Flight attitude regulation and control method and system based on capacitive fixed wing

Abstract

The invention relates to the field of electronic engineering, and provides a flying attitude regulation and control method and system based on a capacitive fixed wing, and the method comprises the steps: firstly obtaining driving dual motors of a fixed-wing unmanned aerial vehicle, collecting and preprocessing real-time motor data, extracting key parameters, then recognizing a connected adjustable resistor and an adjustable end, calculating the total resistance value, and calculating the resistance value of the fixed-wing unmanned aerial vehicle according to the resistance value of the fixed-wing unmanned aerial vehicle. And determining a triode connection mode, grounding to generate a current loop, and calculating a collector end current value. And then determining an influence factor vector based on the total resistance value and the current value, correcting the flight attitude, analyzing flight environment parameters and calculating a compensation value, constructing and optimizing a differential control strategy by combining the compensation value and a motor state, generating a control instruction, and monitoring feedback data after execution to generate an attitude regulation report. The flying performance and controllability of the capacitive fixed wing can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electronic engineering, and in particular to a flight attitude control method and system based on a capacitive fixed-wing. Background Art

[0002] In today's society, science and technology, as the primary productive force, are becoming increasingly important in the field of education. Among them, aviation model sports, as a sport that integrates mathematics, physics, sports and other disciplines, has received widespread attention.

[0003] At present, in the field of aviation model teaching aids for primary and secondary school students, the mainstream fixed-wing aircraft model teaching aids are mainly divided into three categories: hand-thrown fixed-wing, capacitive fixed-wing and remote-controlled fixed-wing. Among them, capacitive fixed-wing has become the first choice for aviation teaching aids for primary and secondary school students because of its light weight and sufficient power. Compared with hand-thrown fixed-wing, it is more playable, easier to use and safer than remote-controlled fixed-wing. However, most of the capacitive fixed-wings currently circulating on the market use a single-motor drive structure with a relatively simple structure and light weight. However, this structure has obvious defects. The flight attitude of the drone cannot be adjusted by adjusting the motor speed, and the motor back-twist problem is serious, which greatly affects the flight performance of the drone. Therefore, a flight attitude control method based on capacitive fixed-wing is needed to improve the flight performance and controllability of capacitive fixed-wing. Summary of the invention

[0004] The present invention provides a flight attitude control method and system based on a capacitive fixed-wing aircraft, the main purpose of which is to improve the flight performance and controllability of the capacitive fixed-wing aircraft.

[0005] Obtaining a driving dual motor corresponding to the fixed-wing UAV, collecting real-time motor data corresponding to the driving dual motor in real time, performing data preprocessing on the real-time motor data to obtain preprocessed motor data, and extracting key parameters from the preprocessed motor data, wherein the key parameters include: speed difference and current balance;

[0006] Based on the key parameters, an adjustable resistor connected to one end of the driving dual motor is identified, an adjustable end corresponding to the adjustable resistor is determined, the adjustable end is used as an input port, and both sides of the adjustable end are used as output ports, and based on the input port and the output port, a total resistance value corresponding to the adjustable resistor is calculated;

[0007] Query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value of the collector end in the current loop;

[0008] Based on the total resistance value and the current value of the collector terminal, determining the influencing factor vector corresponding to the driving dual motor, performing attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data, analyzing the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and calculating the environmental compensation value corresponding to the flight environment parameters;

[0009] Based on the environmental compensation value and the state characteristics of the driving dual motors, a preliminary differential speed control strategy corresponding to the fixed-wing UAV is constructed, and the preliminary differential speed control strategy is iteratively optimized to obtain an optimized differential speed control strategy;

[0010] The control target in the optimized differential control strategy is queried, and based on the control target, a control instruction corresponding to the fixed-wing UAV is generated. After the fixed-wing UAV executes the control instruction, the flight feedback data of the fixed-wing UAV is monitored, and based on the flight feedback data, an attitude control report corresponding to the fixed-wing UAV is generated.

[0011] Optionally, performing data preprocessing on the real-time motor data to obtain preprocessed motor data includes:

[0012] Performing data cleaning on the real-time motor data to obtain motor cleaning data;

[0013] Performing data standardization on the motor cleaning data to obtain standardized motor data;

[0014] Performing smoothing filtering on the standardized motor data to obtain filtered motor data;

[0015] Identifying a logic sequence corresponding to the filtered motor data;

[0016] Based on the logic sequence, the real-time motor data is preprocessed to obtain preprocessed motor data.

[0017] Optionally, the calculating a total resistance value corresponding to the adjustable resistor based on the input port and the output port includes:

[0018] The total resistance value corresponding to the adjustable resistor is calculated using the following formula:

[0019] Ω1=Ω2+Ω3

[0020] Among them, Ω1 is the total resistance value of the adjustable resistor, Ω2 is the resistance value of the adjustable end side, and Ω3 is the resistance value of the adjustable end side.

[0021] Optionally, the calculating the current value at the collector end in the current loop includes:

[0022] The current value at the collector end in the current loop is calculated using the following formula:

[0023] I c =β×I b +(1+β)×I ceo

[0024] Among them, I c represents the current value at the collector end in the current loop, β represents the current amplification factor of the transistor in the current loop, I b Represents the base current, I ceo Represents the collector-emitter reverse saturation current of the transistor in the current loop.

[0025] Optionally, performing attitude correction on a corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data includes:

[0026] Identify the vector category corresponding to the influencing factor vector;

[0027] Based on the vector category, analyzing the influence degree of the fixed-wing UAV corresponding to the flight attitude;

[0028] Based on the degree of influence, calculating an attitude deviation value between a current flight attitude of the fixed-wing UAV and a preset flight attitude;

[0029] Based on the attitude deviation value, generating a deviation correction strategy corresponding to the fixed-wing UAV;

[0030] The deviation correction strategy is used to perform attitude correction on the corresponding flight attitude of the fixed-wing UAV to obtain attitude correction data.

[0031] Optionally, the calculating, based on the influence degree, a posture deviation value between a current flight posture of the fixed-wing UAV and a preset flight posture includes:

[0032] The attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude is calculated using the following formula:

[0033]

[0034] Wherein, ZP represents the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude, i′ represents the parameter index of the corresponding flight attitude parameter of the fixed-wing UAV, n′ represents the total number of flight attitude parameters, and Ys i′ represents the influence weight of the i′th flight attitude parameter on the fixed-wing UAV, Dz i′ represents the actual measured value of the i′th flight attitude parameter under the current flight attitude, Mz i′represents the target value of the i′th flight attitude parameter of the preset flight attitude, Tg i′ Represents the attitude tolerance of the i′th flight attitude parameter.

[0035] Optionally, analyzing the flight environment parameters of the fixed-wing UAV based on the attitude correction data includes:

[0036] Integrate the attitude correction data with relevant flight data corresponding to the fixed-wing UAV in the same period to obtain an integrated data set;

[0037] extracting integrated features from the integrated data set;

[0038] Based on the integrated features, determining geographic information corresponding to the fixed-wing UAV;

[0039] Based on the geographic information and its corresponding meteorological data, the flight environment parameters of the fixed-wing UAV are analyzed.

[0040] Optionally, the calculating the environmental compensation value corresponding to the flight environment parameter includes:

[0041] The environmental compensation value corresponding to the flight environment parameter is calculated using the following formula:

[0042]

[0043] Among them, C env represents the environmental compensation value corresponding to the flight environment parameter, j represents the type index of the flight environment parameter, m represents the number of types of flight environment parameters, and w i represents the weight coefficient of the jth flight environment parameter, P j represents the actual measured value of the jth flight environment parameter, represents the standard value of the jth flight environment parameter, A j Represents the adjustment coefficient of the jth flight environment parameter.

[0044] Optionally, constructing a preliminary differential control strategy corresponding to the fixed-wing UAV based on the environmental compensation value and the state characteristics of the driving dual motors includes:

[0045] Performing data fusion on the environmental compensation value and the state characteristics in the driving dual motors to obtain a fused data set;

[0046] Extracting key fusion parameters from the fusion data set, and analyzing control factors corresponding to the key fusion parameters;

[0047] Based on the control factors, a preliminary differential control strategy corresponding to the fixed-wing UAV is constructed using a preset differential control algorithm.

[0048] In order to solve the above problems, the present invention also provides a flight attitude control system based on a capacitive fixed-wing, the system comprising:

[0049] A parameter extraction module is used to obtain the driving dual motors corresponding to the fixed-wing UAV, collect real-time motor data corresponding to the driving dual motors in real time, perform data preprocessing on the real-time motor data to obtain preprocessed motor data, and extract key parameters from the preprocessed motor data, wherein the key parameters include: speed difference and current balance;

[0050] A total resistance calculation module, used for identifying the adjustable resistor connected to one end of the driving dual motor based on the key parameters, determining the adjustable end corresponding to the adjustable resistor, using the adjustable end as an input port, and using both sides of the adjustable end as output ports, and calculating the total resistance value corresponding to the adjustable resistor based on the input port and the output port;

[0051] A current value calculation module is used to query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value of the collector end in the current loop;

[0052] An environmental compensation value calculation module is used to determine the influencing factor vector corresponding to the driving dual motor based on the total resistance value and the current value of the collector terminal, perform attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data, analyze the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and calculate the environmental compensation value corresponding to the flight environment parameters;

[0053] A control strategy optimization module, configured to construct a preliminary differential speed control strategy corresponding to the fixed-wing UAV based on the environmental compensation value and the state characteristics of the driving dual motors, and iteratively optimize the preliminary differential speed control strategy to obtain an optimized differential speed control strategy;

[0054] The control report generation module is used to query the control target in the optimized differential control strategy, generate the control instruction corresponding to the fixed-wing UAV based on the control target, monitor the flight feedback data of the fixed-wing UAV after executing the control instruction by the fixed-wing UAV, and generate the attitude control report corresponding to the fixed-wing UAV based on the flight feedback data.

[0055] First, the present invention acquires the driving dual motors corresponding to the fixed-wing UAV and collects the real-time motor data corresponding to the driving dual motors in real time, so as to accurately understand the working state of the motors, including key parameters such as speed, current, and power, which is helpful to optimize the energy management of the UAV. At the same time, the present invention identifies the adjustable resistor connected to one end of the driving dual motors based on the key parameters, which enables us to more accurately control the working state of the motors. For example, when the key parameters show that the motor speed difference is too large or the current is unbalanced, the resistance can be quickly adjusted by identifying the adjustable resistor, thereby changing the current and voltage distribution in the circuit, thereby optimizing the operating efficiency and stability of the motor. The present invention determines the corresponding connection mode of the transistor by querying the transistor connected to the other end of the driving dual motor, which helps to deeply understand the working principle and characteristics of the motor driving circuit, and can accurately analyze the current flow direction and control logic, so as to better predict and master the operating state of the motor. The present invention is based on the total resistance value and the The current value of the collector extreme end determines the influencing factor vector corresponding to the driving dual motor, which can comprehensively and accurately evaluate the various influencing factors in the operation of the motor, and can more clearly reveal the complex relationship between the working state of the motor and the external conditions. At the same time, potential fault hazards can be discovered in time, and preventive measures can be taken in advance to avoid sudden faults from causing serious impact on the flight of fixed-wing UAVs. The present invention is based on the environmental compensation value combined with the state characteristics of the driving dual motors to construct the initial differential control strategy corresponding to the fixed-wing UAV, which can significantly improve the flight stability and adaptability of the UAV, effectively offset the adverse effects of environmental changes such as wind and temperature, and ensure that the UAV still maintains a stable and accurate flight trajectory in a complex and changeable environment. Further, the present invention can ensure that the UAV flight control system always focuses on the expected flight performance and safety standards by querying the control target in the optimized differential control strategy, which helps to timely identify and correct deviations during flight and improve the stability and reliability of flight. Therefore, the flight attitude control method and system based on capacitive fixed-wing proposed by the present invention can improve the flight performance and controllability of capacitive fixed-wing. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of a flow chart of a method for controlling a capacitive fixed-wing flight attitude according to an embodiment of the present invention;

[0057] Figure 2 A module schematic diagram of a capacitive fixed-wing flight attitude control system provided in one embodiment of the present invention.

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0060] The embodiment of the present application provides a flight attitude control method based on a capacitive fixed wing. The execution subject of the flight attitude control method based on a capacitive fixed wing includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided in the embodiment of the present application. In other words, the flight attitude control method based on a capacitive fixed wing can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0061] Reference Figure 1 FIG. 1 is a flow chart of a method for controlling the flight attitude of a capacitive fixed-wing aircraft according to an embodiment of the present invention. In this embodiment, the method for controlling the flight attitude of a capacitive fixed-wing aircraft comprises:

[0062] S1. Obtain the driving dual motors corresponding to the fixed-wing UAV, collect real-time motor data corresponding to the driving dual motors in real time, perform data preprocessing on the real-time motor data to obtain preprocessed motor data, and extract key parameters in the preprocessed motor data, wherein the key parameters include: speed difference and current balance.

[0063] The present invention acquires the driving dual motors corresponding to the fixed-wing UAV and collects the real-time motor data corresponding to the driving dual motors in real time, so as to accurately understand the working status of the motors, including key parameters such as rotation speed, current, and power, which helps to optimize the energy management of the UAV.

[0064] Among them, the fixed-wing UAV refers to a UAV with a fixed wing structure, which generates lift based on aerodynamic principles and can fly stably in the air, such as a common aircraft with a similar appearance to a small airplane, whose wing shape and position are relatively fixed, and which is powered by an engine or motor to achieve flight missions; the driving dual motors refer to two motor devices that provide power for the fixed-wing UAV, and these two motors usually work together to drive the propeller or other propulsion components of the UAV to generate sufficient thrust to make the UAV fly; the real-time motor data refers to various parameters and information about the working status of the driving dual motors that can be obtained in real time during the operation of the fixed-wing UAV, which may include the real-time speed, current, voltage, power, temperature and other data of the motor. For example, at a certain moment, the motor speed is 5000 revolutions per minute, the current is 2 amperes, and the voltage is 12 volts.

[0065] Optionally, the acquisition of the driving dual motors corresponding to the fixed-wing UAV can be achieved through a motor model identification tool, such as a specialized tool that identifies the motor model by analyzing the electrical characteristics and parameters of the motor; the real-time acquisition of the real-time motor data corresponding to the driving dual motors can be achieved through an acquisition system based on a microcontroller, such as Arduino, STM32 and other microcontrollers.

[0066] Furthermore, the present invention obtains preprocessed motor data by performing data preprocessing on the real-time motor data, which can greatly improve the credibility and effectiveness of the analysis results, help to more accurately grasp the operating status of the motor, discover potential problems in time, and take corresponding measures for optimization and maintenance, thereby ensuring the stable operation and performance improvement of the fixed-wing UAV.

[0067] The pre-processed motor data refers to the motor data finally obtained after comprehensive processing through the above series of steps including cleaning, standardization, filtering, and identification of logic sequences.

[0068] As an embodiment of the present invention, the data preprocessing of the real-time motor data to obtain preprocessed motor data includes: data cleaning of the real-time motor data to obtain motor cleaning data; data standardization of the motor cleaning data to obtain standardized motor data; smoothing filtering of the standardized motor data to obtain filtered motor data; identifying a logical sequence corresponding to the filtered motor data; and based on the logical sequence, data preprocessing of the real-time motor data to obtain preprocessed motor data.

[0069] Among them, the motor cleaning data refers to the data obtained after removing the missing values, obvious outliers and other unreasonable data in the real-time motor data, which is more complete and accurate than the original real-time motor data; the standardized motor data refers to the data after the motor cleaning data has been dimensionally unified and the numerical range has been standardized; the filtered motor data refers to the data obtained after smoothing and filtering the standardized motor data to reduce noise interference, which can more clearly reflect the main trends and laws of the motor data; the logical sequence refers to the time or other sequential arrangement with inherent logic and laws presented in the filtered motor data, such as the law of change of motor speed over time, the periodicity of current fluctuations, etc.

[0070] Furthermore, the data cleaning of the real-time motor data can be achieved through data cleaning methods, such as: Z-score, IQR method, isolation forest and other methods; the data standardization of the motor cleaning data can be achieved through standardization methods, such as: Z-score standardization, Min-Max standardization, Robust standardization and other methods; the smoothing filtering of the standardized motor data can be achieved through filter tools, such as: Butterworth filter, Chebyshev filter, etc.; the identification of the logical sequence corresponding to the filtered motor data can be achieved through an association rule mining algorithm, such as: Apriori algorithm; the data preprocessing of the real-time motor data can be achieved through AutoML tools, such as: TPOT, H2O.ai and other tools.

[0071] By extracting key parameters from the preprocessed motor data, the present invention can help quickly focus on the core features of the motor operation, thereby more efficiently understanding and evaluating the working status of the motor, predicting possible problems in advance, taking preventive maintenance measures, extending the service life of the motor and the drone, and reducing maintenance costs.

[0072] Among them, the key parameters refer to specific data indicators in the pre-processed motor data that can significantly reflect the working state and performance of the motor and have an important impact on the flight attitude of the fixed-wing UAV. The key parameters include: speed difference and current balance. For example, the speed difference reflects the speed difference between the driving dual motors and is directly related to the balance and steering control of the UAV; the current balance reflects the uniformity of the current distribution of the dual motors when working, which is crucial to the life of the motor, energy utilization efficiency and flight stability. Optionally, the key parameters extracted from the pre-processed motor data can be obtained by a decision tree algorithm, such as: CART decision tree, ID3 algorithm, etc.

[0073] S2. Based on the key parameters, identify the adjustable resistor connected to one end of the driving dual motor, determine the adjustable end corresponding to the adjustable resistor, use the adjustable end as an input port, and use both sides of the adjustable end as output ports, and calculate the total resistance value corresponding to the adjustable resistor based on the input port and the output port.

[0074] The present invention identifies the adjustable resistor connected to one end of the driving dual motor based on the key parameters, which enables us to more accurately control the working state of the motor. For example, when the key parameters show that the motor speed difference is too large or the current is unbalanced, by identifying the adjustable resistor, the resistance can be quickly adjusted, thereby changing the current and voltage distribution in the circuit, thereby optimizing the operating efficiency and stability of the motor.

[0075] Among them, the adjustable resistor refers to an electronic component that can change the resistance value manually or automatically as needed, and has an adjustable part. By changing the position or state of this part, the resistance value of the entire resistor can be adjusted. Optionally, the identification of the adjustable resistor connected to one end of the driving dual motor can be achieved through a resistance measuring instrument, such as a multimeter.

[0076] Furthermore, the present invention can achieve precise control and flexible adjustment of the resistance value by determining the adjustable end corresponding to the adjustable resistor, using the adjustable end as the input port, and using the two sides of the adjustable end as the output ports, can conveniently receive external control signals or instructions, and can more effectively monitor the voltage and current changes at both ends of the resistor.

[0077] Among them, the adjustable end refers to a specific part of the adjustable resistor used to change the resistance value, which is usually a movable contact, knob or slider, etc. By adjusting its position or state, the effective length or effective area of ​​the resistor connected to the circuit can be changed; the output port refers to a port in the circuit used to output electrical signals, currents or voltages. In the circuit involving the adjustable resistor, the output port is an interface that transmits the electrical signal processed by the adjustable resistor to the subsequent circuit or device. Optionally, the determination of the adjustable end corresponding to the adjustable resistor can be achieved through a circuit analysis and reasoning method, such as: based on the circuit schematic and the known circuit connection relationship, inferring the possible position of the adjustable end; the use of the adjustable end as an input port can be achieved through circuit design tools, such as: Altium Designer, Eagle and other tools; the use of both sides of the adjustable end as output ports can be achieved through an output port allocation algorithm, such as: according to the circuit function and performance requirements, determining that the two sides of the adjustable end are allocated to appropriate output ports.

[0078] Furthermore, the present invention calculates the total resistance value corresponding to the adjustable resistor based on the input port and the output port, which helps to accurately grasp the working characteristics of the circuit and can clarify the flow of current in the circuit, thereby predicting and optimizing the power output, efficiency and heat generation of the motor, etc., to ensure stable operation of the motor.

[0079] The total resistance value refers to the equivalent resistance value formed by the combined action of the adjustable resistor, the possible fixed resistor and other resistive elements in the circuit in a specific circuit, which reflects the ability of the entire circuit to hinder the current. For example, in a series circuit including an adjustable resistor, a reference resistor and a fixed resistor, the total resistance value is the sum of the resistance values ​​of these resistors.

[0080] As an embodiment of the present invention, the calculating the total resistance value corresponding to the adjustable resistor based on the input port and the output port includes:

[0081] The total resistance value corresponding to the adjustable resistor is calculated using the following formula:

[0082] Ω1=Ω2+Ω3

[0083] Among them, Ω1 is the total resistance value of the adjustable resistor, Ω2 is the resistance value of the adjustable end side, and Ω3 is the resistance value of the adjustable end side.

[0084] In detail, the size distribution of Ω2 and Ω3 can be adjusted by turning the cap of the adjustable resistor.

[0085] S3. Query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value at the collector end in the current loop.

[0086] The present invention determines the corresponding connection mode of the transistor by querying the transistor connected to the other end of the driving dual motor, which helps to deeply understand the working principle and characteristics of the motor driving circuit, and can accurately analyze the current flow direction and control logic, so as to better predict and master the operating status of the motor.

[0087] Among them, the transistor refers to a crystal transistor, which is a basic semiconductor component, which has a current amplification function and can control the flow of current. The transistor is composed of three regions, namely, an emitter region, a base region and a collector region, and the corresponding three electrodes are an emitter, a base and a collector; the connection method refers to the specific connection form of the three electrodes of the transistor in the circuit. Common connection methods include common emitter connection, common base connection and common collector connection. Different connection methods will cause the role and performance of the transistor in the circuit to be different, for example, there will be differences in voltage amplification, current amplification, impedance matching, etc. Optionally, the query of the transistor connected to the other end of the driving dual motor can be achieved through a circuit detection instrument, such as: an oscilloscope, a logic analyzer, etc.; the determination of the connection method corresponding to the transistor can be achieved through a circuit simulation tool, such as: LTspice, PSpice, etc.

[0088] Furthermore, the present invention generates a current loop corresponding to the driving dual motor by grounding the emitter corresponding to the transistor based on the connection method, which can provide a stable reference potential for the current, ensure that the flow of current in the loop is more stable and predictable, help maintain the stability of the motor operation, and reduce problems such as unstable speed or torque changes caused by current fluctuations.

[0089] Among them, the emitter grounding refers to directly connecting the emitter of the transistor to the zero potential reference point in the circuit, that is, "ground". In the circuit, "ground" is usually defined as a common point with zero potential. By connecting the emitter to the ground, a stable potential reference is established for the operation of the transistor; the current loop refers to the closed path formed by the flow of current in the circuit. In this path, the current starts from the positive pole of the power supply, passes through various electronic components (such as resistors, capacitors, transistors, etc.), and finally returns to the negative pole of the power supply, forming a complete cycle. Optionally, the generation of the current loop corresponding to the driving dual motor can be achieved through a genetic algorithm, such as: using a genetic algorithm to optimize the parameters and connection methods of the circuit to generate a more efficient and stable current loop.

[0090] Furthermore, the present invention helps to accurately evaluate the working state and performance of the transistor by calculating the current value at the collector end in the current loop, and can adjust circuit parameters, reduce unnecessary energy consumption, and improve energy utilization efficiency.

[0091] The current value at the collector terminal refers to the magnitude of the current flowing through the collector pin of the transistor, which reflects the amount of charge flowing out of the collector of the transistor.

[0092] As an embodiment of the present invention, the calculating the current value at the collector end in the current loop includes:

[0093] The current value at the collector end in the current loop is calculated using the following formula:

[0094] I c =β×I b +(1+β)×I ceo

[0095] Among them, I c represents the current value at the collector end in the current loop, β represents the current amplification factor of the transistor in the current loop, I b Represents the base current, I ceo Represents the collector-emitter reverse saturation current of the transistor in the current loop.

[0096] In detail, the base current refers to the current flowing into the base pin of the transistor. The size of the base current controls the working state of the transistor. By changing the base current, the collector current and emitter current of the transistor can be adjusted, thereby realizing functions such as amplification and switching; the collector-emitter reverse saturation current refers to the small current between the collector and the emitter when the base of the transistor is open (that is, the base current is zero). This current is generated by the drift motion of minority carriers and its value is usually very small. For example, in a high-precision amplifier circuit or a circuit with extremely low static current requirements, the collector-emitter reverse saturation current may have a certain impact on the circuit performance.

[0097] S4. Based on the total resistance and the current value of the collector end, determine the influencing factor vector corresponding to the driving dual motors, and based on the influencing factor vector, perform attitude correction on the corresponding flight attitude of the fixed-wing UAV to obtain attitude correction data, and based on the attitude correction data, analyze the flight environment parameters of the fixed-wing UAV, and calculate the environmental compensation values ​​corresponding to the flight environment parameters.

[0098] The present invention determines the influencing factor vector corresponding to the driving dual motor based on the total resistance value and the current value of the collector terminal, can comprehensively and accurately evaluate various influencing factors in the operation of the motor, can more clearly reveal the complex relationship between the working state of the motor and external conditions, and at the same time, can timely discover potential fault hazards, take preventive measures in advance, and avoid sudden faults from causing serious impact on the flight of fixed-wing UAVs.

[0099] Among them, the influencing factor vector refers to a mathematical representation used to comprehensively describe and quantify the various influencing factors that drive the dual motors when they are working. It integrates and expresses multiple key parameters such as the total resistance and the current value at the collector end and their mutual relationships in the form of a vector. Optionally, the determination of the influencing factor vector corresponding to the driving dual motors can be implemented through a Python data analysis library, such as: NumPy, Pandas, Scikit-learn, etc.

[0100] Furthermore, the present invention performs attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data, providing intuitive and accurate flight status feedback, which helps to timely discover and correct potential flight problems and ensure the smooth completion of the flight mission. In addition, this data-driven attitude correction method not only improves the reliability and efficiency of the flight.

[0101] The attitude correction data refers to the flight attitude change data recorded after the deviation correction strategy is executed. These data include the flight attitude before and after the correction, the execution status of the correction strategy, and the evaluation results of the correction effect.

[0102] As an embodiment of the present invention, based on the influencing factor vector, the attitude correction of the corresponding flight attitude of the fixed-wing UAV is performed to obtain attitude correction data, including: identifying the vector category corresponding to the influencing factor vector; based on the vector category, analyzing the degree of influence of the corresponding flight attitude of the fixed-wing UAV; based on the degree of influence, calculating the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude; based on the attitude deviation value, generating a deviation correction strategy corresponding to the fixed-wing UAV; using the deviation correction strategy to perform attitude correction on the corresponding flight attitude of the fixed-wing UAV to obtain attitude correction data.

[0103] Among them, the vector category refers to the classification of various factors that affect the flight attitude of fixed-wing UAVs, which include environmental factors (such as wind speed, airflow), mechanical factors (such as motor performance, structural stability), control factors (such as the accuracy of control instructions), etc.; the degree of influence refers to the specific influence intensity of each influence category on the flight attitude, which can be determined by quantitative analysis, such as by calculating correlation coefficients, influencing factors or using machine learning models for evaluation; the attitude deviation value refers to the difference between the current flight attitude and the preset flight attitude, and this value can be calculated by comparing the current flight attitude data (such as pitch angle, roll angle, yaw angle) with the preset target attitude data; the deviation correction strategy refers to the specific correction measures generated according to the attitude deviation value, which may include adjusting the motor speed, changing the angle of the rudder, or adjusting the parameters of the flight control system, etc.

[0104] Furthermore, the identification of the influence category corresponding to the influencing factor can be obtained through a classification model, such as: decision tree, random forest and other models; the analysis of the influence degree of the corresponding flight attitude of the fixed-wing UAV can be obtained through a correlation analysis algorithm, such as: Pearson correlation coefficient, Spearman rank correlation and other algorithms; the calculation of the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude can be obtained through the following algorithm; the generation of the deviation correction strategy corresponding to the fixed-wing UAV can be obtained through an optimization model, such as: linear programming, nonlinear programming and other models.

[0105] As an embodiment of the present invention, the calculating, based on the influence degree, a posture deviation value between a current flight posture of the fixed-wing UAV and a preset flight posture includes:

[0106] The attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude is calculated using the following formula:

[0107]

[0108] Wherein, ZP represents the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude, i′ represents the parameter index of the corresponding flight attitude parameter of the fixed-wing UAV, n′ represents the total number of flight attitude parameters, and Ys i′ represents the influence weight of the i′th flight attitude parameter on the fixed-wing UAV, Dz i′ represents the actual measured value of the i′th flight attitude parameter under the current flight attitude, Mz i′ represents the target value of the i′th flight attitude parameter of the preset flight attitude, Tg i′ Represents the attitude tolerance of the i′th flight attitude parameter.

[0109] Furthermore, the present invention analyzes the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and can understand the flight performance of the UAV under different environmental conditions in real time, adjust the flight strategy in time, and avoid flight accidents caused by sudden environmental changes, thereby significantly improving flight safety.

[0110] Among them, the flight environment parameters refer to the environmental conditions that affect the flight of the drone based on the analysis of geographic information and meteorological data. These parameters include wind speed, wind direction, temperature, humidity, air pressure, etc.

[0111] As an embodiment of the present invention, the analysis of the flight environment parameters of the fixed-wing UAV based on the attitude correction data includes: integrating the attitude correction data with relevant flight data corresponding to the fixed-wing UAV in the same period to obtain an integrated data set; extracting integration features in the integrated data set; determining the geographic information corresponding to the fixed-wing UAV based on the integration features; and analyzing the flight environment parameters of the fixed-wing UAV based on the geographic information combined with its corresponding meteorological data.

[0112] Among them, the integrated data set refers to a data set that combines the attitude correction data with other relevant flight data of the same period (such as GPS positioning data, sensor data, etc.); the integrated features refer to representative features extracted from the integrated data set, which can reflect the flight status and environmental conditions of the drone, such as flight altitude, speed, attitude angle change rate, etc.; the geographic information refers to the geographic location information determined based on the integrated features, such as the longitude, latitude, altitude, etc. of the drone; the meteorological data refers to the meteorological condition data corresponding to the geographic information, including wind speed, wind direction, temperature, humidity, air pressure, etc.

[0113] Furthermore, the data integration of the attitude correction data and the relevant flight data corresponding to the fixed-wing UAV in the same period can be obtained through data integration tools, such as: Talend and other tools; the extraction of integration features in the integrated data set can be obtained through feature extraction algorithms, such as: statistical features, frequency domain features, time domain features and other extraction algorithms; the determination of the geographic information corresponding to the fixed-wing UAV can be obtained through GIS tools, such as: ArcGIS, GPS and other tools; the analysis of the flight environment parameters of the fixed-wing UAV can be obtained through meteorological prediction models, such as: numerical weather forecast models.

[0114] By calculating the environmental compensation values ​​corresponding to the flight environment parameters, the present invention can make decisions based on real-time environmental data, optimize the flight path and attitude adjustment, and ensure the smooth completion of the flight mission, which not only improves the safety and efficiency of the flight, but also lays a solid foundation for the autonomous development of UAVs.

[0115] Among them, the environmental compensation value refers to a value calculated based on flight environment parameters (such as wind speed, wind direction, temperature, humidity, air pressure, etc.), which is used to adjust the flight control parameters of the drone to compensate for the impact of environmental factors on flight attitude and performance.

[0116] As an embodiment of the present invention, the calculating the environmental compensation value corresponding to the flight environment parameter includes:

[0117] The environmental compensation value corresponding to the flight environment parameter is calculated using the following formula:

[0118]

[0119] Among them, C env represents the environmental compensation value corresponding to the flight environment parameter, j represents the type index of the flight environment parameter, m represents the number of types of flight environment parameters, and w i represents the weight coefficient of the jth flight environment parameter, P j represents the actual measured value of the jth flight environment parameter, represents the standard value of the jth flight environment parameter, A j Represents the adjustment coefficient of the jth flight environment parameter.

[0120] S4. Based on the environmental compensation value and the state characteristics of the driving dual motors, a preliminary differential control strategy corresponding to the fixed-wing UAV is constructed, and the preliminary differential control strategy is iteratively optimized to obtain an optimized differential control strategy.

[0121] The present invention constructs a preliminary differential control strategy corresponding to the fixed-wing UAV based on the environmental compensation value combined with the state characteristics of the driving dual motors, which can significantly improve the flight stability and adaptability of the UAV, effectively offset the adverse effects of environmental changes such as wind and temperature, and ensure that the UAV maintains a stable and precise flight trajectory in a complex and changeable environment.

[0122] Among them, the state characteristics refer to the operating state at a specific moment, including but not limited to parameters such as motor speed, current, temperature, torque, etc.; the preliminary differential control strategy refers to the initial control scheme constructed based on a preset differential control algorithm and control factors.

[0123] As an embodiment of the present invention, the preliminary differential control strategy corresponding to the fixed-wing UAV is constructed based on the environmental compensation value combined with the state characteristics of the driving dual motors, including: fusing the environmental compensation value with the state characteristics of the driving dual motors to obtain a fused data set; extracting key fusion parameters in the fused data set; analyzing the control factors corresponding to the key fusion parameters; and based on the control factors, constructing the preliminary differential control strategy corresponding to the fixed-wing UAV using a preset differential control algorithm.

[0124] Among them, the fusion data set refers to a data set formed by integrating the environmental compensation value with the state characteristics of the driving dual motors; the key fusion parameters refer to the parameters extracted from the fusion data set that have an important impact on the flight attitude. These parameters may include environmental change trends, motor performance indicators, etc.; the control factors refer to the factors that have a direct impact on the flight attitude based on the analysis of key fusion parameters. These factors may include wind speed, temperature changes, motor performance fluctuations, etc.; the preset differential control algorithm refers to a set of algorithms designed in advance, which is used to calculate the ideal speed difference between the left and right motors based on the control factors.

[0125] Furthermore, the data fusion of the environmental compensation value and the state characteristics of the driving dual motors can be obtained through data fusion library tools, such as OpenCV, TensorFlow and other tools; the extraction of key fusion parameters in the fusion data set can be obtained through a machine learning framework, such as Scikit-learn, PyTorch, etc.; the analysis of the control factors corresponding to the key fusion parameters can be obtained through simulation platform tools, such as Gazebo, V-REP and other tools; the construction of the preliminary differential control strategy corresponding to the fixed-wing UAV can be obtained by utilizing a preset differential control algorithm.

[0126] The present invention iteratively optimizes the preliminary differential control strategy to obtain an optimized differential control strategy, which can gradually adjust and improve the control algorithm so that it responds to environmental changes and motor states more accurately, thereby improving flight stability, efficiency and safety.

[0127] Among them, the optimized differential control strategy refers to the final control scheme formed after multiple iterations and improvements, and adjustments and improvements are made to the problems and deficiencies existing in the preliminary differential control strategy. Optionally, the iterative optimization of the preliminary differential control strategy can be achieved through a reinforcement learning model, such as: Q-learning, DQN and other models.

[0128] S5. Query the control target in the optimized differential control strategy, generate a control instruction corresponding to the fixed-wing UAV based on the control target, monitor the flight feedback data of the fixed-wing UAV after executing the control instruction using the fixed-wing UAV, and generate a posture control report corresponding to the fixed-wing UAV based on the flight feedback data.

[0129] By querying the control target in the optimized differential control strategy, the present invention can ensure that the UAV flight control system always focuses on the expected flight performance and safety standards, which helps to timely identify and correct deviations during flight and improve flight stability and reliability.

[0130] Among them, the control target refers to the specific flight performance indicators and safety standards set in the optimized differential control strategy. These targets guide the flight behavior of the drone and the working mode of the control system. The control target may include maintaining a specific flight attitude (such as horizontal flight, climbing, descending), maintaining a stable flight speed, achieving precise heading control, and maintaining flight stability under different environmental conditions. Optionally, the control target in the differential control strategy after the query optimization can be obtained through configuration management tools, such as: Git, Subversion and other tools.

[0131] Furthermore, the present invention generates control instructions corresponding to the fixed-wing UAV based on the control target, which can ensure that the flight behavior of the UAV is highly consistent with predetermined performance indicators and safety standards, which not only improves the accuracy and stability of the flight, but also helps to quickly respond and adjust in a complex and changeable flight environment, thereby improving the overall flight efficiency and safety.

[0132] Among them, the control instructions refer to specific operation commands generated according to the control targets. These commands directly guide the flight behavior of the fixed-wing UAV. The control instructions include adjusting the motor speed, changing the flight direction, setting the flight altitude, adjusting the flight speed and other operations. Optionally, the control instructions corresponding to the fixed-wing UAV can be obtained through a control law model, such as: PID controller, LQR and other tools.

[0133] Furthermore, by monitoring the flight feedback data of the fixed-wing UAV after the fixed-wing UAV executes the control instruction, the present invention can evaluate and verify the execution effect of the control instruction in real time, ensure that the flight behavior is consistent with the expected goal, and provide valuable empirical basis for subsequent control strategy optimization, which is helpful to continuously improve the flight performance and mission execution capability of the UAV.

[0134] Among them, the flight feedback data refers to the real-time data about the flight status and performance collected by various sensors and systems after the fixed-wing UAV executes the control instructions. These data may include the attitude (such as pitch, roll, yaw angle) of the UAV, speed (such as airspeed, ground speed), position (such as GPS coordinates, altitude), motor speed, battery power, environmental conditions (such as wind speed, temperature), etc. Optionally, the flight feedback data of the fixed-wing UAV can be obtained by monitoring the flight feedback data of the fixed-wing UAV through a data processing algorithm, such as filtering algorithm and other algorithms.

[0135] Furthermore, the present invention generates an attitude control report corresponding to the fixed-wing UAV based on the flight feedback data, which helps to quickly identify problems and potential risks during flight, so as to make more informed decisions and adjustments, improve the transparency and predictability of flight operations, and enhance the safety of UAVs and the efficiency of mission execution.

[0136] Among them, the attitude control report refers to a detailed report generated through advanced analysis and processing based on feedback data collected during the flight of the fixed-wing UAV. This report not only contains a summary of the flight data, but also combines algorithms and models to conduct an in-depth analysis of the data, and provides insights and suggestions on flight performance, system status, environmental impact, etc. Optionally, the attitude control report corresponding to the fixed-wing UAV can be obtained through a report generation tool, such as: LaTeX, Microsoft Word and other tools.

[0137] First, the present invention acquires the driving dual motors corresponding to the fixed-wing UAV and collects the real-time motor data corresponding to the driving dual motors in real time, so as to accurately understand the working state of the motors, including key parameters such as speed, current, and power, which is helpful to optimize the energy management of the UAV. At the same time, the present invention identifies the adjustable resistor connected to one end of the driving dual motors based on the key parameters, which enables us to more accurately control the working state of the motors. For example, when the key parameters show that the motor speed difference is too large or the current is unbalanced, the resistance can be quickly adjusted by identifying the adjustable resistor, thereby changing the current and voltage distribution in the circuit, thereby optimizing the operating efficiency and stability of the motor. The present invention determines the corresponding connection mode of the transistor by querying the transistor connected to the other end of the driving dual motor, which helps to deeply understand the working principle and characteristics of the motor driving circuit, and can accurately analyze the current flow direction and control logic, so as to better predict and master the operating state of the motor. The present invention is based on the total resistance value and the The current value of the collector extreme end determines the influencing factor vector corresponding to the driving dual motor, which can comprehensively and accurately evaluate the various influencing factors in the operation of the motor, and can more clearly reveal the complex relationship between the working state of the motor and the external conditions. At the same time, potential fault hazards can be discovered in time, and preventive measures can be taken in advance to avoid sudden faults from causing serious impact on the flight of fixed-wing UAVs. The present invention is based on the environmental compensation value combined with the state characteristics of the driving dual motors to construct the initial differential control strategy corresponding to the fixed-wing UAV, which can significantly improve the flight stability and adaptability of the UAV, effectively offset the adverse effects of environmental changes such as wind and temperature, and ensure that the UAV still maintains a stable and accurate flight trajectory in a complex and changeable environment. Further, the present invention can ensure that the UAV flight control system always focuses on the expected flight performance and safety standards by querying the control target in the optimized differential control strategy, which helps to timely identify and correct deviations during flight and improve the stability and reliability of flight. Therefore, the flight attitude control method and system based on capacitive fixed-wing proposed by the present invention can improve the flight performance and controllability of capacitive fixed-wing.

[0138] like Figure 2 , is a functional module diagram of a capacitive fixed-wing flight attitude control system provided in one embodiment of the present invention.

[0139] The flight attitude control system 200 based on capacitive fixed wing of the present invention can be installed in an electronic device. According to the functions to be implemented, the flight attitude control system 200 based on capacitive fixed wing can include a parameter extraction module 201, a total resistance calculation module 202, a current value calculation module 203, an environmental compensation value calculation module 204, a control strategy optimization module 205 and a control report generation 206. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0140] In this embodiment, the functions of each module / unit are as follows:

[0141] The parameter extraction module 201 is used to obtain the driving dual motors corresponding to the fixed-wing UAV, collect the real-time motor data corresponding to the driving dual motors in real time, perform data preprocessing on the real-time motor data to obtain preprocessed motor data, and extract key parameters from the preprocessed motor data, wherein the key parameters include: speed difference and current balance;

[0142] A total resistance calculation module 202 is used to identify the adjustable resistor connected to one end of the driving dual motor based on the key parameters, determine the adjustable end corresponding to the adjustable resistor, use the adjustable end as an input port, and use both sides of the adjustable end as output ports, and calculate the total resistance value corresponding to the adjustable resistor based on the input port and the output port;

[0143] The current value calculation module 203 is used to query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value of the collector end in the current loop;

[0144] The environmental compensation value calculation module 204 is used to determine the influencing factor vector corresponding to the driving dual motor based on the total resistance value and the current value of the collector terminal, perform attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector, obtain attitude correction data, analyze the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and calculate the environmental compensation value corresponding to the flight environment parameters;

[0145] A control strategy optimization module 205 is used to construct a preliminary differential speed control strategy corresponding to the fixed-wing UAV based on the environmental compensation value and the state characteristics of the driving dual motors, and iteratively optimize the preliminary differential speed control strategy to obtain an optimized differential speed control strategy;

[0146] The control report generation module 206 is used to query the control target in the optimized differential control strategy, generate the control instruction corresponding to the fixed-wing UAV based on the control target, monitor the flight feedback data of the fixed-wing UAV after executing the control instruction using the fixed-wing UAV, and generate the attitude control report corresponding to the fixed-wing UAV based on the flight feedback data.

[0147] In detail, the modules described in the capacitive fixed-wing based flight attitude control system 200 described in the embodiment of the present invention adopt the same technical means as the capacitive fixed-wing based flight attitude control method described in the accompanying drawings when in use, and can produce the same technical effects, which will not be repeated here.

[0148] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A flight attitude control method based on capacitive fixed-wing, It is characterized in that The method comprises: Obtaining a driving dual motor corresponding to the fixed-wing UAV, collecting real-time motor data corresponding to the driving dual motor in real time, performing data preprocessing on the real-time motor data to obtain preprocessed motor data, and extracting key parameters from the preprocessed motor data, wherein the key parameters include: speed difference and current balance; Based on the key parameters, an adjustable resistor connected to one end of the driving dual motor is identified, an adjustable end corresponding to the adjustable resistor is determined, the adjustable end is used as an input port, and both sides of the adjustable end are used as output ports, and based on the input port and the output port, a total resistance value corresponding to the adjustable resistor is calculated; Query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value of the collector end in the current loop; Based on the total resistance value and the current value of the collector terminal, determining the influencing factor vector corresponding to the driving dual motor, performing attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data, analyzing the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and calculating the environmental compensation value corresponding to the flight environment parameters; Based on the environmental compensation value and the state characteristics of the driving dual motors, a preliminary differential speed control strategy corresponding to the fixed-wing UAV is constructed, and the preliminary differential speed control strategy is iteratively optimized to obtain an optimized differential speed control strategy; The control target in the optimized differential control strategy is queried, and based on the control target, a control instruction corresponding to the fixed-wing UAV is generated. After the fixed-wing UAV executes the control instruction, the flight feedback data of the fixed-wing UAV is monitored, and based on the flight feedback data, an attitude control report corresponding to the fixed-wing UAV is generated.

2. The method for controlling the flight attitude of a capacitive fixed-wing aircraft according to claim 1, It is characterized in that The performing data preprocessing on the real-time motor data to obtain preprocessed motor data includes: Performing data cleaning on the real-time motor data to obtain motor cleaning data; Performing data standardization on the motor cleaning data to obtain standardized motor data; Performing smoothing filtering on the standardized motor data to obtain filtered motor data; Identifying a logic sequence corresponding to the filtered motor data; Based on the logic sequence, the real-time motor data is preprocessed to obtain preprocessed motor data.

3. The method for controlling the flight attitude of a capacitive fixed-wing aircraft according to claim 1, It is characterized in that The calculating the total resistance value corresponding to the adjustable resistor based on the input port and the output port includes: The total resistance value corresponding to the adjustable resistor is calculated using the following formula: Ω1=Ω2+Ω3 Among them, Ω1 is the total resistance value of the adjustable resistor, Ω2 is the resistance value of the adjustable end side, and Ω3 is the resistance value of the adjustable end side.

4. The method for controlling the flight attitude based on a capacitive fixed wing according to claim 1, It is characterized in that The calculating the current value at the collector end in the current loop includes: The current value at the collector end in the current loop is calculated using the following formula: I c =β×I b +(1+β)×I ceo Among them, I c represents the current value at the collector end in the current loop, β represents the current amplification factor of the transistor in the current loop, I b Represents the base current, I ceo Represents the collector-emitter reverse saturation current of the transistor in the current loop.

5. The method for controlling the flight attitude based on a capacitive fixed wing according to claim 1, It is characterized in that The step of performing attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data includes: Identify the vector category corresponding to the influencing factor vector; Based on the vector category, analyzing the influence degree of the fixed-wing UAV corresponding to the flight attitude; Based on the degree of influence, calculating an attitude deviation value between a current flight attitude of the fixed-wing UAV and a preset flight attitude; Based on the attitude deviation value, generating a deviation correction strategy corresponding to the fixed-wing UAV; The deviation correction strategy is used to perform attitude correction on the corresponding flight attitude of the fixed-wing UAV to obtain attitude correction data.

6. The method for controlling the flight attitude of a capacitive fixed-wing aircraft according to claim 1, It is characterized in that The step of calculating the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude based on the influence degree includes: The attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude is calculated using the following formula: Wherein, ZP represents the attitude deviation value between the current flight attitude of the fixed-wing UAV and the preset flight attitude, i′ represents the parameter index of the corresponding flight attitude parameter of the fixed-wing UAV, n′ represents the total number of flight attitude parameters, and Ys i′ represents the influence weight of the i′th flight attitude parameter on the fixed-wing UAV, Dz i′ represents the actual measured value of the i′th flight attitude parameter under the current flight attitude, Mz i′ represents the target value of the i′th flight attitude parameter of the preset flight attitude, Tg i′ Represents the attitude tolerance of the i′th flight attitude parameter.

7. The method for controlling the flight attitude based on a capacitive fixed wing according to claim 1, It is characterized in that The step of analyzing the flight environment parameters of the fixed-wing UAV based on the attitude correction data includes: Integrate the attitude correction data with relevant flight data corresponding to the fixed-wing UAV in the same period to obtain an integrated data set; extracting integrated features from the integrated data set; Based on the integrated features, determining geographic information corresponding to the fixed-wing UAV; Based on the geographic information and its corresponding meteorological data, the flight environment parameters of the fixed-wing UAV are analyzed.

8. The method for controlling the flight attitude based on a capacitive fixed wing according to claim 1, It is characterized in that The calculating the environmental compensation value corresponding to the flight environment parameter includes: The environmental compensation value corresponding to the flight environment parameter is calculated using the following formula: Among them, C env represents the environmental compensation value corresponding to the flight environment parameter, j represents the type index of the flight environment parameter, m represents the number of types of flight environment parameters, and w i represents the weight coefficient of the jth flight environment parameter, P j represents the actual measured value of the jth flight environment parameter, represents the standard value of the jth flight environment parameter, A j Represents the adjustment coefficient of the jth flight environment parameter.

9. The method for controlling the flight attitude based on a capacitive fixed wing according to claim 1, It is characterized in that The method of constructing a preliminary differential speed control strategy corresponding to the fixed-wing UAV based on the environmental compensation value and the state characteristics of the driving dual motors includes: Performing data fusion on the environmental compensation value and the state characteristics in the driving dual motors to obtain a fused data set; Extracting key fusion parameters from the fusion data set, and analyzing control factors corresponding to the key fusion parameters; Based on the control factors, a preliminary differential control strategy corresponding to the fixed-wing UAV is constructed using a preset differential control algorithm.

10. A flight attitude control system based on capacitive fixed-wing, It is characterized in that Used to execute the flight attitude control method based on capacitive fixed-wing according to any one of claims 1 to 9, the system comprises: A parameter extraction module is used to obtain the driving dual motors corresponding to the fixed-wing UAV, collect real-time motor data corresponding to the driving dual motors in real time, perform data preprocessing on the real-time motor data to obtain preprocessed motor data, and extract key parameters from the preprocessed motor data, wherein the key parameters include: speed difference and current balance; A total resistance calculation module, used for identifying the adjustable resistor connected to one end of the driving dual motor based on the key parameters, determining the adjustable end corresponding to the adjustable resistor, using the adjustable end as an input port, and using both sides of the adjustable end as output ports, and calculating the total resistance value corresponding to the adjustable resistor based on the input port and the output port; A current value calculation module is used to query the transistor connected to the other end of the driving dual motor, determine the connection mode corresponding to the transistor, generate a current loop corresponding to the driving dual motor based on the connection mode and the emitter grounding corresponding to the transistor, and calculate the current value of the collector end in the current loop; An environmental compensation value calculation module is used to determine the influencing factor vector corresponding to the driving dual motor based on the total resistance value and the current value of the collector terminal, perform attitude correction on the corresponding flight attitude of the fixed-wing UAV based on the influencing factor vector to obtain attitude correction data, analyze the flight environment parameters of the fixed-wing UAV based on the attitude correction data, and calculate the environmental compensation value corresponding to the flight environment parameters; A control strategy optimization module, configured to construct a preliminary differential speed control strategy corresponding to the fixed-wing UAV based on the environmental compensation value and the state characteristics of the driving dual motors, and iteratively optimize the preliminary differential speed control strategy to obtain an optimized differential speed control strategy; The control report generation module is used to query the control target in the optimized differential control strategy, generate the control instruction corresponding to the fixed-wing UAV based on the control target, monitor the flight feedback data of the fixed-wing UAV after executing the control instruction by the fixed-wing UAV, and generate the attitude control report corresponding to the fixed-wing UAV based on the flight feedback data.

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