A propeller pitch control method and system for an aircraft

Abstract

The present invention discloses a propeller pitch control method and system for an aircraft, and relates to the field of aircraft. The method comprises: monitoring flight state parameters in real time through a sensor module on the aircraft, the parameters including the altitude, speed, acceleration and thrust demand of the aircraft; using a control algorithm to calculate the optimal pitch angle of the current flight stage according to the flight state parameters; transmitting the optimal pitch angle calculated by the controller to the propeller actuator; the propeller actuator adjusts the pitch angle according to the instructions of the controller; monitoring the actual pitch angle through a feedback system, and comparing it with the target pitch angle; adjusting the control strategy in real time according to the comparison result to ensure that the pitch angle of the propeller meets the requirements of the current flight conditions. The technical solution of the present invention can effectively improve the thrust output and flight stability of the aircraft in different flight stages.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a propeller pitch control method and system for an aircraft. Background Art

[0002] The propeller is a key component that provides thrust for an aircraft, and its performance directly affects the flight efficiency and stability of the aircraft. Traditional propellers are mostly fixed pitch. Although they have a simple structure, they are inefficient when facing different flight conditions and cannot achieve optimal performance in different stages such as takeoff, cruising, and landing. In order to improve the comprehensive flight performance of the aircraft, developing a control method that can adjust the pitch according to the flight state has become a research hotspot.

[0003] At present, some variable pitch propeller systems have been applied to UAVs and small aircraft, but they have problems such as insufficient control accuracy, slow response speed and poor stability. Therefore, there is an urgent need for a system and method that can efficiently and accurately control the propeller pitch to improve the flight performance and safety of the aircraft. Summary of the invention

[0004] The present invention provides a propeller pitch control method for an aircraft, comprising:

[0005] Real-time monitoring of flight status parameters through a sensor module on the aircraft, the parameters including the aircraft's altitude, speed, acceleration, and thrust requirements;

[0006] According to the flight state parameters, the control algorithm is used to calculate the optimal pitch angle for the current flight phase;

[0007] transmitting the optimal pitch angle calculated by the controller to the propeller actuator;

[0008] The propeller actuator adjusts the pitch angle according to the controller's instructions;

[0009] The actual pitch angle is monitored by a feedback system and compared with the target pitch angle;

[0010] The control strategy is adjusted in real time according to the comparison results to ensure that the propeller pitch angle meets the requirements of the current flight conditions.

[0011] In the above-mentioned propeller pitch control method for an aircraft, the sensor module includes an altitude sensor, a speed sensor, an accelerometer and a gyroscope, which are used to monitor the flight status of the aircraft in real time.

[0012] In the above-mentioned propeller pitch control method for an aircraft, the control algorithm is a PID control algorithm, and the control algorithm achieves precise control of the pitch angle by adjusting the proportional, integral and differential parameters in real time.

[0013] In the above-mentioned method for controlling the pitch change of a propeller of an aircraft, the propeller actuator is an electric drive device that can complete the pitch angle adjustment within milliseconds.

[0014] In the above-mentioned propeller pitch control method for an aircraft, the feedback system monitors the actual pitch angle of the propeller through a closed-loop control method, and adjusts the pitch control strategy according to the feedback.

[0015] In the above-mentioned method for controlling the pitch change of a propeller of an aircraft, the control algorithm adopts fuzzy logic control, and fuzzy inference is used to obtain the optimal pitch angle according to the flight state of the aircraft.

[0016] In the above-mentioned method for controlling the pitch change of a propeller of an aircraft, the control strategy is adaptively adjusted based on different flight conditions of the aircraft to adapt to different flight phases of the aircraft, such as take-off, cruising and landing.

[0017] The present invention also provides a propeller pitch control system for an aircraft, the system comprising:

[0018] Sensor module: used to collect the flight status data of the aircraft in real time;

[0019] Controller: used to calculate the optimal pitch angle based on flight status data and generate control instructions;

[0020] Propeller actuator: used to adjust the pitch angle of the propeller according to the control command;

[0021] Feedback module: used to monitor the actual pitch angle and feed it back to the controller to achieve closed-loop control.

[0022] The present invention also provides a computer storage medium, comprising: at least one memory and at least one processor;

[0023] The memory is used to store one or more program instructions;

[0024] The processor is used for running one or more program instructions to execute a propeller pitch control method for an aircraft.

[0025] The beneficial effects achieved by the present invention are as follows: through advanced control algorithms and high-speed actuators, the system can quickly adjust the pitch to cope with the rapidly changing needs of the aircraft; a closed-loop feedback control system is adopted to ensure accurate adjustment of the propeller pitch, effectively improving the flight stability and safety of the aircraft; by adjusting the propeller pitch in real time, the optimal thrust output can be achieved under different flight conditions, thereby improving the fuel economy or power efficiency of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0027] Figure 1 This is a flow chart of a propeller pitch control method for an aircraft provided in Example 1 of the present application;

[0028] Figure 2 It is a schematic diagram of a propeller pitch control system for an aircraft provided in Example 2 of the present application. DETAILED DESCRIPTION

[0029] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] like Figure 1 As shown, the first embodiment of the present application provides a propeller pitch control method for an aircraft, comprising:

[0032] Step S10: monitoring flight status parameters in real time through a sensor module on the aircraft, the parameters including the altitude, speed, acceleration and thrust requirement of the aircraft;

[0033] The flight status parameters are monitored in real time through the sensor modules on the aircraft. These sensors include altitude sensors, velocity sensors, acceleration sensors and thrust sensors, which can fully capture the dynamic information of the aircraft. Specific monitoring parameters include: altitude h(t), which uses the altitude sensor to obtain the height of the aircraft relative to the ground, reflecting its vertical flight status; velocity v(t), which uses the velocity sensor to measure the flight speed of the aircraft in the air and provide information on its horizontal motion; acceleration a(t), which uses the accelerometer to monitor the acceleration changes of the aircraft in different directions to help identify its attitude and motion status; thrust demand T(t), which uses the thrust sensor to monitor the current required thrust for subsequent control of the engine output. The real-time monitoring of these parameters forms a state vector X(t), which is defined as .

[0034] After obtaining the flight state parameters, establish the aircraft thrust F(t) and propeller pitch angle The relationship model between the propeller thrust F(t) and the flight state parameter X(t) is described by the following nonlinear equation: , where A, B, and C are constant coefficients related to aircraft characteristics and are determined by aircraft design parameters; is the time function of the propeller pitch angle, which represents the angle between the propeller blade and the horizontal plane; F(t) represents the propeller at the current pitch angle This model is used to describe the effect of pitch angle on thrust, especially the dynamic change of propeller thrust with pitch angle in complex flight conditions such as aircraft acceleration or deceleration, climbing or descending.

[0035] Step S20, using a control algorithm to calculate the optimal pitch angle for the current flight phase according to the flight state parameters;

[0036] In this step, the optimal pitch angle for the current flight phase is calculated based on the flight state parameters through the aircraft control algorithm to meet the aircraft's thrust requirements and optimize flight performance.

[0037] First, the flight state parameters X(t) are received from the sensor module, including the aircraft's altitude h(t), speed v(t), acceleration a(t), and thrust requirement T(t). Based on these flight state parameters, a cost function is constructed. , used to describe the balance between thrust error and pitch angle change rate, is defined as follows: ,in The propeller pitch angle The thrust generated; is the thrust requirement of the current aircraft; is a balance coefficient used to adjust the relationship between thrust error and pitch adjustment speed to avoid too fast or too slow adjustment affecting aircraft performance. , calculate the optimization direction of the pitch angle. First, calculate the partial derivative of the cost function with respect to the pitch angle: ,in, It is the derivative of thrust with respect to pitch angle, reflecting the effect of pitch angle change on thrust; It is the second-order derivative of the pitch angle change rate, indicating the change in pitch adjustment speed. According to the calculated partial derivative, the current pitch angle is updated. The specific optimization formula is: ,in, is the pitch angle at the previous moment, is the learning rate, which determines the size of each adjustment step. Through this optimization algorithm, the optimal pitch angle of the aircraft in the current flight phase is updated and calculated in real time. , ensuring that the aircraft thrust is precisely matched to flight requirements.

[0038] Step S30, transmitting the optimal pitch angle calculated by the controller to the propeller actuator;

[0039] The controller calculates the flight state parameters comprehensively and obtains the optimal pitch angle under the current flight conditions. This value is the final command, which is directly used to control the angle adjustment of the propeller. The optimal pitch angle is correctly transmitted to the propeller actuator and the angle data is converted into a data format that conforms to the digital communication protocol. The receiving module in the propeller actuator receives the optimal pitch angle instruction from the communication bus. , and parses the command. The receiving module will first perform error detection and verification to ensure that the signal is not distorted or damaged during transmission. After the receiving module completes the verification, it decodes the angle command data and converts it into a control signal that can be directly used by the propeller actuator. For example, if the system uses a digital signal, the decoded data will be converted into a motor control command to instruct the propeller motor to adjust to the specified angle. Once the propeller actuator successfully receives and parses command, the system will immediately prepare to execute the next step - adjusting the propeller pitch angle to make it consistent with the calculated optimal angle.

[0040] Step S40, the propeller actuator adjusts the pitch angle according to the instruction of the controller;

[0041] The signal received by the propeller actuator is decoded to obtain the actual pitch instruction , and the target pitch angle During the signal analysis process, the actuator confirms that the signal is complete and correct, and then prepares to make actual angle adjustments. The propeller actuator relies on the motor to adjust the pitch angle. After the motor is started, it gradually changes the physical angle of the pitch from the current angle. Angle to target Adjustment. Angle adjustment follows ,in, is the pitch angle at time t; is the initial angle; is the angular acceleration, which is determined by the motor driving force; is the angular velocity.

[0042] To ensure that the propeller angle is accurately adjusted to , the actuator will monitor the angle adjustment process in real time. At this time, the angle sensor will monitor the current pitch angle The controller uses this feedback information to adjust the drive signal to the motor, reducing the angular velocity if necessary. To avoid overshoot or oscillation, the feedback control process uses the PID control algorithm to adjust the drive signal to ensure that the pitch angle is stable to the target value: ,in, is the control input signal; is the error; The actuator gradually adjusts the propeller to the desired value through the motor drive and control algorithm. , and in the process reduce the error through feedback control When the error is less than the set threshold When the pitch angle reaches the target value, the adjustment is considered to be completed and the angle is stable at the target value. After that, the actuator reports the angle adjustment completion status to the controller.

[0043] Step S50: monitoring the actual pitch angle through the feedback system and comparing it with the target pitch angle;

[0044] The system uses the feedback module to monitor the actual pitch angle The feedback system uses a high-precision angle sensor to measure the actual pitch angle of the propeller.

[0045] After receiving the feedback data, the controller will The target pitch angle calculated previously Compare and calculate the error between the two , the error Indicates the deviation between the current propeller angle and the ideal state. The system will make further adjustments based on this error. Furthermore, the controller further evaluates the impact of the error on the aircraft by introducing environmental factors and state factors, and calculates the environmental factors. , used to reflect the impact of external environmental conditions on the error, mainly considering wind speed and air pressure , the specific steps are as follows: The formula of environmental factor is: ,in, , Represents the adjustment coefficient, which is used to weigh the impact of wind speed and air pressure on the error; Indicates the current wind speed; Indicates the maximum wind speed that the aircraft is designed to withstand; Indicates the current air pressure; Indicates standard air pressure; calculate the state factor S(t), which is used to evaluate the impact of the current state of the aircraft on the error, including acceleration A(t) and flight attitude change rate G(t): ,in, , represents the adjustment factor, Indicates the current acceleration, reflecting the acceleration state of the aircraft; Indicates the maximum acceleration of the aircraft; Indicates the maximum attitude change rate of the aircraft. Calculate the comprehensive impact value I(t), which combines the comprehensive impact of the error e(t), environmental factor E(t) and state factor S(t) on the performance of the aircraft. The calculation formula is as follows: , where C represents the influence coefficient, which is used to measure the overall impact of the error on the aircraft performance; Indicates the absolute value of the current pitch angle error; Indicates the amplification ratio of the impact of environmental factors on errors; Indicates the amplification ratio of the influence of the state factor on the error.

[0046] Step S60: adjusting the control strategy in real time according to the comparison result to ensure that the pitch angle of the propeller meets the requirements of the current flight condition.

[0047] The controller presets an impact value threshold during the system initialization phase This threshold is set according to the aircraft design standards, flight performance requirements and safety standards to ensure that errors can be effectively monitored and managed during flight. The selection of this threshold needs to consider the maximum tolerable error of the aircraft under different operating conditions and is determined by the aircraft manufacturer based on experience and test data. The controller monitors the calculated impact value I(t) in real time and compares it with the set threshold. For comparison: , then the current error is considered to meet the requirements. , it is considered that the error does not meet the requirements and further adjustment is needed.

[0048] If the impact value exceeds the threshold, the controller will dynamically adjust the propeller pitch angle according to the current flight state and error information, including the following steps: determining the adjustment amount, the controller adjusts the propeller pitch angle according to the impact value The required pitch angle adjustment is calculated , the formula is expressed as ,in, is the adjustment factor, which indicates the sensitivity of the impact value to the pitch angle adjustment. The adjustment amount is applied to the current pitch angle , calculate the new target pitch angle , the controller sets the new target pitch angle This process ensures that the propeller can respond quickly and adjust to the new set angle by precisely controlling the action of the actuator.

[0049] After the adjustment is completed, the controller will monitor the new actual pitch angle through the feedback module. The system will continue to execute this process in a loop, evaluating the flight status in real time to ensure that the performance and safety of the aircraft under different working conditions remain at the best state.

[0050] Embodiment 2

[0051] like Figure 2 As shown, the second embodiment of the present application provides a propeller pitch control system for an aircraft, comprising:

[0052] Sensor module 21: used to collect flight status data of the aircraft in real time;

[0053] The sensor module is the key data acquisition unit of the system, responsible for real-time monitoring of various key flight parameters of the aircraft. These sensors include but are not limited to the following categories:

[0054] Altitude sensor: used to measure the height of the aircraft relative to the ground and provide current flight altitude information. Usually a barometric altimeter or laser altimeter is used.

[0055] Speed ​​sensor: Provides the aircraft's air speed or ground speed data through the Doppler effect or GPS data.

[0056] Acceleration sensor: Generally a three-axis accelerometer, used to monitor the linear acceleration of the aircraft and reflect the dynamic motion state of the aircraft.

[0057] Thrust sensor: used to measure the thrust generated by the aircraft to determine the current thrust requirement.

[0058] The sensor module collects the flight status parameters of the aircraft through a set of integrated sensor arrays (such as the IMU sensor group) and transmits these parameters to the controller in real time through the data bus to ensure that the system can respond immediately according to the current flight status.

[0059] The sensor monitors these parameters in real time to form a state vector X(t), which is defined as .

[0060] After obtaining the flight state parameters, establish the aircraft thrust F(t) and propeller pitch angle The relationship model between the propeller thrust F(t) and the flight state parameter X(t) is described by the following nonlinear equation: , where A, B, and C are constant coefficients related to aircraft characteristics and are determined by aircraft design parameters; is the time function of the propeller pitch angle, which represents the angle between the propeller blade and the horizontal plane; F(t) represents the propeller at the current pitch angle This model is used to describe the effect of pitch angle on thrust, especially the dynamic change of propeller thrust with pitch angle in complex flight conditions such as aircraft acceleration or deceleration, climbing or descending.

[0061] Controller 22: used to calculate the optimal pitch angle according to the flight status data and generate control instructions;

[0062] The controller is the core module of the whole system. Its function is to receive real-time flight status data from the sensor module and calculate the optimal pitch angle of the propeller based on this data. , and generates corresponding control instructions u(t) to be sent to the propeller actuator. The controller receives real-time flight status parameters such as flight altitude, speed, acceleration, and thrust requirements from the sensor module through the data interface. Based on the received flight status data and the dynamic model of the aircraft, the controller calculates the optimal pitch angle for the current flight stage, including adjusting the pitch angle according to altitude, speed, and acceleration errors; adaptively adjusting control parameters according to the changing trend of the current state to optimize control performance; and optimizing the propeller pitch angle at multiple times by predicting future flight states. Once the optimal pitch angle is calculated , the controller will generate corresponding driving instructions and transmit them to the propeller actuator.

[0063] The controller first receives the flight state parameters X(t) from the sensor module, including the aircraft's altitude h(t), velocity v(t), acceleration a(t), and thrust requirement T(t). Based on these flight state parameters, a cost function is constructed. , used to describe the balance between thrust error and pitch angle change rate, is defined as follows: ,in The propeller pitch angle The thrust generated; is the thrust requirement of the current aircraft; is a balance coefficient used to adjust the relationship between thrust error and pitch adjustment speed to avoid too fast or too slow adjustment affecting aircraft performance. , calculate the optimization direction of the pitch angle. First, calculate the partial derivative of the cost function with respect to the pitch angle: ,in, It is the derivative of thrust with respect to pitch angle, reflecting the effect of pitch angle change on thrust; It is the second-order derivative of the pitch angle change rate, indicating the change in pitch adjustment speed. According to the calculated partial derivative, the current pitch angle is updated. The specific optimization formula is: ,in, is the pitch angle at the previous moment, is the learning rate, which determines the size of each adjustment step. Through this optimization algorithm, the optimal pitch angle of the aircraft in the current flight phase is updated and calculated in real time. , ensuring that the aircraft thrust is precisely matched to flight requirements.

[0064] The controller calculates the flight state parameters comprehensively and obtains the optimal pitch angle under the current flight conditions. This value is the final command, which is directly used to control the angle adjustment of the propeller. The optimal pitch angle is correctly transmitted to the propeller actuator and the angle data is converted into a data format that conforms to the digital communication protocol. The receiving module in the propeller actuator receives the optimal pitch angle instruction from the communication bus. , and parses the command. The receiving module will first perform error detection and verification to ensure that the signal is not distorted or damaged during transmission. After the receiving module completes the verification, it decodes the angle command data and converts it into a control signal that can be directly used by the propeller actuator. For example, if the system uses a digital signal, the decoded data will be converted into a motor control command to instruct the propeller motor to adjust to the specified angle. Once the propeller actuator successfully receives and parses command, the system will immediately prepare to execute the next step - adjusting the propeller pitch angle to make it consistent with the calculated optimal angle.

[0065] Propeller actuator 23: used to adjust the pitch angle of the propeller according to the control command.

[0066] The propeller actuator is the executive part of the system. It accurately adjusts the pitch angle of the propeller according to the control instructions generated by the controller. The pitch angle of the propeller directly affects the thrust and stability of the aircraft, so the response speed and accuracy of the actuator are crucial.

[0067] The signal received by the propeller actuator is decoded to obtain the actual pitch instruction , and the target pitch angle During the signal analysis process, the actuator confirms that the signal is complete and correct, and then prepares to make actual angle adjustments. The propeller actuator relies on the motor to adjust the pitch angle. After the motor is started, it gradually changes the physical angle of the pitch from the current angle. Angle to target Adjustment. Angle adjustment follows ,in, is the pitch angle at time t; is the initial angle; is the angular acceleration, which is determined by the motor driving force; is the angular velocity.

[0068] To ensure that the propeller angle is accurately adjusted to , the actuator will monitor the angle adjustment process in real time. At this time, the angle sensor will monitor the current pitch angle The controller uses this feedback information to adjust the drive signal to the motor, reducing the angular velocity if necessary. To avoid overshoot or oscillation, the feedback control process uses the PID control algorithm to adjust the drive signal to ensure that the pitch angle is stable to the target value: ,in, is the control input signal; is the error; The actuator gradually adjusts the propeller to the desired value through the motor drive and control algorithm. , and in the process reduce the error through feedback control When the error is less than the set threshold When the pitch angle reaches the target value, the adjustment is considered to be completed and the angle is stable at the target value. After that, the actuator reports the angle adjustment completion status to the controller.

[0069] Comparison feedback module 24: used to monitor the actual pitch angle and feed back to the controller to achieve closed-loop control.

[0070] The feedback module is responsible for real-time monitoring of the actual propeller pitch angle and feeding back the actual angle data to the controller to achieve closed-loop control. This module is an important part to ensure system stability and control accuracy.

[0071] The system uses the feedback module to monitor the actual pitch angle The feedback system uses a high-precision angle sensor to measure the actual pitch angle of the propeller.

[0072] After receiving the feedback data, the controller will The target pitch angle calculated previously Compare and calculate the error between the two , the error Indicates the deviation between the current propeller angle and the ideal state. The system will make further adjustments based on the error. Furthermore, the controller further evaluates the impact of the error on the aircraft by introducing environmental factors and state factors, and calculates the environmental factor E(t) to reflect the impact of external environmental conditions on the error, mainly considering wind speed. and air pressure , the specific steps are as follows: The formula of environmental factor is: ,in, , Represents the adjustment coefficient, which is used to weigh the impact of wind speed and air pressure on the error; Indicates the current wind speed; Indicates the maximum wind speed that the aircraft is designed to withstand; Indicates the current air pressure; Indicates standard air pressure; calculate the state factor S(t), which is used to evaluate the impact of the current state of the aircraft on the error, including acceleration A(t) and flight attitude change rate G(t): ,in, , represents the adjustment factor, Indicates the current acceleration, reflecting the acceleration state of the aircraft; Indicates the maximum acceleration of the aircraft; Indicates the maximum attitude change rate of the aircraft. Calculate the comprehensive impact value I(t), which combines the comprehensive impact of the error e(t), environmental factor E(t) and state factor S(t) on the performance of the aircraft. The calculation formula is as follows: , where C represents the influence coefficient, which is used to measure the overall impact of the error on the aircraft performance; Indicates the absolute value of the current pitch angle error; Indicates the amplification ratio of the impact of environmental factors on errors; Indicates the amplification ratio of the influence of the state factor on the error.

[0073] The controller presets an impact value threshold during the system initialization phase This threshold is set according to the aircraft design standards, flight performance requirements and safety standards to ensure that errors can be effectively monitored and managed during flight. The selection of this threshold needs to consider the maximum tolerable error of the aircraft under different operating conditions and is determined by the aircraft manufacturer based on experience and test data. The controller monitors the calculated impact value I(t) in real time and compares it with the set threshold. For comparison: , then the current error is considered to meet the requirements. , it is considered that the error does not meet the requirements and further adjustment is needed.

[0074] If the impact value exceeds the threshold, the controller will dynamically adjust the propeller pitch angle according to the current flight state and error information, including the following steps: determining the adjustment amount, the controller adjusts the propeller pitch angle according to the impact value The required pitch angle adjustment is calculated , the formula is expressed as ,in, is the adjustment factor, which indicates the sensitivity of the impact value to the pitch angle adjustment. The adjustment amount is applied to the current pitch angle , calculate the new target pitch angle , the controller sets the new target pitch angle This process ensures that the propeller can respond quickly and adjust to the new set angle by precisely controlling the action of the actuator.

[0075] After the adjustment is completed, the controller will monitor the new actual pitch angle through the feedback module. The system will continue to execute this process in a loop, evaluating the flight status in real time to ensure that the performance and safety of the aircraft under different working conditions remain at the best state.

[0076] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, including: at least one memory and at least one processor;

[0077] The memory is used to store one or more program instructions;

[0078] The processor is used for running one or more program instructions to execute a propeller pitch control method for an aircraft.

[0079] Corresponding to the above-mentioned embodiment, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a processor to execute a propeller pitch control method for an aircraft.

[0080] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned propeller pitch control method for an aircraft.

[0081] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0082] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0083] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0084] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0085] The volatile memory may be a random access memory (RAM) which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus DRAM (DRRAM).

[0086] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0087] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0088] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the pitch of a propeller of an aircraft, characterized in that: The following steps are involved: Real-time monitoring of flight status parameters through a sensor module on the aircraft, the parameters including the aircraft's altitude, speed, acceleration, and thrust requirements; The real-time monitoring of these parameters forms a state vector X(t), which is defined as , where h(t), v(t), a(t), and T(t) represent the height, speed, acceleration, and thrust requirement of the aircraft, respectively; the relationship between the propeller thrust F(t) and the flight state parameter X(t) is described by the following nonlinear equation: , where A, B, and C are constant coefficients related to aircraft characteristics and are determined by aircraft design parameters; is the time function of the propeller pitch angle, which represents the angle between the propeller blade and the horizontal plane; Indicates the propeller's current pitch angle and the thrust generated in flight; According to the flight state parameters, the control algorithm is used to calculate the optimal pitch angle for the current flight phase, which is divided into the following sub-steps: Constructing a cost function , used to describe the balance between thrust error and pitch angle change rate, is defined as follows: ,in The propeller pitch angle The thrust generated; is the thrust requirement of the current aircraft; It is a balance coefficient used to adjust the relationship between thrust error and pitch adjustment speed to avoid too fast or too slow adjustment affecting aircraft performance; Calculate the partial derivative of the cost function with respect to the pitch angle: ,in, It is the derivative of thrust with respect to pitch angle, reflecting the effect of pitch angle change on thrust; is the second derivative of the pitch angle change rate, indicating the change in pitch adjustment speed; According to the calculated partial derivative, the current pitch angle is updated. The specific optimization formula is: ,in, is the pitch angle at the previous moment, is the learning rate, which determines the step size of each adjustment. Through this optimization algorithm, the optimal pitch angle of the aircraft in the current flight phase is updated and calculated in real time. , ensuring that the aircraft thrust is precisely matched to flight requirements; transmitting the optimal pitch angle calculated by the controller to the propeller actuator; The propeller actuator adjusts the pitch angle according to the controller's instructions; The actual pitch angle is monitored by the feedback system and compared with the target pitch angle in the following sub-steps: The actual pitch angle is measured by the feedback module Conduct real-time monitoring and feed the data back to the controller; After receiving the feedback data, the controller will The target pitch angle calculated previously, that is, the optimal pitch angle Compare and calculate the error between the two , the error Indicates the deviation of the current propeller angle from the ideal state; Environmental factors and state factors are introduced to further evaluate the impact of errors on the aircraft; Combine the error e(t), environmental factors and state factors to calculate the comprehensive impact value I(t); According to the comparison results, the control strategy is adjusted in real time to ensure that the propeller pitch angle meets the requirements of the current flight conditions; If the comprehensive impact value I(t) is less than the set threshold The current error is considered to meet the requirements, otherwise it is considered that the error does not meet the requirements and further adjustments are required. The calculation formula is expressed as ,in, is the adjustment coefficient, which indicates the sensitivity of the impact value to the pitch angle adjustment.

2. The method for controlling the pitch change of a propeller of an aircraft according to claim 1, characterized in that: The sensor module includes an altitude sensor, a velocity sensor, an accelerometer and a gyroscope, and is used to monitor the flight status of the aircraft in real time.

3. The propeller pitch control method for an aircraft according to claim 1, characterized in that: The control algorithm is a PID control algorithm, which achieves precise control of the pitch angle by adjusting the proportional, integral and differential parameters in real time.

4. The propeller pitch control method for an aircraft as claimed in claim 1, characterized in that: The propeller actuator is an electric drive device that can complete pitch angle adjustment within milliseconds.

5. The propeller pitch control method for an aircraft as claimed in claim 1, characterized in that: The feedback system monitors the actual pitch angle of the propeller through a closed-loop control method and adjusts the pitch control strategy based on the feedback.

6. The method for controlling the pitch change of a propeller of an aircraft according to claim 1, characterized in that: The control algorithm adopts fuzzy logic control and fuzzily infers the optimal pitch angle according to the flight state of the aircraft.

7. The method for controlling the pitch change of a propeller of an aircraft according to claim 1, characterized in that: The control strategy is adaptively adjusted based on different flight conditions of the aircraft to adapt to different flight phases of the aircraft, such as take-off, cruising and landing.

8. A propeller pitch control system for an aircraft, used to execute a propeller pitch control method for an aircraft as claimed in any one of claims 1 to 7, characterized in that: The system comprises: Sensor module: used to collect the flight status data of the aircraft in real time; Controller: used to calculate the optimal pitch angle based on flight status data and generate control instructions; Propeller actuator: used to adjust the pitch angle of the propeller according to the control command; Feedback module: used to monitor the actual pitch angle and feed it back to the controller to achieve closed-loop control.

9. A computer storage medium comprising: at least one memory and at least one processor; The memory is used to store one or more program instructions; A processor, used to run one or more program instructions to execute a propeller pitch control method for an aircraft as described in any one of claims 1-7.

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