eVTOL flight control system and control method based on time-sensitive network

Abstract

The present invention discloses an eVTOL flight control system and control method based on a time-sensitive network, which is used for eVTOL aircraft models. The system includes a main flight control unit, a backup flight control unit, a time-sensitive network unit, and a data concentration unit. The main flight control unit is connected to the backup flight control unit, the data concentration unit is connected to the time-sensitive network unit, and the time-sensitive network unit is connected to the main flight control unit; the main flight control unit is used to perform calculation processing and redundancy management of the main flight control; the backup flight control unit is used to take over when the main flight control unit fails; the time-sensitive network unit is used to perform communication conversion between the main flight control unit and the backup flight control unit; the data concentration unit is used to convert data from external devices and transmit it to the time-sensitive network unit. Through the communication conversion between the time-sensitive network unit and the data concentration unit, the present invention can achieve miniaturization and lightweighting of the equipment while ensuring performance.

Description

Technical Field

[0001] The present invention relates to the field of aircraft flight control technology, and in particular to an eVTOL flight control system and control method based on a time-sensitive network. Background Art

[0002] With the development of electric vertical take-off and landing aircraft (eVTOL), traditional fly-by-wire flight control systems are no longer fully applicable to this new type of aircraft. The take-off weight of eVTOL aircraft generally does not exceed 3 tons, and the passenger capacity is 4-5 people, and its safety requirements are relatively low. However, since eVTOL adopts a hybrid configuration of multi-rotor and fixed-wing, pilots cannot control multiple sets of actuators through mechanical connections and must rely on fly-by-wire flight control systems for flight stability control. At the same time, the size and weight of eVTOL are limited, resulting in the weight and volume of traditional network equipment being unsuitable for its use. In order to adapt to the special needs of eVTOL, the industry urgently needs a new flight control system technology solution that can achieve miniaturization and lightweighting of equipment while ensuring performance. Summary of the Invention

[0003] The purpose of the present invention is to provide an eVTOL flight control system and control method based on a time-sensitive network, aiming to solve the problem that traditional network equipment cannot be used on eVTOL aircraft.

[0004] An embodiment of the present invention provides an eVTOL flight control system based on a time-sensitive network for an eVTOL aircraft, including:

[0005] a primary flight control unit, a backup flight control unit, a time-sensitive network unit, and a data concentration unit, wherein the primary flight control unit is connected to the backup flight control unit, the data concentration unit is connected to the time-sensitive network unit, and the time-sensitive network unit is connected to the primary flight control unit;

[0006] The primary flight control unit is used to perform calculation processing and redundancy management of primary flight control;

[0007] The backup flight control unit is used to take over the main flight control unit when the main flight control unit fails;

[0008] The time-sensitive network unit is used to perform communication conversion between the primary flight control unit and the backup flight control unit, and transmit data of the backup flight control unit to the primary flight control unit;

[0009] The data concentration unit is used to convert the external device data and transmit it to the time sensitive network unit.

[0010] Furthermore, it also includes:

[0011] a navigation sensing unit, a flight control unit, a landing gear sensing unit, a backup heading attitude reference unit, a servo actuation unit, and a distributed electric propulsion unit, wherein the navigation sensing unit is connected to the data concentration unit, the flight control unit is respectively connected to the data concentration unit and the backup flight control unit, the landing gear sensing unit is respectively connected to the data concentration unit and the backup flight control unit, the backup heading attitude reference unit is connected to the backup flight control unit, the servo actuation unit is respectively connected to the data concentration unit and the backup flight control unit, and the distributed electric propulsion unit is respectively connected to the data concentration unit and the backup flight control unit;

[0012] The navigation sensor unit is used to detect and obtain the spatial position, speed and acceleration during flight;

[0013] The flight control unit is used to receive control signals and convert the control signals into flight control instructions;

[0014] The landing gear sensing unit is used to detect the state of the landing gear;

[0015] The backup heading and attitude reference unit is used to push heading information, attitude information and speed information respectively when the main flight control unit fails;

[0016] The servo actuator unit is used to change the flight attitude and flight direction according to the flight control instruction;

[0017] The distributed electric propulsion unit is used to provide flight power distribution.

[0018] Furthermore, the main flight control unit includes a command interface, a monitoring interface and an IO interface, the command interface and the monitoring interface are respectively connected to the time-sensitive network unit, and the IO interface is connected to the backup flight control unit;

[0019] The command interface is used to establish communication with the time-sensitive network unit;

[0020] The monitoring interface is used to establish communication with the time-sensitive network unit;

[0021] The IO interface is used to establish communication with the backup flight control unit.

[0022] Furthermore, the backup flight control unit includes a discrete quantity control unit, a data bus conversion unit and an isolation circuit unit, the discrete quantity control unit is connected to the data bus conversion unit, and the data bus conversion unit is connected to the isolation circuit unit;

[0023] The discrete quantity control unit is used to receive the discrete quantity signal of the main flight control unit and transmit it to the output end of the data bus conversion unit;

[0024] The data bus conversion unit is used to output the control instructions of the backup flight;

[0025] The isolation circuit unit is used to communicate with the servo actuation unit and the distributed electric propulsion unit respectively.

[0026] Furthermore, the data concentration unit is connected to the navigation sensor unit via an ARINC429 bus, and / or the data concentration unit is connected to the servo actuator unit and the distributed electric propulsion unit respectively via a controller area network.

[0027] Furthermore, it also includes a flight management system display connected to the time sensitive network unit, and the flight management system display is used to provide flight control management for operators.

[0028] Furthermore, the landing gear sensing unit is connected to the data concentration unit via a discrete interface.

[0029] Furthermore, the backup flight control unit is used to alleviate common mode failure of the main flight control unit.

[0030] Furthermore, when the discrete quantity signal of the main flight control unit is OFF, the discrete quantity control unit output signal is ON, and the output backup flight control instruction of the data bus conversion unit is connected; or, when the discrete quantity signal of the main flight control unit is ON, the discrete quantity control unit output signal is OFF, and the output backup flight control instruction of the data bus conversion unit is disconnected.

[0031] The present invention also provides a control method for the eVTOL flight control system based on a time-sensitive network as described above, comprising:

[0032] Utilizing the primary flight control unit to perform calculation processing and redundancy management of primary flight control;

[0033] When the primary flight control unit fails, the backup flight control unit takes over the primary flight control unit, and uses the time-sensitive network unit to perform communication conversion between the primary flight control unit and the backup flight control unit, so as to transmit data of the backup flight control unit to the primary flight control unit;

[0034] The data concentration unit is used to convert the external device data and transmit the converted data to the time-sensitive network unit.

[0035] The present invention provides an eVTOL flight control system and control method based on a time-sensitive network, which is used for eVTOL aircraft models. The system includes a main flight control unit, a backup flight control unit, a time-sensitive network unit, and a data concentration unit. The main flight control unit is connected to the backup flight control unit, the data concentration unit is connected to the time-sensitive network unit, and the time-sensitive network unit is connected to the main flight control unit; the main flight control unit is used to perform calculation processing and redundancy management of the main flight control; the backup flight control unit is used to take over the main flight control unit when the main flight control unit fails; the time-sensitive network unit is used to convert communication between the main flight control unit and the backup flight control unit, and transmit data from the backup flight control unit to the main flight control unit; the data concentration unit is used to convert data from external devices and transmit it to the time-sensitive network unit. Through the mutual cooperation of the time-sensitive network unit and the data concentration unit, the present invention can achieve miniaturization and lightweighting of the equipment while ensuring performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 An architectural diagram of an eVTOL flight control system based on a time-sensitive network according to an embodiment of the present invention;

[0038] Figure 2 An architectural diagram of a primary flight control unit provided in an embodiment of the present invention;

[0039] Figure 3 This is an architectural diagram of the backup flight control unit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0042] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0043] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0044] Combine Figure 1 As shown, Figure 1 This is an architecture diagram of an eVTOL flight control system based on a time-sensitive network. The eVTOL flight control system based on a time-sensitive network is used for eVTOL aircraft and specifically includes:

[0045] a primary flight control unit, a backup flight control unit, a time-sensitive network unit, and a data concentration unit, wherein the primary flight control unit is connected to the backup flight control unit, the data concentration unit is connected to the time-sensitive network unit, and the time-sensitive network unit is connected to the primary flight control unit;

[0046] The primary flight control unit is used to perform calculation processing and redundancy management of primary flight control;

[0047] The backup flight control unit is used to take over the main flight control unit when the main flight control unit fails;

[0048] The time-sensitive network unit is used to perform communication conversion between the primary flight control unit and the backup flight control unit, and transmit data of the backup flight control unit to the primary flight control unit;

[0049] The data concentration unit is used to convert the external device data and transmit it to the time sensitive network unit.

[0050] In this embodiment, for ease of understanding, this embodiment provides an abbreviation table as follows:

[0051]

[0052] This paper provides an eVTOL flight control system based on time-sensitive networking (TSN), suitable for various eVTOL aircraft models. The system includes a primary flight control unit (PFCU), a backup flight control unit (BFCU), a time-sensitive networking unit (TSN unit), and a data concentration unit (DCU). These units communicate and exchange data efficiently via the time-sensitive network, ensuring reliable operation in both normal and fault conditions.

[0053] Specifically, the Primary Flight Control Unit (PFCU) is responsible for performing the core computational processing for primary flight control functions while also managing redundancy. Connecting to other units and devices via a time-sensitive network (TSN) unit, the PFCU processes external control inputs and sensor data, ensuring aircraft stability and control accuracy in various flight conditions. The Backup Flight Control Unit (BFCU) automatically takes over control tasks if the PFCU malfunctions or fails. To prevent false triggering, the BFCU's activation condition is based on a failure signal from the PFCU, ensuring system safety and reliability. The Time-Sensitive Network (TSN) unit plays a core role in data exchange within the entire system. It handles communication conversion between the PFCU and the BFCU, ensuring real-time and reliable data transmission between modules. The TSN unit's high-speed network characteristics enable stable operation of the flight control system with low latency, improving system responsiveness and redundancy management capabilities. The Data Concentration Unit (DCU) converts data from external devices (such as those using ARINC429 and CAN protocols) into TSN protocol packets, which are then transmitted to the TSN unit. The data concentration unit can be connected to multiple different types of aviation equipment, such as sensors, actuators, etc. through interface expansion, ensuring that the system can receive and process a variety of external data and effectively transmit this data to the main flight control unit and the backup flight control unit.

[0054] The flight control system's architectural design ensures efficient primary flight control and redundant backup control capabilities during flight. If the primary flight control unit fails, the backup flight control unit can intervene promptly to ensure flight safety. Furthermore, the use of a time-sensitive network (TSN) significantly reduces data transmission latency, improving the real-time and reliability of the flight control system and addressing the lightweight, low-power requirements of eVTOL aircraft.

[0055] In one embodiment, the eVTOL flight control system based on a time-sensitive network further includes:

[0056] a navigation sensing unit, a flight control unit, a landing gear sensing unit, a backup heading attitude reference unit, a servo actuation unit, and a distributed electric propulsion unit, wherein the navigation sensing unit is connected to the data concentration unit, the flight control unit is respectively connected to the data concentration unit and the backup flight control unit, the landing gear sensing unit is respectively connected to the data concentration unit and the backup flight control unit, the backup heading attitude reference unit is connected to the backup flight control unit, the servo actuation unit is respectively connected to the data concentration unit and the backup flight control unit, and the distributed electric propulsion unit is respectively connected to the data concentration unit and the backup flight control unit;

[0057] The navigation sensor unit is used to detect and obtain the spatial position, speed and acceleration during flight;

[0058] The flight control unit is used to receive control signals and convert the control signals into flight control instructions;

[0059] The landing gear sensing unit is used to detect the state of the landing gear;

[0060] The backup heading and attitude reference unit is used to push heading information, attitude information and speed information respectively when the main flight control unit fails;

[0061] The servo actuator unit is used to change the flight attitude and flight direction according to the flight control instruction;

[0062] The distributed electric propulsion unit is used to provide flight power distribution.

[0063] In this embodiment, the eVTOL flight control system further includes: a navigation sensor unit (Navigation Sensor), a pilot control interface (PCI), a landing gear sensor unit (Landing Gear Sensor), a backup heading attitude reference unit (Backup AHRS), an actuator system (Actuation System), and a distributed electric propulsion unit (DEPS). The navigation sensor unit is used to detect and acquire important flight data such as spatial position, velocity, and acceleration during flight. The navigation sensor unit converts the detected data information into signals compliant with the TSN protocol through the data concentrator and transmits them to the primary and backup flight control units, ensuring real-time monitoring of the flight control system's position and motion during flight. The flight control unit is used to receive pilot control signals and convert them into flight control commands. The flight control unit transmits the signals to the primary flight control unit through the data concentrator and is directly connected to the backup flight control unit. In the event of failure of the primary flight control unit, it can seamlessly switch to the backup control unit to ensure continuous control. The landing gear sensor unit is used to detect landing gear status information, including the retraction and extension status of the landing gear and related mechanical parameters. The landing gear sensing unit communicates with other units of the flight control system through the data concentrator and is also connected to the backup flight control unit, ensuring accurate monitoring and control of the landing gear even in the event of a failure of the primary flight control unit. The backup heading and attitude reference unit provides heading, attitude, and speed information to the backup flight control unit in the event of a failure of the primary flight control unit. This ensures that the aircraft can still obtain critical navigation information in emergency situations, ensuring flight safety and stability. The servo actuation unit adjusts the aircraft's attitude and direction based on flight control commands generated by the flight control unit. The servo actuation unit is connected to the primary flight control unit and the backup flight control unit through the data concentrator, ensuring the servo actuation system can continue to operate normally and provide emergency control in the event of a failure of the primary flight control unit. The distributed electric propulsion unit provides flight power distribution. The distributed electric propulsion unit communicates with the primary flight control unit through the data concentrator and is directly connected to the backup flight control unit, ensuring that the aircraft's power output can be maintained in the event of a failure of the primary flight control unit, ensuring flight safety. When the eVTOL flight control system is operating normally, all key units are controlled by the main flight control unit; when the main flight control unit fails, the backup flight control unit automatically takes over to ensure that the flight control system can continue to provide reliable flight control in emergency situations.

[0064] Combine Figure 2As shown, in one embodiment, the main flight control unit includes a command interface, a monitoring interface and an IO interface, the command interface and the monitoring interface are respectively connected to the time-sensitive network unit, and the IO interface is connected to the backup flight control unit;

[0065] The command interface is used to establish communication with the time-sensitive network unit;

[0066] The monitoring interface is used to establish communication with the time-sensitive network unit;

[0067] The IO interface is used to establish communication with the backup flight control unit.

[0068] In this embodiment, the main flight control unit includes a command interface, a monitoring interface and an input / output (IO) interface, and each interface communicates and transmits data with the backup flight control unit through a time-sensitive network. Figure 2 COM-TSN-Eth and MON-TSN-Eth correspond to the two time-sensitive network units in the primary flight control unit. COM-IO and MON-IO are additional interfaces output by the primary flight control unit for connecting to the backup flight control unit and other expansion interfaces. The primary flight control unit's cross-connect interface is 1000BASE-T1. The command interface establishes a communication connection with the time-sensitive network unit and is primarily responsible for sending and receiving flight control commands from the time-sensitive network unit. Through the command interface, the primary flight control unit can obtain critical information from external systems (such as sensors and navigation equipment) and use it for flight control calculations. The command interface also sends control commands to other systems to achieve coordinated system operation. The monitoring interface is also connected to the time-sensitive network unit and is specifically used to monitor the operating status of the primary flight control unit in real time. Through the monitoring interface, the system can monitor and evaluate the operation of the primary flight control unit, including flight data status feedback, equipment health information, and system load status. The monitoring interface ensures the reliability of the flight control system and supports rapid response in emergency situations through real-time monitoring data. The IO interface is used to establish a communication connection with the backup flight control unit, ensuring that the backup flight control unit can seamlessly take over control tasks when the main flight control unit fails. The IO interface not only transmits control data from the main flight control unit, but also receives feedback information from the backup unit when necessary, thereby ensuring the redundancy and safety performance of the flight control system. Through the design of these three interfaces, the main flight control unit can efficiently exchange data with the time-sensitive network unit and the backup flight control unit, ensuring that the flight control system can provide stable and reliable flight control support under both normal and fault conditions.

[0069] In one embodiment, the backup flight control unit includes a discrete quantity control unit, a data bus conversion unit, and an isolation circuit unit, wherein the discrete quantity control unit is connected to the data bus conversion unit, and the data bus conversion unit is connected to the isolation circuit unit;

[0070] The discrete quantity control unit is used to receive the discrete quantity signal of the main flight control unit and transmit it to the output end of the data bus conversion unit;

[0071] The data bus conversion unit is used to output the control instructions of the backup flight;

[0072] The isolation circuit unit is used to communicate with the servo actuation unit and the distributed electric propulsion unit respectively.

[0073] In this embodiment, the backup flight control unit includes a discrete quantity control unit, a data bus conversion unit, and an isolation circuit unit. These units are interconnected and work in conjunction to ensure that if the primary flight control unit fails, the backup flight control unit can quickly take over flight control tasks, ensuring safe operation of the aircraft. The discrete quantity control unit is used to receive discrete quantity signals from the primary flight control unit. Discrete quantity signals typically represent status instructions or control feedback information from the primary flight control unit. When the primary flight control unit is operating normally, the discrete quantity control unit transmits the discrete quantity signals to the data bus conversion unit for further processing. In the event of a primary flight control unit failure, the backup flight control unit directly receives the necessary flight control signals through the discrete quantity control unit, enabling emergency takeover. The data bus conversion unit is responsible for converting the discrete quantity signals received by the discrete quantity control unit into a command format that conforms to the backup flight control and outputs the corresponding control instructions. Specifically, the data bus conversion unit converts various sensor data and control signals into standard control instructions, which are then transmitted to the servo actuator unit and distributed electric propulsion unit, ensuring that the aircraft's attitude control and power distribution are not affected. The isolation circuit unit is used to communicate with the servo actuator unit and distributed electric propulsion unit, respectively. The function of the isolation circuit unit is to electrically isolate the control signal to avoid signal interference and erroneous operation caused by system failure.

[0074] In one embodiment, the data concentration unit is connected to the navigation sensor unit via an ARINC429 bus, and / or the data concentration unit is connected to the servo actuator unit and the distributed electric propulsion unit respectively via a controller area network.

[0075] In this embodiment, the data concentration unit is connected to the navigation sensor unit via the ARINC429 bus. ARINC429 is a unidirectional data transmission bus protocol widely used in avionics, offering high reliability and anti-interference capabilities. In this embodiment, the navigation sensor unit transmits navigation information such as position, velocity, and acceleration during flight to the data concentration unit via the ARINC429 bus. The data concentration unit then converts this navigation data into signals compliant with the Time-Sensitive Networking (TSN) protocol and transmits them to the primary and backup flight control units for real-time flight status monitoring and control. Furthermore, the data concentration unit is connected to the servo actuator unit and distributed electric propulsion unit via the Controller Area Network (CAN). CAN is a multi-host communication protocol widely used in environments requiring high real-time performance and reliability. In this embodiment, the servo actuator unit and distributed electric propulsion unit establish a bidirectional communication connection with the data concentration unit via CAN. The servo actuator unit receives flight control commands and adjusts flight attitude, while the distributed electric propulsion unit distributes and regulates power according to the control commands. This design enables the data concentration unit to be compatible with different communication protocols (such as ARINC429 and CAN), effectively integrating data from various sensors and control devices. This not only ensures efficient coordination between navigation, flight control, and power distribution, but also improves the real-time nature of data transmission and overall system stability. Whether communicating via the one-way ARINC429 bus or the two-way CAN bus, both ensure smooth data exchange between systems during flight, thereby enhancing the safety and reliability of the eVTOL flight control system.

[0076] In one embodiment, a flight management system display connected to the time-sensitive network unit is further included, wherein the flight management system display is used to provide flight control management for operators.

[0077] In this embodiment, the flight control system also includes a flight management system display (FMS) connected to a time-sensitive network unit. As part of the flight management system (FMS), the FMS display specifically provides operators with real-time flight control information and a management interface. The FMS display receives critical information from the primary flight control unit (PCU), backup flight control unit (BCU), and navigation sensor unit (NSU) via the TSN unit, and intuitively displays flight status, flight path, navigation data, system health, and other flight control-related information to the operator. The FMS display allows operators to monitor aircraft operations in real time and obtain timely information on the execution of flight control commands and system feedback. The FMS display not only provides flight control management functions but also provides early warning of abnormal conditions. If the flight control system detects a failure in the PCU or other units, the FMS display immediately issues a warning to the operator and indicates the activation of the BCU, ensuring that the operator can make timely decisions.

[0078] In one embodiment, the landing gear sensing unit is connected to the data concentration unit via a discrete interface.

[0079] In this embodiment, the landing gear sensing unit is connected to the data concentration unit through a discrete interface. The discrete interface is a communication method for transmitting switching signals, which is suitable for simple signal transmission needs such as status detection. The landing gear sensing unit is used to monitor the status information of the landing gear, such as the retraction and extension position of the landing gear, whether it is locked, etc. Through the discrete interface, the landing gear sensing unit can transmit this key information to the data concentration unit. After receiving the landing gear status information, the data concentration unit will convert it into a signal that complies with the time-sensitive network (TSN) protocol and transmit it to the main flight control unit and the backup flight control unit to ensure that the flight control system can grasp the status of the landing gear in real time and make corresponding control adjustments. This ensures the simplicity and reliability of the flight control system. Transmitting key status information of the landing gear through a discrete interface can effectively reduce the need for complex signal processing and improve the real-time transmission of sensor signals.

[0080] In one embodiment, the backup flight control unit is used to mitigate common mode failure of the primary flight control unit.

[0081] In this embodiment, the backup flight control unit is used to mitigate the common-mode failure problem of the primary flight control unit. Common-mode failure refers to the simultaneous failure of multiple redundant control channels due to common factors or the same failure mechanism within the primary flight control unit. To ensure that the aircraft can maintain safe flight in the event of a primary flight control unit failure, the backup flight control unit is designed as an independent redundant control system to take over flight control tasks in the event of a common-mode failure. When a common-mode failure occurs in the primary flight control unit, the backup flight control unit will control the aircraft through its independent sensors and control loops to maintain basic operating functions. The backup flight control unit is independent of the hardware and software of the primary flight control unit and has independent control logic and fault detection mechanisms, which can avoid overall system failure caused by common-mode failure. In the event of a common-mode failure, the backup flight control unit can automatically identify the failure signal of the primary flight control unit and quickly take over the aircraft's critical control tasks, such as attitude control, power distribution, and flight status adjustment, ensuring that the aircraft can safely respond to emergency situations.

[0082] In one embodiment, when the discrete quantity signal of the main flight control unit is OFF, the discrete quantity control unit output signal is ON, and the output backup flight control instruction of the data bus conversion unit is connected; or, when the discrete quantity signal of the main flight control unit is ON, the discrete quantity control unit output signal is OFF, and the output backup flight control instruction of the data bus conversion unit is disconnected.

[0083] In this embodiment, the backup flight control unit uses discrete signals to determine the status of the primary flight control unit and, based on this status, decides whether to connect the backup flight control instructions. Specifically, when the primary flight control unit's discrete signal is OFF, this indicates that the primary flight control unit has failed or malfunctioned. At this point, the backup flight control unit's discrete control unit detects this signal and outputs an ON signal, indicating the entry into backup control mode. Subsequently, the data bus conversion unit connects the backup flight control instructions, ensuring that the backup flight control unit can smoothly take over flight control tasks and continue to manipulate the aircraft's attitude and power distribution. Conversely, when the primary flight control unit's discrete signal is ON, it indicates that the primary flight control unit is operating normally. At this point, the backup flight control unit's discrete control unit outputs an OFF signal, and the backup system enters standby mode. Correspondingly, the data bus conversion unit disconnects the backup flight control instructions, ensuring that the primary flight control unit has full control over the aircraft's flight control under normal conditions. The flight control system in this embodiment uses three main flight control units. When the channel discrete quantity signals of the three main flight control units are all OFF, the output signal is ON, and the control instruction output signal of the backup flight control unit is connected. Otherwise, the output signal is OFF, and the backup flight control unit output will be disconnected.

[0084] An embodiment of the present invention further provides a control method for the eVTOL flight control system based on a time-sensitive network as described above, comprising:

[0085] Utilizing the primary flight control unit to perform calculation processing and redundancy management of primary flight control;

[0086] When the primary flight control unit fails, the backup flight control unit takes over the primary flight control unit, and uses the time-sensitive network unit to perform communication conversion between the primary flight control unit and the backup flight control unit, so as to transmit data of the backup flight control unit to the primary flight control unit;

[0087] The data concentration unit is used to convert the external device data and transmit the converted data to the time-sensitive network unit.

[0088] In this embodiment, the primary flight control unit (PCU) performs primary flight control computations and redundancy management. During normal operation, the PCU exchanges data with various external devices and devices via a time-sensitive network (TSN) unit, ensuring the smooth completion of aircraft tasks such as attitude control, navigation, and power distribution. The PCU not only processes sensor input and control commands in real time but also continuously monitors system health through redundancy management to ensure flight safety. If the PCU fails, the system automatically switches to the backup PCU, which takes over the functions of the PCU. The TSN unit coordinates communication between the PCU and the backup PCU, transferring data from the backup PCU to the PCU, ensuring safe operation in the event of a PCU failure. The backup PCU, with its independent control loops and logic, can quickly respond and take over critical aircraft control tasks, such as attitude adjustment and power management.

[0089] At the same time, the data concentration unit plays a key interface role in the entire system. It is responsible for converting data from external devices (such as navigation sensors, servo actuators, and distributed electric propulsion units) into data that complies with the TSN protocol and transmits this data to the time-sensitive network unit. Through the unified interface management of the data concentration unit, various devices can efficiently exchange data and transmit control instructions through the time-sensitive network unit, ensuring the real-time performance of the system and the reliability of data processing.

[0090] This invention addresses the unique characteristics of eVTOL aircraft by proposing a novel flight control system architecture. This architecture utilizes a time-sensitive network unit (TSN) as the communication core, supports an expansion interface for a data concentration unit (DCU), and employs a backup flight control unit (FCU) to mitigate common-mode issues with the primary flight control unit (PCU). The PCU's interface is simple and adaptable, while also enabling design trade-offs based on different systems, aircraft models, and safety requirements. This invention not only reduces weight but also offers cost advantages, making it ideally suited for eVTOL aircraft.

[0091] The various embodiments are described in a progressive manner throughout the specification. Each embodiment focuses on the differences from the other embodiments, and reference can be made to the common and similar parts between the various embodiments. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0092] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or article comprising a series of elements may include not only those elements, but also other elements not explicitly listed, or may also include elements inherent to such process, method, article or article. In the absence of further restrictions, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or article comprising the element.

Claims

1. An eVTOL flight control system based on a time-sensitive network, for an eVTOL aircraft, characterized in that: include: A primary flight control unit, a backup flight control unit, a time-sensitive network unit, and a data concentration unit, wherein the primary flight control unit is connected to the backup flight control unit, the data concentration unit is connected to the time-sensitive network unit, and the time-sensitive network unit is connected to the primary flight control unit; The primary flight control unit is used to perform calculation processing and redundancy management of primary flight control; The backup flight control unit is used to take over the main flight control unit when the main flight control unit fails; The time-sensitive network unit is used to perform communication conversion between the primary flight control unit and the backup flight control unit, and transmit data of the backup flight control unit to the primary flight control unit; The data concentration unit is used to convert the external device data and transmit it to the time sensitive network unit.

2. The time-sensitive network-based eVTOL flight control system according to claim 1, characterized in that: Also includes: a navigation sensing unit, a flight control unit, a landing gear sensing unit, a backup heading attitude reference unit, a servo actuation unit, and a distributed electric propulsion unit, wherein the navigation sensing unit is connected to the data concentration unit, the flight control unit is respectively connected to the data concentration unit and the backup flight control unit, the landing gear sensing unit is respectively connected to the data concentration unit and the backup flight control unit, the backup heading attitude reference unit is connected to the backup flight control unit, the servo actuation unit is respectively connected to the data concentration unit and the backup flight control unit, and the distributed electric propulsion unit is respectively connected to the data concentration unit and the backup flight control unit; The navigation sensor unit is used to detect and obtain the spatial position, speed and acceleration during flight; The flight control unit is used to receive control signals and convert the control signals into flight control instructions; The landing gear sensing unit is used to detect the state of the landing gear; The backup heading and attitude reference unit is used to push heading information, attitude information and speed information respectively when the main flight control unit fails; The servo actuator unit is used to change the flight attitude and flight direction according to the flight control instruction; The distributed electric propulsion unit is used to provide flight power distribution.

3. The time-sensitive network-based eVTOL flight control system according to claim 1, characterized in that: The main flight control unit includes a command interface, a monitoring interface and an IO interface, the command interface and the monitoring interface are respectively connected to the time-sensitive network unit, and the IO interface is connected to the backup flight control unit; The command interface is used to establish communication with the time-sensitive network unit; The monitoring interface is used to establish communication with the time-sensitive network unit; The IO interface is used to establish communication with the backup flight control unit.

4. The time-sensitive network-based eVTOL flight control system according to claim 2, characterized in that: The backup flight control unit includes a discrete quantity control unit, a data bus conversion unit and an isolation circuit unit, the discrete quantity control unit is connected to the data bus conversion unit, and the data bus conversion unit is connected to the isolation circuit unit; The discrete quantity control unit is used to receive the discrete quantity signal of the main flight control unit and transmit it to the output end of the data bus conversion unit; The data bus conversion unit is used to output the control instructions of the backup flight; The isolation circuit unit is used to communicate with the servo actuation unit and the distributed electric propulsion unit respectively.

5. The time-sensitive network-based eVTOL flight control system according to claim 2, characterized in that: The data concentration unit is connected to the navigation sensor unit via an ARINC429 bus, and / or the data concentration unit is connected to the servo actuation unit and the distributed electric propulsion unit respectively via a controller area network.

6. The time-sensitive network-based eVTOL flight control system according to claim 1, characterized in that: The invention also includes a flight management system display connected to the time sensitive network unit, wherein the flight management system display is used to provide flight control management for operators.

7. The time-sensitive network-based eVTOL flight control system according to claim 2, characterized in that: The landing gear sensing unit is connected to the data concentration unit via a discrete interface.

8. The time-sensitive network-based eVTOL flight control system according to claim 1, characterized in that: The backup flight control unit is used to alleviate common mode failure of the main flight control unit.

9. The time-sensitive network-based eVTOL flight control system according to claim 4, characterized in that: When the discrete quantity signal of the main flight control unit is OFF, the discrete quantity control unit output signal is ON, and the output backup flight control instruction of the data bus conversion unit is connected; or, when the discrete quantity signal of the main flight control unit is ON, the discrete quantity control unit output signal is OFF, and the output backup flight control instruction of the data bus conversion unit is disconnected.

10. A control method for an eVTOL flight control system based on a time-sensitive network according to any one of claims 1 to 9, characterized in that: include: Utilizing the primary flight control unit to perform calculation processing and redundancy management of primary flight control; When the primary flight control unit fails, the backup flight control unit takes over the primary flight control unit, and uses the time-sensitive network unit to perform communication conversion between the primary flight control unit and the backup flight control unit, so as to transmit data of the backup flight control unit to the primary flight control unit; The data concentration unit is used to convert the external device data and transmit the converted data to the time-sensitive network unit.

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