Parallel steering engine control method and device, electronic equipment and storage medium

Abstract

The application provides a parallel control method and device of a rudder, electronic equipment and a storage medium, and relates to the technical field of aviation. The method comprises the following steps: obtaining flight state information of a flight simulation device; judging whether a parallel rudder in a flight control system of the flight simulation device is counter-driven based on the flight state information; generating a counter-drive instruction based on a counter-drive control signal in the case of counter-driving of the parallel rudder; and controlling the parallel rudder to act in the same direction based on the counter-drive instruction. Through the flight state information of the flight simulation device, it is judged whether the parallel rudder in the flight control system is directly counter-driven, so that the parallel rudder counter-driving is advanced, the process of counter-driving the parallel rudder after the authority saturation of the serial rudder is saved, the adjustment time of the whole control process is reduced, the generated instruction does not exist positive and negative frequent jump, the repeated swing of the operating motor simulating the parallel rudder function in the flight simulation device is avoided, and the rapidity and stability of the parallel rudder counter-driving control of the flight simulation device are improved.

Description

Technical Field

[0001] This invention relates to the field of aviation technology, and in particular to a parallel servo control method, device, electronic equipment, and storage medium. Background Technology

[0002] In helicopter flight simulation equipment, the rudder circuit, as the execution mechanism of the flight control system commands, is a crucial component of the entire control loop. Its simulation fidelity directly determines the control effect of the flight control system. The rudder circuit includes parallel servo circuits and series servo circuits. From a safety perspective, the control authority of series servos is generally restricted, resulting in excessively low control authority. To compensate for this, a reverse drive command is issued to the parallel servo, causing the control stick to move. This automatically returns the series servo to a neutral position, thus releasing its control authority.

[0003] When performing software simulations such as Simulink, the circuit of a parallel servo motor can be equivalently represented by an integral plus inertial element. In a physical simulation environment like a flight simulator, the function of the parallel servo motor is simulated by a control motor, and the reverse drive simulation of the parallel servo motor is achieved by controlling the reverse drive of the control motor. Specifically, the flight control system calculates the reverse drive command based on the reverse drive control signal, and then controls the control motor to actuate at a preset fixed rate via a driver.

[0004] However, due to communication delays or response delays of the control motors, as well as defects in the calculation method of the reverse drive command, the generated reverse drive command has frequent positive and negative jumps, causing the control motors to swing repeatedly, resulting in poor stability in the parallel servo reverse drive control process of the flight simulator. Summary of the Invention

[0005] This invention provides a parallel servo control method, device, electronic equipment, and storage medium to solve the problem of poor stability in the parallel servo reverse drive control process of flight simulators.

[0006] This invention provides a parallel servo motor control method, comprising:

[0007] Obtain flight status information from the flight simulator;

[0008] Based on the flight status information, determine whether the parallel servo motor in the flight control system of the flight simulation equipment is in reverse drive mode;

[0009] In the case of the parallel servo motor reverse drive, a reverse drive command is generated based on the reverse drive control signal;

[0010] Based on the anti-drive command, the parallel servo motors are controlled to move in the same direction.

[0011] According to a parallel servo control method provided by the present invention, the step of determining whether the parallel servo in the flight control system of the flight simulation equipment is in reverse drive based on the flight state information includes:

[0012] Based on the flight status information and control target information, determine the error value between the flight status information and the control target information;

[0013] If the error value is greater than a first preset threshold, the parallel servo motor in the flight control system of the flight simulation equipment is determined to be reverse-drive.

[0014] If the error value is not greater than the first preset threshold, it is determined that the parallel servo motor in the flight control system of the flight simulation equipment does not reverse drive.

[0015] According to a parallel servo motor control method provided by the present invention, the step of generating anti-drive commands based on anti-drive control signals includes:

[0016] The anti-drive command is generated based on the anti-drive control signal and the enabled state of the parallel servo motor.

[0017] According to a parallel servo control method provided by the present invention, the step of generating the anti-drive command based on the anti-drive control signal and the enable state of the parallel servo includes:

[0018] When the parallel servo motor is enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module; the relay module is used to control the positive and negative transitions of the reverse drive command.

[0019] The sign of the relay signal and the anti-drive control signal are multiplied together to obtain the anti-drive command.

[0020] According to a parallel servo control method provided by the present invention, the step of inputting the absolute value of the reverse drive control signal to a relay module to obtain a relay signal output by the relay module includes:

[0021] The absolute value of the reverse drive control signal is input to the relay module, and the relay module compares the absolute value of the reverse drive control signal with the relay module opening threshold and the relay module closing threshold, respectively.

[0022] When the absolute value of the reverse drive control signal is greater than the relay module opening threshold, the relay signal output by the relay module is 1;

[0023] When the absolute value of the reverse drive control signal is less than the relay module shutdown threshold, the relay signal output by the relay module is 0;

[0024] When the absolute value of the reverse drive control signal is less than the relay module opening threshold and the absolute value of the reverse drive control signal is greater than the relay module closing threshold, the relay signal output by the relay module remains unchanged.

[0025] According to a parallel servo motor control method provided by the present invention, the method further includes:

[0026] The reverse drive rate of the parallel servo motor is adjusted based on the distance between the actual actuation position and the target actuation position.

[0027] According to a parallel servo control method provided by the present invention, adjusting the counter-drive rate of the parallel servo's unidirectional actuation based on the distance between the actual actuation position and the target actuation position of the parallel servo includes:

[0028] If the distance between the actuation position of the parallel servo motor in the same direction and the target actuation position is greater than a second preset threshold, the reverse drive speed of the parallel servo motor in the same direction is increased, so that the parallel servo motor quickly approaches the target actuation position.

[0029] If the distance between the actuation position of the parallel servo motor and the target actuation position is not greater than the second preset threshold, the reverse drive rate of the parallel servo motor actuating in the same direction is reduced, so that the parallel servo motor smoothly approaches the target actuation position.

[0030] The present invention also provides a parallel servo control device, comprising:

[0031] The acquisition module is used to acquire flight status information of the flight simulation equipment;

[0032] The judgment module is used to determine, based on the flight status information, whether the parallel servo motor in the flight control system of the flight simulation equipment is in reverse drive mode;

[0033] The generation module is used to generate anti-drive commands based on the anti-drive control signal in the case of anti-drive of the parallel servo motor;

[0034] The control module is used to control the parallel servo motors to operate in the same direction based on the anti-drive command.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parallel servo control method as described above.

[0036] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the parallel servo control method as described above.

[0037] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the parallel servo control method as described above.

[0038] The parallel servo control method, device, electronic device, and storage medium provided by this invention acquire flight status information of a flight simulator; based on the flight status information, determine whether the parallel servos in the flight control system of the flight simulator are in reverse drive; if the parallel servos are in reverse drive, generate a reverse drive command based on the reverse drive control signal; and control the parallel servos to move in the same direction based on the reverse drive command. By using the flight status information of the flight simulator to determine whether the parallel servos in the flight control system of the flight simulator are directly in reverse drive, the reverse drive of the parallel servos can be initiated in advance, eliminating the process of reversing the parallel servos after the servo's authority is saturated, reducing the adjustment time of the control process. Moreover, the generated command does not have frequent positive and negative jumps, avoiding repeated oscillations of the control motors simulating the parallel servo function in the flight simulator, thus improving the speed and stability of the parallel servo reverse drive control of the flight simulator. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of a parallel servo motor reverse drive provided by existing technology.

[0041] Figure 2 This is one of the flowcharts of the parallel servo control method provided by the present invention.

[0042] Figure 3 This is a schematic diagram of the parallel servo motor reverse drive provided by the present invention.

[0043] Figure 4 This is a schematic diagram of the anti-drive command calculation process provided by the present invention.

[0044] Figure 5 This is a comparative diagram showing the anti-drive command before and after optimization provided by this invention.

[0045] Figure 6 This is the second flowchart of the parallel servo motor control method provided by the present invention.

[0046] Figure 7 This is a schematic diagram of the parallel servo control device provided by the present invention.

[0047] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] To facilitate a clearer understanding of the various embodiments of this application, the relevant knowledge will be introduced as follows.

[0050] In helicopter flight simulation equipment, the rudder loop, as the execution mechanism of the flight control system commands, is a crucial component of the entire control loop, and its simulation fidelity directly determines the control effect of the flight control system. Helicopter rudder loops are mostly nonlinear systems; from a simulation perspective, they must be linearized to obtain a suitable equivalent linearized model.

[0051] I. Definition of parallel servo motors.

[0052] Parallel servos, also known as trim servos, are installed in parallel within the control stick system. Their main function is to provide manual force feedback for the controller and to provide an anchor point for the tandem servos. Furthermore, parallel servos receive counter-drive commands from the automatic flight control system, moving the control stick system to achieve automatic trim.

[0053] II. The meaning of tandem servo motors.

[0054] Tandem servos, also known as control servos, are installed in series at the rear end of the control stick system. The main function of tandem servos is to execute control commands from the automatic flight control system, ensuring the stability and maneuverability of the helicopter.

[0055] III. Parallel servo motor reverse drive.

[0056] From a safety perspective, the control authority of tandem servos is generally limited, with their actuation travel accounting for approximately 5% to 10% of the total actuation travel of the control stick system. This means that relying solely on tandem servos cannot achieve all the control objectives of the automatic flight control system. The purpose of parallel servo reverse drive is to compensate for the limited control authority of tandem servos. By issuing a reverse drive command to the parallel servo, the control stick system is moved, causing the tandem servo to automatically return to the neutral position, thereby releasing the control authority of the tandem servo and allowing it to continue executing the commands of the automatic flight control system.

[0057] Figure 1 This is a schematic diagram of a parallel servo motor reverse drive provided by existing technology, such as... Figure 1 As shown, the information collected by the sensor is input into the automatic flight control system. The automatic flight control system generates a control command for the tandem servo and sends the control command to the tandem servo circuit. The tandem servo circuit executes the control command, causing the tandem servo to generate an actuation stroke. The calculation of the reverse drive command typically uses the actuation stroke of the tandem servo as input to determine whether the parallel servo should reverse drive. Specifically, if the actuation stroke of the tandem servo is less than a threshold, the parallel servo does not reverse drive; if the actuation stroke of the tandem servo exceeds the threshold, the parallel servo reverses drive, generating a corresponding reverse drive command for the parallel servo. This command is sent to the parallel servo circuit, causing the parallel servo to actuate in the same direction based on the reverse drive command. This same-direction actuation causes a change in the actuation amount of the parallel servo. Simultaneously, based on this change in the actuation amount of the parallel servo, a zero-return command is generated for the tandem servo, slowly returning its actuation amount to zero, thus restoring the tandem servo to its neutral position. In other words, the same-direction reverse drive actuation of the parallel servo compensates for the actuation amount loss of the tandem servo caused by the slow zero-return. Furthermore, the actuation amounts generated by the parallel and tandem servos are superimposed, thereby causing changes in cyclic pitch or tail rotor pitch, altering the helicopter's flight state.

[0058] IV. Simulation Method of Parallel Servo

[0059] When performing software simulations such as Simulink, the parallel servo circuit can be equivalently represented by an integral plus inertial element. In a physical simulation environment like a flight simulator, the function of the parallel servo is simulated by the control motor, and the reverse drive of the parallel servo is simulated by controlling the motor in reverse. The flight control system calculates the reverse drive command based on the reverse drive control signal, and controls the control motor to actuate at a preset fixed rate via the driver.

[0060] However, in previous project practices, the reverse drive command value was fixed at 1, 0, or -1. When the reverse drive command was 1, the control motor actuated in the positive direction at a fixed reverse drive rate; when it was -1, the control motor actuated in the negative direction at a fixed reverse drive rate; and when it was 0, the parallel servo motor did not actuate. Because the reverse drive rate could not be adjusted, the flight simulation equipment exhibited oscillations around the target value of the controlled object. Moreover, due to objective factors such as communication delays and the response delay characteristics of the control motor hardware, coupled with defects in the calculation method of the reverse drive command, the generated reverse drive command exhibited frequent jumps between positive and negative values, leading to repeated oscillations of the control motor and failing to achieve a good stable control effect.

[0061] The following is combined with Figures 2-6 The parallel servo control method of the present invention is described.

[0062] Figure 2This is one of the flowcharts illustrating the parallel servo control method provided by the present invention, such as... Figure 2 As shown, the method includes the following steps 201-204.

[0063] Step 201: Obtain the flight status information of the flight simulator.

[0064] It should be noted that the parallel servo control method provided by the present invention can be applied to the scenario of parallel servo control in the flight control system of flight simulation equipment, such as parallel servo control in the flight control system of a helicopter. The execution subject of the method can be a parallel servo control device, such as an electronic device, or a control module in the parallel servo control device for executing the parallel servo control method.

[0065] Specifically, the flight simulator has multiple sensors that can acquire flight status information of the flight simulator. The flight status information may include the attitude or heading of the flight simulator, and may also include the angular velocity, acceleration, altitude and speed of the flight simulator.

[0066] Step 202: Based on the flight status information, determine whether the parallel servo motor in the flight control system of the flight simulation equipment is in reverse drive mode.

[0067] Specifically, based on flight status information, it is possible to directly determine whether the parallel servo motors in the flight control system of the flight simulator are in reverse drive mode, without needing to determine whether the parallel servo motors are in reverse drive mode based on the actuation stroke of the serial servo motors in the flight control system of the flight simulator, thus enabling the parallel servo motors to reverse drive mode earlier.

[0068] Step 203: In the case of the parallel servo motor reverse drive, generate a reverse drive command based on the reverse drive control signal.

[0069] Specifically, in the case of parallel servo motor reverse drive, a reverse drive command can be generated based on the reverse drive control signal. The reverse drive control signal is generated by the flight control system when determining whether the parallel servo motor is in reverse drive mode.

[0070] Step 204: Based on the anti-drive command, control the parallel servo motors to operate in the same direction.

[0071] Specifically, based on the reverse drive command, the parallel servo motors can be controlled to operate in the same direction. Then, based on the change in the actuation amount of the parallel servo motors, the actuation amount of the series servo motors is slowly returned to zero, so that the series servo motors return to the neutral position and the control authority of the series servo motors is released.

[0072] The parallel servo control method provided by this invention acquires flight status information of a flight simulator; based on the flight status information, it determines whether the parallel servos in the flight control system of the flight simulator are in reverse drive; if the parallel servos are in reverse drive, it generates a reverse drive command based on the reverse drive control signal; and based on the reverse drive command, it controls the parallel servos to actuate in the same direction. By using the flight status information of the flight simulator to determine whether the parallel servos in the flight control system of the flight simulator are directly in reverse drive, the reverse drive of the parallel servos can be initiated in advance, eliminating the process of reversing the parallel servos after the servo's authority is saturated, reducing the adjustment time of the entire control process. Moreover, the generated command does not have frequent positive and negative jumps, avoiding repeated oscillations of the control motors simulating the parallel servo function in the flight simulator, thus improving the speed and stability of the reverse drive control of the parallel servos in the flight simulator.

[0073] Optionally, the specific implementation of step 202 above includes:

[0074] Based on the flight status information and control target information, an error value between the flight status information and the control target information is determined; if the error value is greater than a first preset threshold, the parallel servo motors in the flight control system of the flight simulation equipment are determined to be reverse-driven; if the error value is not greater than the first preset threshold, the parallel servo motors in the flight control system of the flight simulation equipment are determined not to be reverse-driven.

[0075] Specifically, the control target information refers to the target value for controlling the flight state of the flight simulator, such as the target attitude (i.e., reference attitude) or target heading (i.e., reference heading). Error calculations are performed on the flight state information and the control target information to determine the error value between them, and it is then determined whether the error value exceeds a first preset threshold. If the error value exceeds the first preset threshold, it can be determined that the parallel servos in the flight control system of the flight simulator are in reverse drive mode; if the error value is not greater than the first preset threshold, it can be determined that the parallel servos in the flight control system of the flight simulator are not in reverse drive mode.

[0076] Figure 3 This is a schematic diagram of the parallel servo motor reverse drive provided by the present invention, as shown below. Figure 3As shown, flight status information collected by sensors is acquired and input into the automatic flight control system. The automatic flight control system generates control commands for the tandem servo and sends these commands to the tandem servo loop. The tandem servo loop executes the control commands, causing the tandem servo to actuate. Simultaneously, a comparator determines the error value between the flight status information and the control target information, and based on the error value, it determines whether the parallel servo should be in reverse drive. If the parallel servo is in reverse drive, a reverse drive command is generated based on the reverse drive control signal. The reverse drive command is sent to the parallel servo loop, causing the parallel servo to actuate in the same direction based on the reverse drive command. This same-direction actuation causes a change in the actuation amount of the parallel servo. Simultaneously, based on the change in the actuation amount of the parallel servo, a zero-return command is generated for the tandem servo, slowly returning the actuation amount of the tandem servo to zero, thus restoring the tandem servo to the neutral position. In other words, the same-direction reverse drive of the parallel servo compensates for the actuation amount loss of the tandem servo caused by the slow zero-return of the tandem servo. Furthermore, by combining the actuation force generated by the parallel servo motor with that generated by the tandem servo motor, the cyclic pitch or tail rotor pitch can be changed, thereby altering the helicopter's state.

[0077] In this application, compared to previous methods that only use the travel of the tandem servo as the basis for determining the generation of the reverse drive command, the optimized reverse drive command generation method considers the situation where there is a significant difference between the target value of the control target information and the actual value of the actual flight status information. It directly reverse drives the parallel servo based on the error value between the target and actual values, avoiding situations where the tandem servo has insufficient authority. Taking reverse drive of the parallel servo in the heading channel as an example, when the heading reference (control target information) differs significantly from the current heading (flight status information), according to the previous method, the flight control system controls the tandem servo to actuate based on the heading error value. When the tandem servo has insufficient authority, the parallel servo is reverse-driven to release the authority, and then the tandem servo actuates further. However, the optimized reverse drive method takes the above situation into account, judges in advance whether the serial servo's authority can meet the control requirements, and directly drives the parallel servo to actuate when necessary, compensating for the serial servo's authority. This eliminates the process of reverse driving the parallel servo after the serial servo's authority is saturated, reducing the adjustment time of the entire control process. Moreover, the generated commands do not have frequent positive and negative jumps, avoiding repeated swinging of the control motor that simulates the parallel servo function in the flight simulator, and improving the speed and stability of the parallel servo reverse drive control of the flight simulator.

[0078] Optionally, the specific implementation of step 203 above includes:

[0079] The anti-drive command is generated based on the anti-drive control signal and the enabled state of the parallel servo motor.

[0080] Specifically, the enabling state of the parallel servo motor includes enabled or disabled. Enabled indicates that the parallel servo motor has anti-drive capability, while disabled indicates that the parallel servo motor does not have anti-drive capability. Based on the anti-drive control signal and the enabling state of the parallel servo motor, anti-drive commands can be further generated.

[0081] Optionally, generating the anti-drive command based on the anti-drive control signal and the enabled state of the parallel servo motor includes:

[0082] When the parallel servo motor is enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module; the relay module is used to control the positive and negative transitions of the reverse drive command; the sign of the relay signal and the reverse drive control signal are multiplied to obtain the reverse drive command.

[0083] Specifically, with the parallel servo motor enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module. The relay module controls the positive and negative transitions of the reverse drive command, i.e., reducing the transitions of the reverse drive command. The relay signal is either 1 or 0, and the sign of the reverse drive control signal is either 1 or -1. Multiplying the signs of the relay signal and the reverse drive control signal yields the reverse drive command; the reverse drive command has a value of 1, 0, or -1.

[0084] Optionally, the step of inputting the absolute value of the reverse drive control signal to the relay module to obtain the relay signal output by the relay module includes:

[0085] The absolute value of the reverse drive control signal is input to the relay module. The relay module compares the absolute value of the reverse drive control signal with a relay module opening threshold and a relay module closing threshold, respectively. If the absolute value of the reverse drive control signal is greater than the relay module opening threshold, the relay module outputs a relay signal of 1. If the absolute value of the reverse drive control signal is less than the relay module closing threshold, the relay module outputs a relay signal of 0. If the absolute value of the reverse drive control signal is less than the relay module opening threshold and greater than the relay module closing threshold, the relay module outputs a relay signal that remains unchanged.

[0086] Figure 4 This is a schematic diagram illustrating the anti-drive command calculation process provided by the present invention, as shown below. Figure 4As shown, the signal selector selects the reverse drive control signal when the reverse drive enable status of the parallel servo motor is enabled; it selects 0 when the reverse drive enable status is disabled. The sign-taking module signs the reverse drive control signal, which is either 1 or -1. The absolute value module obtains the absolute value of the reverse drive control signal; this absolute value is then input to the relay module to obtain the relay signal, which is either 1 or 0. The signs of the relay signal and the reverse drive control signal are input to the multiplier, which multiplies their signs to obtain the reverse drive command, which is either 1, 0, or -1.

[0087] In this application, a relay module is introduced during the calculation of anti-flight commands. By appropriately adjusting the thresholds for opening and closing the relay module, frequent command jumps caused by the sign-taking module are avoided. Taking the automatic flight control system of a certain type of helicopter as an example, since the coupler commands of this type of automatic flight system are executed by the three-axis autopilot, it cannot drive collective pitch to control altitude. When simulating its altitude-holding modal control, the control command generated based on the altitude deviation signal is output to the pitch axis parallel servo circuit. The parallel servo controls the helicopter's pitch attitude, thereby completing altitude control. According to the previous anti-flight command calculation method, when the helicopter altitude is close to the target altitude, the polarity jump of the anti-flight control signal may cause positive and negative jumps in the anti-flight command. However, by introducing a relay module in this application, the problem of positive and negative jumps in the anti-flight command caused by the sign-taking module is avoided, and the control process of the parallel servo is more stable.

[0088] Figure 5 This is a comparative diagram showing the anti-drive command optimization before and after the present invention, as shown in the figure. Figure 5 As shown, when the anti-drive command calculation method of this application is faced with fluctuations in the small neighborhood of zero of the anti-drive control signal, the positive and negative jumps of the anti-drive command will be significantly reduced compared with the positive and negative jumps of the anti-drive command calculated in the past. When the calculated anti-drive command is output to the parallel servo motor for anti-drive, the parallel servo motor has better response and more stable control effect.

[0089] Optionally, the reverse drive rate of the parallel servo motors actuating in the same direction is adjusted based on the distance between the actual actuation position and the target actuation position of the parallel servo motors.

[0090] Specifically, when the parallel servo motors actuate in the same direction based on the reverse drive command, the reverse drive rate of the parallel servo motors actuating in the same direction can be dynamically adjusted in real time based on the distance between the actual actuation position and the target actuation position of the parallel servo motors, so that the reverse drive control of the parallel servo motors can take into account both speed and stability.

[0091] Optionally, adjusting the counter-drive rate of the parallel servo motor's co-directional actuation based on the distance between the actual actuation position and the target actuation position includes:

[0092] If the distance between the actual operating position and the target operating position of the parallel servo motor is greater than a second preset threshold, the counter-drive speed of the parallel servo motor operating in the same direction is increased, so that the parallel servo motor quickly approaches the target operating position; if the distance between the actual operating position and the target operating position of the parallel servo motor is not greater than the second preset threshold, the counter-drive speed of the parallel servo motor operating in the same direction is decreased, so that the parallel servo motor smoothly approaches the target operating position.

[0093] It should be noted that in previous methods, when the host computer controlling the motor received the reverse drive command signal, it drove the motor to move in the same direction according to the polarity of the reverse drive command. The reverse drive rate of moving in the same direction could not be adjusted, which meant that determining the reverse drive rate depended on a lot of debugging and could not balance speed and stability.

[0094] In this application, when the distance between the actual actuation position and the target actuation position of the parallel servo motor is greater than a second preset threshold (i.e., the actuation position of the parallel servo motor in the same direction is far from the target actuation position), the counter-drive rate of the parallel servo motor in the same direction is increased, allowing the parallel servo motor to quickly approach the target actuation position. When the distance between the actual actuation position and the target actuation position of the parallel servo motor is not greater than the second preset threshold (i.e., the actuation position of the parallel servo motor in the same direction is close to the target actuation position), the counter-drive rate of the parallel servo motor in the same direction can be reduced, allowing the parallel servo motor to approach the target actuation position smoothly and preventing the parallel servo motor from oscillating around the target actuation position.

[0095] Figure 6 This is the second flowchart of the parallel servo control method provided by the present invention, as shown below. Figure 6 As shown, the method includes steps 601-612.

[0096] Step 601: Obtain the flight status information of the flight simulator.

[0097] Step 602: Based on the flight status information and control target information, determine the error value between the flight status information and the control target information.

[0098] Step 603: Determine whether the error value is greater than the first preset threshold. If the error value is greater than the first preset threshold, proceed to step 604; if the error value is not greater than the first preset threshold, proceed to step 605.

[0099] Step 604: Determine the parallel servo motor reverse drive in the flight control system of the flight simulator.

[0100] Step 605: Determine that the parallel servos in the flight control system of the flight simulator are not reverse driven.

[0101] Step 606: With the parallel servo motor enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module.

[0102] Step 607: Multiply the signs of the relay signal and the anti-drive control signal to obtain the anti-drive command.

[0103] Step 608: Based on the reverse drive command, control the parallel servo motors to operate in the same direction.

[0104] Step 609: Determine the distance between the actual actuation position and the target actuation position of the parallel servo motor.

[0105] Step 610: Determine whether the distance between the actual actuation position and the target actuation position of the parallel servo motor is greater than a second preset threshold. If the distance between the actual actuation position and the target actuation position of the parallel servo motor is greater than the second preset threshold, proceed to step 611; if the distance between the actual actuation position and the target actuation position of the parallel servo motor is not greater than a third preset threshold, proceed to step 612.

[0106] Step 611: Increase the reverse drive speed of the parallel servo motor in the same direction, so that the parallel servo motor can quickly approach the target actuation position.

[0107] Step 612: Reduce the reverse drive rate of the parallel servo motor's same-direction operation, so that the parallel servo motor smoothly approaches the target operation position.

[0108] The parallel servo control device provided by the present invention is described below. The parallel servo control device described below and the parallel servo control method described above can be referred to in correspondence.

[0109] Figure 7 This is a schematic diagram of the parallel servo control device provided by the present invention, as shown below. Figure 7 As shown, the parallel servo control device 700 includes: an acquisition module 701, a judgment module 702, a generation module 703, and a control module 704; wherein,

[0110] The acquisition module 701 is used to acquire flight status information of the flight simulation equipment;

[0111] The judgment module 702 is used to determine, based on the flight status information, whether the parallel servo motor in the flight control system of the flight simulation equipment is in reverse drive mode;

[0112] The generation module 703 is used to generate a reverse drive command based on the reverse drive control signal in the case of reverse drive of the parallel servo motor;

[0113] The control module 704 is used to control the parallel servo motors to operate in the same direction based on the anti-drive command.

[0114] The parallel servo control device provided by this invention acquires flight status information of a flight simulator; based on the flight status information, it determines whether the parallel servos in the flight control system of the flight simulator are in reverse drive; if the parallel servos are in reverse drive, it generates a reverse drive command based on the reverse drive control signal; and based on the reverse drive command, it controls the parallel servos to move in the same direction. By using the flight status information of the flight simulator to determine whether the parallel servos in the flight control system of the flight simulator are directly in reverse drive, the reverse drive of the parallel servos can be initiated in advance, eliminating the process of reversing the parallel servos after the servo's authority is saturated, reducing the adjustment time of the entire control process. Moreover, the generated command does not have frequent positive and negative jumps, avoiding repeated oscillations of the control motor simulating the parallel servo function in the flight simulator, thus improving the speed and stability of the reverse drive control of the parallel servos in the flight simulator.

[0115] Optionally, the determination module 702 is specifically used for:

[0116] Based on the flight status information and control target information, determine the error value between the flight status information and the control target information;

[0117] If the error value is greater than a first preset threshold, the parallel servo motor in the flight control system of the flight simulation equipment is determined to be reverse-drive.

[0118] If the error value is not greater than the first preset threshold, it is determined that the parallel servo motor in the flight control system of the flight simulation equipment does not reverse drive.

[0119] Optionally, the generation module 703 is specifically used for:

[0120] The anti-drive command is generated based on the anti-drive control signal and the enabled state of the parallel servo motor.

[0121] Optionally, the generation module 703 is further configured to:

[0122] When the parallel servo motor is enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module; the relay module is used to control the positive and negative transitions of the reverse drive command.

[0123] The sign of the relay signal and the anti-drive control signal are multiplied together to obtain the anti-drive command.

[0124] Optionally, the generation module 703 is further configured to:

[0125] The absolute value of the reverse drive control signal is input to the relay module, and the relay module compares the absolute value of the reverse drive control signal with the relay module opening threshold and the relay module closing threshold, respectively.

[0126] When the absolute value of the reverse drive control signal is greater than the relay module opening threshold, the relay signal output by the relay module is 1;

[0127] When the absolute value of the reverse drive control signal is less than the relay module shutdown threshold, the relay signal output by the relay module is 0;

[0128] When the absolute value of the reverse drive control signal is less than the relay module opening threshold and the absolute value of the reverse drive control signal is greater than the relay module closing threshold, the relay signal output by the relay module remains unchanged.

[0129] Optionally, the parallel servo control device 700 further includes:

[0130] The adjustment module is used to adjust the reverse drive rate of the parallel servo motor based on the distance between the actual actuation position and the target actuation position of the parallel servo motor.

[0131] Optionally, the adjustment module is specifically used for:

[0132] If the distance between the actual actuation position and the target actuation position of the parallel servo motor is greater than the second preset threshold, the reverse drive rate of the parallel servo motor actuating in the same direction is increased, so that the parallel servo motor quickly approaches the target actuation position.

[0133] If the distance between the actual operating position and the target operating position of the parallel servo motor is not greater than the third preset threshold, the reverse drive rate of the parallel servo motor operating in the same direction is reduced, so that the parallel servo motor smoothly approaches the target operating position.

[0134] Figure 8 This is a schematic diagram of the physical structure of an electronic device provided by the present invention, such as... Figure 8As shown, the electronic device 800 may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840. The processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a parallel servo control method. This method includes: acquiring flight status information of the flight simulator; determining, based on the flight status information, whether the parallel servos in the flight control system of the flight simulator are in reverse drive; if the parallel servos are in reverse drive, generating a reverse drive command based on a reverse drive control signal; and controlling the parallel servos to move in the same direction based on the reverse drive command.

[0135] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0136] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the parallel servo control method provided by the above methods. The method includes: acquiring flight status information of a flight simulator; determining, based on the flight status information, whether the parallel servo in the flight control system of the flight simulator is in reverse drive; generating a reverse drive command based on a reverse drive control signal when the parallel servo is in reverse drive; and controlling the parallel servo to move in the same direction based on the reverse drive command.

[0137] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the parallel servo control method provided by the above methods. The method includes: acquiring flight status information of a flight simulator; determining, based on the flight status information, whether the parallel servo in the flight control system of the flight simulator is in reverse drive; in the case of reverse drive of the parallel servo, generating a reverse drive command based on a reverse drive control signal; and controlling the parallel servo to move in the same direction based on the reverse drive command.

[0138] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parallel servo motor control method, characterized in that, include: Obtain flight status information from the flight simulator; Based on the flight status information and control target information, determine the error value between the flight status information and the control target information; If the error value is greater than a first preset threshold, the parallel servo motor in the flight control system of the flight simulation equipment is determined to be reverse-drive. If the error value is not greater than the first preset threshold, it is determined that the parallel servo motor in the flight control system of the flight simulation equipment does not reverse drive; When the parallel servo motor is in reverse drive mode and the parallel servo motor is enabled, the absolute value of the reverse drive control signal is input to the relay module to obtain the relay signal output by the relay module; the relay module is used to control the positive and negative transitions of the reverse drive command. The sign of the relay signal and the anti-drive control signal are multiplied together to obtain the anti-drive command; Based on the anti-drive command, the parallel servo motors are controlled to operate in the same direction.

2. The parallel servo control method according to claim 1, characterized in that, The step of inputting the absolute value of the reverse drive control signal to the relay module to obtain the relay signal output by the relay module includes: The absolute value of the reverse drive control signal is input to the relay module, and the relay module compares the absolute value of the reverse drive control signal with the relay module opening threshold and the relay module closing threshold, respectively. When the absolute value of the reverse drive control signal is greater than the relay module opening threshold, the relay signal output by the relay module is 1; When the absolute value of the reverse drive control signal is less than the relay module shutdown threshold, the relay signal output by the relay module is 0; When the absolute value of the reverse drive control signal is less than the relay module opening threshold and the absolute value of the reverse drive control signal is greater than the relay module closing threshold, the relay signal output by the relay module remains unchanged.

3. The parallel servo control method according to claim 1 or 2, characterized in that, The method further includes: The reverse drive rate of the parallel servo motor is adjusted based on the distance between the actual actuation position and the target actuation position.

4. The parallel servo control method according to claim 3, characterized in that, The step of adjusting the reverse drive speed of the parallel servo motor based on the distance between the actual actuation position and the target actuation position includes: If the distance between the actual actuation position and the target actuation position of the parallel servo motor is greater than the second preset threshold, the reverse drive speed of the parallel servo motor is increased, so that the parallel servo motor quickly approaches the target actuation position. If the distance between the actuation position of the parallel servo motor and the target actuation position is not greater than the second preset threshold, the reverse drive speed of the parallel servo motor is reduced so that the parallel servo motor smoothly approaches the target actuation position.

5. A parallel servo control device for implementing the parallel servo control method according to any one of claims 1-4, characterized in that, include: The acquisition module is used to acquire flight status information of the flight simulation equipment; The judgment module is used to determine, based on the flight status information, whether the parallel servo motor in the flight control system of the flight simulation equipment is in reverse drive mode; The generation module is used to generate anti-drive commands based on the anti-drive control signal in the case of anti-drive of the parallel servo motor; The control module is used to control the operation of the parallel servo motor based on the anti-drive command.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the parallel servo control method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the parallel servo control method as described in any one of claims 1 to 4.

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