure 2As shown, the system includes two redundant and heterogeneous main flight control computers and two redundant and heterogeneous auxiliary flight control computers. It also includes a flight mission module, a status performance monitoring module, a flight mode switching module, a real-time flight guidance module, a flight protection module, and a control law matching module connected to the main and auxiliary flight control computers. The flight mission module generates flight route plans and performs virtual demonstrations of these plans to obtain flight route instructions that do not conflict with the flight environment. The status performance monitoring module detects the status performance parameters of the EVTOL aircraft. The flight protection module calculates the EVTO... The system checks whether the state performance parameters of the EVTOL aircraft meet the requirements of the flight route mission instructions and optimizes the flight route mission instructions; the flight mode switching module switches the EVTOL aircraft to the corresponding flight mode according to the flight mode requirements in the flight route mission instructions; the real-time flight guidance module collects the real-time flight parameters and external environment data of the EVTOL aircraft and generates real-time guidance instructions based on the real-time flight parameters and external environment data; the control law matching module comprehensively calculates the real-time guidance instructions and flight route mission instructions to generate control law instructions, and controls the servo system and power system of the EVTOL aircraft in real time through the control law instructions.

[0019] Two primary flight control computers and two secondary flight control computers form a backup-type dual heterogeneous redundant monitoring architecture to monitor and control the EVTOL aircraft's flight data, flight control, status monitoring, and emergency handling. Even if one primary flight control computer fails, the EVTOL aircraft can still be controlled through the other primary or secondary flight control computers. Both the primary and secondary flight control computers have reserved control interfaces, and additional UM and AM interfaces have been added to provide management interfaces with airports or control towers.

[0020] Before the EVTOL aircraft takes off, staff use the flight mission module to select and set the EVTOL aircraft's flight parameters and environmental terrain data from the flight plan database on the main or auxiliary flight control computer. Flight parameters include the EVTOL aircraft's flight position, altitude, speed, and flight path. Simultaneously, the flight mission module creates a virtual flight scenario for the EVTOL aircraft based on the 3D virtual map stored in the flight plan database and the environmental terrain data. Within this virtual scenario, the flight parameters and mission are virtually demonstrated. The results of this virtual demonstration allow staff to determine whether the EVTOL aircraft will conflict with the external environment or whether the preset parameters are abnormal. If any abnormal parameters or conflicts with the external environment are found, the flight mission module sends an alarm and error message to the main or auxiliary flight control computer, indicating that it cannot generate the corresponding flight path and mission instructions. At this point, staff can manually modify flight parameters and terrain simulation data using the flight mission module, or automatically modify these parameters and data to obtain flight route mission instructions that do not conflict with the external environment. If multiple flight route mission instructions that do not conflict with the external environment exist simultaneously, the flight mission module will push the optimal one, and staff can also manually select from multiple instructions.

[0021] The status performance monitoring module collects and monitors the status performance parameters of the EVTOL aircraft, such as the aerodynamic performance of the avionics system, the upper limit of the power system, and the response speed of the servo system. The main flight control computer or auxiliary flight control computer controls the flight protection module to compare the status performance parameters with the flight route mission commands to determine whether the current performance status of the EVTOL aircraft can meet the requirements of the flight route mission commands. If it can, the current flight route mission commands are executed; if not, the flight protection module optimizes the flight route mission commands based on the difference between the status performance parameters and the requirements of the flight route mission commands. For example, if the flight speed required by the flight route mission commands is greater than the flight speed that the EVTOL aircraft's power system can provide, the flight protection module reduces the flight speed requirement in the flight route mission commands to match the status performance of the EVTOL aircraft.

[0022] The flight mode switching module extracts the mode command data from the flight route mission instructions and switches the EVTOL aircraft to the corresponding flight mode according to the mode command data. It also controls the servo system and power system of the EVTOL aircraft according to the corresponding flight route mission instructions in different modes.

[0023] During the operation of the EVTOL aircraft, namely during takeoff, cruise, and landing, the real-time flight guidance module collects real-time flight parameters and external environmental data of the EVTOL aircraft. The real-time flight parameters include the flight speed, flight altitude, and flight angular velocity of the EVTOL aircraft during operation, while the external environmental data includes the relative positional relationship parameters between the EVTOL aircraft and the external environment, as well as the relative positional parameters between EVTOL aircraft and other EVTOL aircraft. The real-time flight guidance module determines the EVTOL aircraft's real-time flight status and flight path based on real-time flight parameters and external environmental data. It checks for discrepancies between the EVTOL aircraft's real-time flight status and the flight path as specified in the flight path mission instructions. If there are no discrepancies, the EVTOL aircraft can fly normally in real-time according to the flight path mission instructions. If discrepancies exist, it indicates that the EVTOL aircraft has encountered an emergency and cannot fly normally in real-time according to the flight path mission instructions. Examples include obstacles appearing in the flight path while the EVTOL aircraft is flying according to the flight path mission instructions, or abnormal performance during flight. In these situations, the real-time flight guidance module will automatically guide the EVTOL aircraft or connect to the ground control station via data link to remotely transmit commands. The ground control station will then manually guide the EVTOL aircraft, providing real-time guidance and control for obstacle avoidance, emergency landing, emergency return, and route changes.

[0024] The control law matching module integrates and calculates real-time guidance commands and flight route mission commands to generate corresponding control law commands, which are then used to control the power system and servo system of the EVTOL aircraft.

[0025] Example 2: This embodiment is an improvement on the above embodiment 1. The flight mission module includes a flight plan management module and a flight command processing module. The flight command processing module is used to input flight route mission commands to the flight plan management module. The flight plan management module selects and sets the flight parameters and flight environment terrain data of the EVTOL aircraft from the flight plan database. The flight plan management module generates a virtual flight scenario based on the flight environment terrain data, and performs a virtual flight demonstration of the EVTOL aircraft in the virtual flight scenario according to the flight parameters and flight route mission commands to determine whether the EVTOL aircraft will conflict with the virtual flight scenario when flying with the current flight parameters and flight route mission commands. The flight command processing module optimizes the flight route mission commands that conflict with the virtual flight scenario and sends the optimized flight route mission commands to the flight mode switching module and the control law matching module.

[0026] The flight command processing module connects to the ground control station via a data link, and flight route mission commands are input through this module. The flight plan management module generates a virtual flight scenario based on terrain simulation data of the flight environment. Within this virtual scenario, the EVTOL aircraft performs a virtual flight demonstration based on flight parameters and flight route mission commands, and the demonstration video is sent to the main flight control computer, auxiliary flight control computer, and the display terminals of the ground control station for real-time display. The flight command processing module optimizes flight route mission commands that conflict with the virtual flight scenario, prompting staff to modify the conflicting commands and displaying error messages for conflicting parts of the flight route mission commands, enabling staff to quickly and effectively modify and optimize the flight route mission commands.

[0027] Furthermore, the flight mission module also includes a flight phase management module connected to the flight plan management module, the flight mode switching module, and the real-time flight guidance module. The flight phase management module calculates the flight route mission instructions generated by the flight plan management module and the mode switching instructions generated by the flight mode switching module to determine whether the EVTOL aircraft is in different phases such as takeoff, flight, landing, and hovering, and sends the corresponding phase data to the real-time flight guidance module. The real-time flight guidance module provides phased guidance according to the phase in which the EVTOL aircraft is located.

[0028] Furthermore, the flight mission module also includes a notification and warning module, which issues notifications and warnings for abnormal commands input by the flight command processing module and abnormal flight status of the EVTOL aircraft.

[0029] The other parts of this embodiment are the same as those in Embodiment 1, so they will not be described again.

[0030] Example 3: This embodiment is an improvement on the above embodiment 1 or 2. The status performance detection module includes a status detection module and a performance calculation module. The status detection module is used to detect the status data of the EVTOL aircraft and transmit the status data to the flight protection module. The flight protection module determines whether the EVTOL aircraft is in a normal state based on the status data. When the EVTOL aircraft is in a normal state, the performance calculation module calculates the performance parameters of the EVTOL aircraft and determines whether the performance of the EVTOL aircraft matches the flight route mission instructions, flight mode, and real-time guidance instructions.

[0031] When the EVTOL aircraft is powered on, the status detection module performs a self-test on its navigation, avionics, servo, propulsion, and power systems to determine if the EVTOL is in an abnormal state. If the status detection module detects that the EVTOL's systems have not started normally or have abnormal conditions after starting, it issues a warning. At this time, the primary or secondary flight control computer prohibits the EVTOL from operating and immediately shuts down any abnormal systems. If the status detection module detects that all the EVTOL's systems are normal, the performance calculation module calculates the EVTOL's performance parameters and determines whether the EVTOL's performance matches the flight route mission commands, flight mode, and real-time guidance commands. For example, the performance calculation module calculates whether the EVTOL's power module has enough charge to meet the flight time or distance requirements of the flight route mission commands, and whether the propulsion system can provide enough thrust to meet the flight speed requirements of the flight route mission commands.

[0032] If the performance calculation module determines that the EVTOL aircraft's performance matches the flight route mission instructions, flight mode, and real-time guidance instructions, then the flight route mission instructions will be executed normally, the set flight mode will be switched, and the real-time guidance instructions will be executed normally. If the performance calculation module determines that the EVTOL aircraft's performance does not match the flight route mission instructions, flight mode, and real-time guidance instructions, then an early warning will be issued to remind the staff of the performance mismatch, so that the staff can modify the flight route mission instructions, flight mode, and real-time guidance instructions in a timely manner to avoid the situation where the EVTOL aircraft's performance does not match the flight mission.

[0033] The other parts of this embodiment are the same as those in Embodiment 1 or 2 above, so they will not be described again.

[0034] Example 4: This embodiment is an improvement on any one of the embodiments 1-3 above. The real-time flight guidance module includes a terrain-following module, an obstacle avoidance module, and a guidance module. The terrain-following module selects and sets the flight environment terrain-following data of the EVTOL aircraft from the flight plan database and sends the flight environment terrain-following data to the flight mode switching module and the flight plan management module. The obstacle avoidance module collects the external environment data of the EVTOL aircraft and generates obstacle avoidance commands based on the external environment data. The guidance module calculates based on the flight environment terrain-following data, state performance parameters, and obstacle avoidance commands to obtain real-time guidance commands.

[0035] The terrain simulation module extracts three-dimensional terrain data of the external environment from the flight plan database. The staff then uses the terrain simulation module to select and set the flight environment terrain simulation data of the EVTOL aircraft relative to the three-dimensional terrain data from the flight plan database, enabling the EVTOL aircraft to perform terrain simulation flight relative to the external environment based on the flight environment terrain simulation data.

[0036] During the operation of the EVTOL aircraft, the obstacle avoidance module extracts external environmental data collected in real time from the EVTOL aircraft's built-in vision system and radar system, such as real-time images of the external environment captured by the vision system, the real-time position of the EVTOL aircraft detected by the radar system, and its relative position with respect to the external environment or other aircraft. Then, it calculates and determines whether the EVTOL aircraft will conflict with the external environment or other aircraft when it runs according to the current flight path mission instructions. If a conflict occurs, the obstacle avoidance module generates obstacle avoidance instructions in real time.

[0037] The guidance module calculates real-time guidance commands based on the real-time flight environment terrain data, status performance parameters, and obstacle avoidance commands during the operation of the EVTOL aircraft. Through the real-time guidance commands, the EVTOL aircraft is controlled in real-time to perform obstacle avoidance, emergency landing, and emergency return, enabling the EVTOL aircraft to handle emergency situations effectively.

[0038] The other parts of this embodiment are the same as any one of the embodiments 1-3 above, so they will not be described again.

[0039] Example 5: This embodiment is an improvement upon any one of embodiments 1-4 above. The control law matching module includes an attitude control law module, a velocity control law module, a position control law module, an altitude control law module, an angular rate control law module, a throttle thrust control law module, and a control law allocation module. The velocity control law module generates velocity control commands, the position control law module generates position control commands, the altitude control law module generates altitude control commands, the attitude control law module generates attitude control commands based on the altitude and position control commands, the angular rate control law module generates angular rate control commands based on the attitude control commands, the throttle thrust control law module generates throttle thrust control commands based on the velocity, position, and altitude control commands, and the control law allocation module controls the servo system of the EVTOL aircraft based on the angular rate control commands and controls the power system of the EVTOL aircraft based on the throttle thrust control commands.

[0040] Furthermore, the control law matching module also includes an overload limiting module, which is used to detect the real-time load of the EVTOL aircraft and optimize the attitude control commands based on the real-time load.

[0041] The other parts of this embodiment are the same as any one of the embodiments 1-4 above, so they will not be described again.

[0042] Example 6: This embodiment is an improvement on any one of embodiments 1-5 above. The flight mode switching module includes a ground mode switching module, an autonomous flight mode switching module, and a manual control mode switching module. The ground mode switching module is used to switch the EVTOL aircraft to ground mode and control the avionics system of the EVTOL aircraft to work, but controls the servo system and power system of the EVTOL aircraft to shut down. The autonomous flight mode switching module is used to switch the EVTOL aircraft to automatic flight mode and control the EVTOL aircraft to fly automatically according to the control law command. The manual control mode switching module is used to switch the EVTOL aircraft to manual operation mode, so that the EVTOL aircraft is connected to the ground command and control station, and the EVTOL aircraft is controlled by manual input of commands through the ground command and control station.

[0043] The flight mode switching module can also control the EVTOL aircraft to take off with a single click based on the flight route mission commands generated by the flight mission module, allowing the EVTOL aircraft to take off and reach a preset altitude with a single click. The flight mode switching module can also control the EVTOL aircraft to land with a single click based on the flight route mission commands generated by the flight mission module, allowing the EVTOL aircraft to land at a preset location with a single click. Furthermore, the flight mode switching module can control the EVTOL aircraft to perform stationary flight, altitude-hold flight, and speed-hold flight based on the flight route mission commands generated by the flight mission module.

[0044] The other parts of this embodiment are the same as any one of the embodiments 1-5 above, so they will not be described again.

[0045] Example 7: This embodiment is an improvement on any one of the embodiments 1-6 above, and also includes a safety locking module. The safety locking module is used to unlock and start the avionics system, servo system and power system of the EVTOL aircraft during the startup process; the safety locking module is used to lock and shut down the avionics system, servo system and power system of the EVTOL aircraft when the EVTOL aircraft is stopped.

[0046] Before takeoff, the EVTOL aircraft must use a safety lock module to unlock its avionics, servo, and propulsion systems with a single key press. This ensures that each system is functioning normally, especially the propulsion and servo mechanisms, preventing human error that could lead to flight safety accidents. After landing, the EVTOL aircraft must use the safety lock module to lock all its systems with a single key press, ensuring that all systems are no longer operational, particularly the propulsion and servo mechanisms, to prevent human error that could lead to flight safety accidents.

[0047] The other parts of this embodiment are the same as any one of the embodiments 1-6 above, so they will not be described again.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An EVTOL flight control system, comprising two redundant and heterogeneously configured main flight control computers and two redundant and heterogeneously configured auxiliary flight control computers, characterized in that, It also includes a flight mission module, a status performance detection module, a flight mode switching module, a real-time flight guidance module, a flight protection module, and a control law matching module connected to the main flight control computer and auxiliary flight control computers. The flight mission module generates flight route plans and performs virtual demonstrations of these plans to obtain flight route mission instructions. The status performance detection module detects the status performance parameters of the EVTOL aircraft. The flight protection module determines whether the EVTOL aircraft's status performance parameters meet the requirements of the flight route mission instructions. The flight mode switching module switches the EVTOL aircraft to the corresponding flight mode according to the flight mode requirements in the flight route mission instructions. The real-time flight guidance module collects the EVTOL aircraft's real-time flight parameters and external environmental data, and generates real-time guidance instructions based on these parameters. The control law matching module comprehensively calculates the real-time guidance instructions and the flight route mission instructions to generate... The system uses control law commands to control the servo and power systems of the EVTOL aircraft in real time. The flight mission module includes a flight plan management module and a flight command processing module. The flight command processing module inputs flight route mission commands to the flight plan management module. The flight plan management module selects and sets the flight parameters and flight environment terrain data of the EVTOL aircraft from the flight plan database. The flight plan management module generates a virtual flight scenario based on the flight environment terrain data and performs a virtual flight demonstration of the EVTOL aircraft in the virtual flight scenario based on the flight parameters and flight route mission commands to determine whether the EVTOL aircraft will conflict with the virtual flight scenario when flying with the current flight parameters and flight route mission commands. The flight command processing module optimizes the flight route mission commands that conflict with the virtual flight scenario and sends the optimized flight route mission commands to the flight mode switching module and the control law matching module. The status performance detection module includes a status detection module and a performance calculation module. The status detection module is used to detect the status data of the EVTOL aircraft and transmit the status data to the flight protection module. The flight protection module determines whether the EVTOL aircraft is in a normal state based on the status data. When the EVTOL aircraft is in a normal state, the performance calculation module calculates the performance parameters of the EVTOL aircraft and determines whether the performance of the EVTOL aircraft matches the flight route mission instructions, flight mode, and real-time guidance instructions.

2. The EVTOL flight control system according to claim 1, characterized in that, The flight mission module also includes a flight phase management module connected to the flight plan management module, the flight mode switching module, and the real-time flight guidance module. The flight phase management module calculates the flight route mission instructions generated by the flight plan management module and the mode switching instructions generated by the flight mode switching module to determine whether the EVTOL aircraft is in the takeoff phase, flight phase, or landing phase, and sends the corresponding phase data to the real-time flight guidance module. The real-time flight guidance module provides phased guidance based on the phase in which the EVTOL aircraft is located.

3. The EVTOL flight control system according to claim 2, characterized in that, The flight mission module also includes a notification and warning module, which issues notifications and warnings for abnormal commands input by the flight command processing module and abnormal flight status of the EVTOL aircraft.

4. An EVTOL flight control system according to any one of claims 1-3, characterized in that, The real-time flight guidance module includes a terrain-following module, an obstacle avoidance module, and a guidance module. The terrain-following module selects and sets the flight environment terrain-following data of the EVTOL aircraft from the flight plan database and sends the flight environment terrain-following data to the flight mode switching module and the flight plan management module. The obstacle avoidance module collects the external environment data of the EVTOL aircraft and generates obstacle avoidance commands based on the external environment data. The guidance module calculates based on the flight environment terrain-following data, state performance parameters, and obstacle avoidance commands to obtain real-time guidance commands.

5. An EVTOL flight control system according to any one of claims 1-3, characterized in that, The control law matching module includes an attitude control law module, a velocity control law module, a position control law module, an altitude control law module, an angular rate control law module, a throttle thrust control law module, and a control law allocation module. The velocity control law module generates velocity control commands, the position control law module generates position control commands, the altitude control law module generates altitude control commands, the attitude control law module generates attitude control commands based on the altitude and position control commands, and the angular rate control law module generates angular rate control commands based on the attitude control commands. The throttle thrust control law module generates throttle thrust control commands based on the velocity, position, and altitude control commands. The control law allocation module controls the servo system of the EVTOL aircraft based on the angular rate control commands and controls the propulsion system of the EVTOL aircraft based on the throttle thrust control commands.

6. The EVTOL flight control system according to claim 5, characterized in that, The control law matching module also includes an overload limiting module, which is used to detect the real-time load of the EVTOL aircraft and optimize attitude control commands based on the real-time load.

7. An EVTOL flight control system according to any one of claims 1-3, characterized in that, The flight mode switching module includes a ground mode switching module, an autonomous flight mode switching module, and a manual control mode switching module. The ground mode switching module is used to switch the EVTOL aircraft to ground mode and control the avionics system of the EVTOL aircraft to operate, but controls the servo system and power system of the EVTOL aircraft to shut down. The autonomous flight mode switching module is used to switch the EVTOL aircraft to automatic flight mode and control the EVTOL aircraft to fly automatically according to the control law commands. The manual control mode switching module is used to switch the EVTOL aircraft to manual operation mode, so that the EVTOL aircraft can be connected to the ground command and control station and controlled by manual input commands from the ground command and control station.

8. An EVTOL flight control system according to any one of claims 1-3, characterized in that, It also includes a safety locking module, which is used to unlock and start the avionics system, servo system, and power system of the EVTOL aircraft during the startup process; and to lock and shut down the avionics system, servo system, and power system of the EVTOL aircraft when the aircraft is shut down.

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