Ground control method and device of aircraft model, electronic equipment and storage medium

Abstract

The invention provides a ground control method and device for an aircraft model, electronic equipment and a storage medium. The method comprises the following steps: determining that the aircraft model is in a ground operation state; determining the ground reaction force of the aircraft model, the pitch attitude data of the aircraft model, the rolling attitude data of the aircraft model and the ground sliding resistance of the aircraft model; and enabling the attitude of the aircraft model to adapt to the terrain change of the ground based on the adjustment of the ground reaction force, the pitching attitude data, the rolling attitude data and the ground sliding resistance. By adjusting the determined ground reaction force, pitching attitude data, rolling attitude data and ground running resistance to respond to the ground reaction force and topographic change, accurate control of the aircraft model on the ground can be realized, so that the attitude of the aircraft model adapts to the topographic change of the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of flight simulation, and in particular to a ground control method, device, electronic equipment and storage medium for an aircraft model. Background Art

[0002] The existing intelligent aircraft simulation system simply performs analytical calculations on the aircraft's speed, position and true heading. The specific implementation method is to control the position and attitude of the six-degree-of-freedom rigid body through the control of force and torque. When controlling the ground motion of the intelligent aircraft, the ground control characteristics are not considered. There is no professional ground model to simulate the ground control characteristics, resulting in insufficient accuracy of the aircraft's ground control. Summary of the invention

[0003] The present invention provides a ground control method, device, electronic equipment and storage medium for an aircraft model, which are used to improve the accuracy of controlling the aircraft model when the aircraft model is in a ground operation state.

[0004] The present invention provides a ground control method for an aircraft model, comprising the following steps: Determine that the aircraft model is in ground operation state; Determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Determining pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Determining the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; Based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance, the attitude of the aircraft model is adapted to the terrain changes of the ground.

[0005] According to a ground control method of an aircraft model provided by the present invention, the adjusting of the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance comprises: Adjusting the ground support reaction force based on adjusting the compression amount of the buffer support and the compression rate of the buffer support; Based on adjusting the control torque of the aircraft model, the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model are adjusted; The ground rolling resistance is adjusted based on adjusting the braking resistance of the aircraft model and setting the friction resistance coefficient of the aircraft model.

[0006] According to a ground control method of an aircraft model provided by the present invention, the method is based on adjusting the control torque of the aircraft model to adjust the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model, comprising: Determining a current pitch angle and a current roll angle of the aircraft model based on the pitch attitude data and the roll attitude data; Determining a target control torque of the aircraft model based on a difference between a target pitch angle and the current pitch angle, and a difference between a target roll angle and the current roll angle; The pitch attitude data and the roll attitude data of the aircraft model are adjusted based on adjusting the control torque of the aircraft model to the target control torque.

[0007] According to a ground control method of an aircraft model provided by the present invention, the ground support reaction force is: ; in, is the ground support reaction force, is the stiffness coefficient of the buffer support, is the damping coefficient of the buffer strut, is the compression of the buffer strut, is the compression rate of the buffer strut.

[0008] According to a ground control method of an aircraft model provided by the present invention, before determining the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut of the aircraft model, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut, the method further includes: Based on the sensor of the aircraft model, the center of gravity height and the vertical speed of the aircraft model are obtained, and based on the visual system of the aircraft model, the center of gravity terrain height data of the aircraft model is obtained; Based on the center of gravity height, the vertical speed, and the center of gravity terrain height data, a compression amount of the cushioning strut and a compression rate of the cushioning strut are determined.

[0009] According to a ground control method of an aircraft model provided by the present invention, the ground operation state includes ground taxiing of the aircraft model, taxiing of the aircraft model before take-off, and landing taxiing of the aircraft model.

[0010] The present invention also provides a ground control device for an aircraft model, comprising the following modules: A state determination module, used to determine whether the aircraft model is in a ground operation state; A ground support reaction force module, used for determining the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut of the aircraft model, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut; A terrain response module, used to determine the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; A handling characteristic module, used to determine the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; The control module is used to adjust the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance so that the attitude of the aircraft model adapts to the terrain changes of the ground.

[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a ground control method for an aircraft model as described above is implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the ground control method of the aircraft model as described in any one of the above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the ground control method of any of the above-mentioned aircraft models is implemented.

[0014] The ground control method, device, electronic device and storage medium of the aircraft model provided by the present invention can achieve precise control of the aircraft model on the ground by determining the ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance of the aircraft model in a ground running state, and adjusting the determined ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance to respond to the ground support reaction force and terrain changes, so that the attitude of the aircraft model can adapt to the terrain changes on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 creative work.

[0016] Figure 1 It is a flow chart of the ground control method of the aircraft model provided by the present invention.

[0017] Figure 2 It is a schematic diagram of the actual effect of the buffer support provided by the present invention.

[0018] Figure 3 The present invention is a schematic diagram of the structure of a device for applying the ground control method of the aircraft model provided by the present invention.

[0019] Figure 4 It is a structural schematic diagram of the ground control device of the aircraft model provided by the present invention.

[0020] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] With the development of aviation technology, the demand for flight training to simulate the real flight environment is growing. Traditional flight training methods are costly and risky, so efficient and safe flight simulation systems have become the key to improving pilot training efficiency. As an important part of modern flight simulation technology, the core value of the intelligent aircraft system lies in providing a highly simulated platform, among which the ground model is an important part of the intelligent aircraft system, which simulates the mathematical model of the dynamic behavior of the intelligent aircraft model during taxiing on the ground, taxiing before takeoff, and landing.

[0023] The intelligent aircraft simulation system in the related methods simply performs analytical calculations on the aircraft's speed, position and true heading for modeling the intelligent aircraft. The specific implementation method is to control the position and attitude of the six-degree-of-freedom rigid body by controlling forces and torques. The ground control characteristics are not considered when controlling the ground motion of the intelligent aircraft, and there is no professional ground model to simulate the ground control characteristics.

[0024] The intelligent aircraft modeling method in the related methods adopts the same control algorithm as the air control during ground control, that is, ground altitude control is achieved by maintaining altitude. It does not have a ground control characteristic model, and its problems include being unable to truly simulate the ground acceleration and deceleration characteristics, unable to respond to terrain changes, and unable to respond to the effects of ground support reaction forces on the intelligent aircraft.

[0025] Specifically, in terms of responding to ground support reaction forces, the intelligent aircraft ground model modeling method in the relevant methods cannot respond to ground support reaction forces, does not calculate and generate ground support reaction forces, and does not interact with the intelligent aircraft model.

[0026] In terms of responding to terrain changes, the intelligent aircraft ground modeling method in the relevant methods cannot respond to terrain changes. It is not affected by the ground when it is stationary or gliding on the ground, and is prone to model penetration. It is also unable to achieve taxiing takeoff and landing on curved terrain, especially on the deck.

[0027] In terms of ground control characteristics, the intelligent aircraft ground model modeling method in the relevant methods does not create a mathematical model of the dynamic behavior during taxiing on the ground, taxiing before takeoff and landing taxiing. It uses the same control method as in the air, so it cannot achieve a good control effect on the acceleration and deceleration of the intelligent aircraft's ground taxiing, that is, it cannot control the takeoff and landing taxiing distances well.

[0028] In view of the defects of the related methods, the present invention provides a ground control method for an aircraft model. Figure 1 is a flow chart of the ground control method of the aircraft model provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 110, determining that the aircraft model is in a ground operation state; Step 120, determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Step 130, determining the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Step 140, determining the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; Step 150, based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground rolling resistance, the attitude of the aircraft model is adapted to the terrain change of the ground.

[0029] The execution subject of the ground control method of the aircraft model provided by the present invention can be an electronic device, a component in the electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), or a personal computer (PC), etc., which is not specifically limited by the present invention.

[0030] The following takes the ground control method of the aircraft model provided by the present invention executed by a computer as an example to describe the technical solution of the present invention in detail.

[0031] In step 110 , it is determined that the aircraft model is in a ground operation state.

[0032] Optionally, it may be determined that the aircraft model is in a ground operation state based on detecting the physical position and attitude of the aircraft model.

[0033] The ground operation state may include ground taxiing of the aircraft model, taxiing of the aircraft model before takeoff, and landing taxiing of the aircraft model.

[0034] In step 120 , the ground support reaction force of the aircraft model is determined based on the stiffness coefficient of the buffer strut of the aircraft model, the damping coefficient of the buffer strut, the compression amount of the buffer strut, and the compression rate of the buffer strut.

[0035] It can receive the real-time terrain height from the visual scene and the real-time center of gravity height from the aircraft model, calculate the height difference between the center height and the terrain height, input it into the pre-built buffer pillar model, calculate the real-time support reaction force and feed it back to the aircraft model. When it offsets the gravity of the aircraft model, the aircraft model will stay stably on the ground.

[0036] The main purpose is to ensure the stability of the aircraft model on the ground, especially during takeoff and landing. By accurately calculating and controlling the compression amount and rate of the landing gear buffer struts, the grounding performance of the aircraft model can be effectively managed. This is especially important for the operation of the aircraft model in complex terrain or specific environments (such as the deck of an aircraft carrier).

[0037] Specifically, the aircraft model collects data on the center of gravity height and vertical speed through sensors, and the vision system of the aircraft model provides center of gravity terrain height data.

[0038] Compression and rate calculation: Calculate the compression and compression rate of the landing gear based on the collected data.

[0039] Force calculation: Spring force is calculated based on the amount of compression, and damping force is calculated based on the compression rate.

[0040] Support reaction force calculation: Combine the spring force and the damping force to calculate the ground support reaction force.

[0041] The calculation of the ground support reaction force is realized through the mathematical model of the spring damping system. The source of the spring force of the support reaction force is the compression of the buffer strut, and the source of the damping force is the compression rate of the buffer strut. Due to the use of the spring damping system, it has good stability and fast convergence, which can meet the dynamic characteristics simulation of the aircraft model during ground taxiing, takeoff and landing.

[0042] In step 130, based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model, the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model are determined.

[0043] In order to be suitable for taxiing and landing on curved runways or aircraft carrier decks, because the terrain changes in these environments are complex and rapid, the aircraft model needs to be able to respond quickly and accurately to terrain changes to ensure safe and effective operations. By determining the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model and controlling based on the determined data, the aircraft model can better adapt to complex terrain and improve take-off and landing performance in special environments.

[0044] Optionally, the latitude and longitude height information of the three landing gears can be output to the visual scene in real time, and the terrain heights of the corresponding positions of the three landing gears can be received from the visual scene. When it is determined that the aircraft model is on the ground, the pitch attitude data and roll attitude data of the aircraft model following the terrain changes are calculated based on the terrain heights of the positions of the three landing gears and their positions relative to the center of gravity of the aircraft model, so as to subsequently generate corresponding control torques to realize the control process.

[0045] Specifically, the aircraft model collects the position information (latitude, longitude, altitude) of the landing gear through sensors and transmits this data to the vision system.

[0046] Terrain Analysis: The vision system calculates the terrain height under each landing gear based on the received data and passes this information to the ground model terrain response module.

[0047] Attitude calculation: The ground model terrain response module analyzes the terrain height data and calculates the pitch and roll attitude that the aircraft should adopt.

[0048] Real-time attitude comparison: The module receives the aircraft's current real-time attitude information and compares it with the calculated target attitude.

[0049] Torque generation: Calculate the required pitch and roll moments based on the attitude difference and angular velocity.

[0050] Attitude Control: These torques are applied through the aircraft's control systems to adjust the aircraft's attitude so that it conforms to the terrain.

[0051] Real-time adjustment: During the aircraft taxiing or take-off and landing, the module continuously receives real-time data and adjusts the aircraft attitude in real time according to terrain changes.

[0052] Taking the target pitch attitude of the aircraft model on the ground as an example, the calculation formula is as follows: ; In the formula, is the target pitch angle, is the nose gear terrain height, is the terrain height of the left landing gear, is the terrain height of the right landing gear, is the longitudinal distance between the front landing gear and the center of gravity of the aircraft model, is the longitudinal distance between the left landing gear and the center of gravity of the aircraft model, It is the longitudinal distance between the right landing gear and the center of gravity of the aircraft model.

[0053] The ground model of this aircraft model calculates the difference between the target pitch attitude and the current pitch attitude through the above formula, and the current pitch angular rate to calculate the pitch moment, and transmits the pitch moment to the aircraft model to control its pitch attitude. The calculation formula is as follows: ; is the pitch control torque, is the pitch angle deviation coefficient, is the pitch angular rate coefficient, is the target pitch angle, is the current pitch angle, is the pitch angle rate.

[0054] The landing gear is a distribution of one front landing gear and two main landing gears. Its relative position to the center of gravity of the aircraft model can be rewritten through the configuration file to adapt to different models.

[0055] Among them, the ground support reaction force and the terrain response are calculated separately, that is, the calculation of the ground support reaction force is calculated by the center of gravity position of the aircraft model, and the calculation of the attitude control torque is calculated by the three landing gear positions of the aircraft model. That is, the support reaction force is decoupled from the landing gear. Compared with the complex method of calculating the support reaction force and attitude torque by integrating the three landing gear forces commonly used in general simulators, it can not only greatly simplify the model, but also improve the stability of the system, and can support the ground characteristics of different aircraft model system models with extremely small calculation amount.

[0056] Simplified model: By decoupling the calculation of support reaction and landing gear, the calculation process of the aircraft ground model can be greatly simplified. This simplification not only reduces the complexity of the model, but also makes the model easier to understand and maintain.

[0057] Improved stability: Calculating the reaction force and attitude control torque separately can reduce the cumulative error of the model during the calculation process, thereby improving the stability of the entire system. This is critical to maintaining the stability of the aircraft model during ground operations.

[0058] Reduced Computation: This approach can greatly reduce the amount of computation required, allowing the system to support ground characteristics of different aircraft models at a lower computational cost. This is especially beneficial for resource-limited systems, which can improve computational efficiency.

[0059] Enhanced compatibility: Due to model simplification, it is easier to apply this model on different types of aircraft models. The flexibility and scalability of this approach helps to adapt to various ground conditions and aircraft requirements.

[0060] In step 140 , the ground rolling resistance of the aircraft model is determined based on the rolling speed of the aircraft model and the braking control amount of the aircraft model.

[0061] The takeoff distance of the aircraft model can be controlled by setting different friction resistance coefficients, and the landing distance can be controlled by controlling the braking resistance.

[0062] When the aircraft model is judged to be on the ground, the ground rolling resistance is calculated according to the aircraft model's rolling speed and the braking control amount. This resistance acts on the aircraft model to control the takeoff rolling distance and the landing rolling braking distance.

[0063] In step 150, the attitude of the aircraft model is adapted to the terrain change of the ground based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground rolling resistance.

[0064] Based on adjusting the ground support reaction force, the main purpose is to ensure the stability of the aircraft model on the ground, especially during take-off and landing. By accurately calculating and controlling the compression amount and rate of the landing gear to achieve the adjustment process, the ground performance of the aircraft model can be effectively managed.

[0065] Based on adjusting the pitch attitude data and the roll attitude data, the response to the terrain can be achieved, that is, the attitude of the aircraft model changes with the terrain when it is on the ground. The ground response module is particularly suitable for taxiing and landing on curved runways or aircraft carrier decks. Because the terrain changes in these environments are complex and rapid, the aircraft model needs to be able to respond to terrain changes quickly and accurately to ensure safe and efficient operations.

[0066] The goal is to provide accurate simulation and control of ground operations based on ground roll resistance. This includes adjusting the roll distance during takeoff and landing, controlling the aircraft's roll speed, and applying braking force when needed, making the flight simulation more realistic and accurate.

[0067] Therefore, based on the adjustment of ground support reaction force, pitch attitude data, roll attitude data and ground sliding resistance, precise control of the aircraft model on the ground can be achieved, so that the attitude of the aircraft model adapts to the changes in the ground terrain.

[0068] The ground control method of the aircraft model provided by the present invention can achieve precise control of the aircraft model on the ground by determining the ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance of the aircraft model in a ground running state, and adjusting the determined ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance to respond to the ground support reaction force and terrain changes, so that the attitude of the aircraft model can adapt to the terrain changes on the ground.

[0069] In one embodiment, adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground rolling resistance includes: adjusting the ground support reaction force based on adjusting the compression amount of the buffer strut and the compression rate of the buffer strut; adjusting the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on adjusting the control torque of the aircraft model; adjusting the ground rolling resistance based on adjusting the braking resistance of the aircraft model and setting the friction resistance coefficient of the aircraft model.

[0070] It can be appreciated that by accurately calculating and controlling the amount and rate of compression of the landing gear bump struts, the grounding performance of the aircraft model can be effectively managed.

[0071] By adjusting the compression amount and compression rate of the buffer strut, the ground support reaction force can be adjusted, which can effectively manage the ground performance of the aircraft model, which is particularly important for the operation of the aircraft model in complex terrain or specific environments (such as aircraft carrier decks). The actual effect diagram of the adjusted buffer strut can be shown as follows: Figure 2 The actual effect of the buffer pillar provided by the present invention is shown in the schematic diagram. After the aircraft model lands from a certain height, the buffer pillar is adjusted, and the center of gravity height of the aircraft model changes over time to adapt to changes in different terrains.

[0072] Based on adjusting the control torque of the aircraft model to adjust the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model, the aircraft model can respond to terrain changes quickly and accurately, better adapt to complex terrain, and improve take-off and landing performance in special environments.

[0073] By adjusting the braking resistance of the aircraft model and setting the friction resistance coefficient of the aircraft model to adjust the ground taxiing resistance, the aircraft model can respond to the ground control characteristics. The ground resistance is generated by calculating the ground taxiing speed and the braking control amount. The ground takeoff distance and landing taxiing distance can be adjusted by adjusting the sliding friction resistance coefficient and the braking coefficient in the configuration file to adapt to the models corresponding to different aircraft models.

[0074] In one embodiment, the pitch attitude data and the roll attitude data of the aircraft model are adjusted based on adjusting the control torque of the aircraft model, including: determining a current pitch angle and a current roll angle of the aircraft model based on the pitch attitude data and the roll attitude data; determining a target control torque of the aircraft model based on a difference between a target pitch angle and the current pitch angle, and a difference between a target roll angle and the current roll angle; and adjusting the pitch attitude data and the roll attitude data of the aircraft model based on adjusting the control torque of the aircraft model to the target control torque.

[0075] Set the target pitch angle (θ_target) and target roll angle (φ_target) according to the flight mission requirements.

[0076] Error calculation: Calculate the difference between the current pose and the target pose, i.e., Δθ = θ_target - θ and Δφ = φ_target - φ.

[0077] Control torque calculation: Based on these error values, the required target control torque is calculated using a control algorithm (such as PID control, fuzzy control, linear quadratic regulator LQR, etc.). These torques are intended to reduce or eliminate attitude errors and enable the aircraft to reach the target attitude.

[0078] The calculated target control torque is converted into control instructions for the motor, servo or other actuators.

[0079] Feedback adjustment: After the actuator moves, the sensor measures the attitude change of the aircraft again to form a closed-loop feedback control. The control torque is recalculated according to the new attitude data until the attitude error is reduced to an acceptable range.

[0080] Stability and safety: During the adjustment process, the stability and safety of the aircraft must also be considered to avoid loss of control or damage due to excessive attitude changes.

[0081] In one embodiment, the ground support reaction force is: ; in, is the ground support reaction force, is the stiffness coefficient of the buffer support, is the damping coefficient of the buffer strut, is the compression of the buffer strut, is the compression rate of the buffer strut.

[0082] It can receive the real-time terrain height from the visual scene and the real-time center of gravity height from the aircraft model, calculate the height difference between the center height and the terrain height, input it into the pre-built buffer pillar model, calculate the real-time support reaction force and feed it back to the aircraft model. When it offsets the gravity of the aircraft model, the aircraft model will stay stably on the ground.

[0083] The main purpose is to ensure the stability of the aircraft model on the ground, especially during takeoff and landing. By accurately calculating and controlling the compression amount and rate of the landing gear buffer struts, the grounding performance of the aircraft model can be effectively managed. This is especially important for the operation of the aircraft model in complex terrain or specific environments (such as the deck of an aircraft carrier).

[0084] Specifically, the aircraft model collects data on the center of gravity height and vertical speed through sensors, and the vision system of the aircraft model provides center of gravity terrain height data.

[0085] Compression and rate calculation: Calculate the compression and compression rate of the landing gear based on the collected data.

[0086] Force calculation: Spring force is calculated based on the amount of compression, and damping force is calculated based on the compression rate.

[0087] Support reaction force calculation: Combine the spring force and the damping force to calculate the ground support reaction force.

[0088] Specific, defined ground support forces ; in, is the ground support reaction force, is the stiffness coefficient of the buffer support, is the damping coefficient of the buffer strut, is the compression of the buffer strut, is the compression rate of the buffer strut.

[0089] In one embodiment, before determining the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut of the aircraft model, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut, it also includes: acquiring the center of gravity height of the aircraft model and the vertical speed of the aircraft model based on the sensor of the aircraft model, and acquiring the center of gravity terrain height data of the aircraft model based on the vision system of the aircraft model; determining the compression amount of the buffer strut and the compression rate of the buffer strut based on the center of gravity height, the vertical speed and the center of gravity terrain height data.

[0090] The real-time terrain height from the visual scene and the real-time center of gravity height from the aircraft model are received, and the height difference between the center height and the terrain height is calculated and input into the pre-built buffer pillar model. The real-time support reaction force is calculated and fed back to the aircraft model. When the support reaction force is offset by the gravity of the aircraft model, the aircraft model will stay stably on the ground.

[0091] The present invention also provides a schematic diagram of a device structure of a ground control method using the aircraft model provided by the present invention, such as Figure 3 As shown, the device includes a vision system, an intelligent control system, a ground support reaction module, a terrain response module and a manipulation characteristic module.

[0092] Specifically, the ground support reaction force module generates ground support reaction force based on the landing gear compression amount and the landing gear compression rate. The ground model modeling system of the aircraft model receives the center of gravity height, vertical speed from the intelligent control system and the center of gravity terrain height from the visual system, calculates and generates the landing gear compression amount and the landing gear compression rate based on the above information, calculates and generates the spring force that hinders the compression based on the landing gear compression amount, and calculates and generates the damping force that hinders the compression rate based on the landing gear compression rate, and comprehensively calculates the ground support reaction force and outputs it to the intelligent control system. The ground support reaction force module is strongly related to the intelligent control system, and the joint effect they produce is ultimately to keep the aircraft stable on the ground.

[0093] Ground response module: Generates the pitch angle and roll angle information of the aircraft model on the ground based on the terrain position of the landing gear and generates the pitch moment and roll moment. The visual system receives the latitude and longitude height information of a single landing gear from the aircraft model and generates the terrain height corresponding to the three landing gears. The aircraft model ground model terrain response module calculates the aircraft pitch attitude and roll attitude that the aircraft model should follow on the ground according to the aircraft state information on the ground fed back by the aircraft model and the terrain height corresponding to the three landing gears. At the same time, it receives the real-time pitch attitude, roll attitude and pitch angle rate, roll angle rate from the intelligent control system, and generates the control torque to control the attitude of the aircraft model according to the difference between the target attitude and the real-time attitude and the attitude angular velocity, so that the pitch attitude and roll attitude of the aircraft model on the ground match the terrain, respond to terrain changes in real time, and realize take-off and landing taxiing operations in complex terrain or specific environments (such as aircraft carrier decks).

[0094] Control characteristics module: Calculates and generates ground resistance based on ground taxiing speed and braking control amount. The aircraft model ground control characteristics module receives the ground taxiing speed from the intelligent control system, calculates and generates ground resistance based on the settable rolling friction resistance coefficient and transmits it to the intelligent control system. The aircraft model takeoff taxiing distance can be adjusted by adjusting the rolling friction resistance coefficient, and can be used to simulate the ground taxiing distance characteristics of different types of aircraft. At the same time, it can receive the braking control amount from the intelligent control system and generate the braking force and transmit it to the intelligent control system, which can be used to control the taxiing distance of the aircraft model when landing.

[0095] The ground control device of the aircraft model provided by the present invention is described below. The ground control device of the aircraft model described below and the ground control method of the aircraft model described above can be referred to each other.

[0096] like Figure 4 As shown, the device comprises: A state determination module 410 is used to determine whether the aircraft model is in a ground operation state; A ground support reaction force module 420, configured to determine a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer support of the aircraft model, a damping coefficient of the buffer support, a compression amount of the buffer support, and a compression rate of the buffer support; A terrain response module 430, configured to determine pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; A handling characteristic module 440, configured to determine a ground rolling resistance of the aircraft model based on a rolling speed of the aircraft model and a braking control amount of the aircraft model; The control module 450 is used to make the attitude of the aircraft model adapt to the terrain changes of the ground based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance.

[0097] The ground control device of the aircraft model provided by the present invention can achieve precise control of the aircraft model on the ground by determining the ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance of the aircraft model in a ground running state, and adjusting the determined ground support reaction force, pitch attitude data, roll attitude data and ground taxiing resistance to respond to the ground support reaction force and terrain changes, so that the attitude of the aircraft model can adapt to the terrain changes on the ground.

[0098] In one embodiment, the control module 450 is specifically used to: The adjusting of the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance includes: Adjusting the ground support reaction force based on adjusting the compression amount of the buffer support and the compression rate of the buffer support; Based on adjusting the control torque of the aircraft model, the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model are adjusted; The ground rolling resistance is adjusted based on adjusting the braking resistance of the aircraft model and setting the friction resistance coefficient of the aircraft model.

[0099] In one embodiment, the control module 450 is specifically used to: The method of adjusting the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on adjusting the control torque of the aircraft model includes: Determining a current pitch angle and a current roll angle of the aircraft model based on the pitch attitude data and the roll attitude data; Determining a target control torque of the aircraft model based on a difference between a target pitch angle and the current pitch angle, and a difference between a target roll angle and the current roll angle; The pitch attitude data and the roll attitude data of the aircraft model are adjusted based on adjusting the control torque of the aircraft model to the target control torque.

[0100] In one embodiment, the ground support reaction module 420 is specifically used for: The ground support reaction force is: ; in, is the ground support reaction force, is the stiffness coefficient of the buffer support, is the damping coefficient of the buffer strut, is the compression of the buffer strut, is the compression rate of the buffer strut.

[0101] In one embodiment, the ground support reaction force module 420 is further specifically used for: Before determining the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut of the aircraft model, the method further includes: Based on the sensor of the aircraft model, the center of gravity height and the vertical speed of the aircraft model are obtained, and based on the visual system of the aircraft model, the center of gravity terrain height data of the aircraft model is obtained; Based on the center of gravity height, the vertical speed, and the center of gravity terrain height data, a compression amount of the cushioning strut and a compression rate of the cushioning strut are determined.

[0102] In one embodiment, the state determination module 410 is specifically configured to: Determining the ground operation state includes ground taxiing of the aircraft model, taxiing of the aircraft model before takeoff, and landing taxiing of the aircraft model.

[0103] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communications interface 520 and the memory 530 communicate with each other via the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute a ground control method of an aircraft model, the method including: determining that the aircraft model is in a ground operation state; Determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Determining pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Determining a ground rolling resistance of the aircraft model based on a rolling speed of the aircraft model and a braking control amount of the aircraft model; Based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance, the attitude of the aircraft model is adapted to the terrain changes of the ground.

[0104] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0105] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the ground control method of the aircraft model provided by the above methods, the method includes: determining that the aircraft model is in a ground operation state; Determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Determining pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Determining the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; Based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance, the attitude of the aircraft model is adapted to the terrain changes of the ground.

[0106] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being implemented when executed by a processor to execute the ground control method of the aircraft model provided by the above methods, the method comprising: determining that the aircraft model is in a ground operation state; Determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Determining pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Determining a ground rolling resistance of the aircraft model based on a rolling speed of the aircraft model and a braking control amount of the aircraft model; Based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance, the attitude of the aircraft model is adapted to the terrain changes of the ground.

[0107] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0108] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground control method for an aircraft model, characterized in that: The method comprises: Determine that the aircraft model is in ground operation state; Determining a ground support reaction force of the aircraft model based on a stiffness coefficient of a buffer strut of the aircraft model, a damping coefficient of the buffer strut, a compression amount of the buffer strut, and a compression rate of the buffer strut; Determining pitch attitude data of the aircraft model and roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; Determining the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; Based on adjusting the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance, the attitude of the aircraft model is adapted to the terrain changes of the ground.

2. The ground control method of the aircraft model according to claim 1, characterized in that: The adjusting of the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance includes: Adjusting the ground support reaction force based on adjusting the compression amount of the buffer support and the compression rate of the buffer support; Based on adjusting the control torque of the aircraft model, the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model are adjusted; The ground rolling resistance is adjusted based on adjusting the braking resistance of the aircraft model and setting the friction resistance coefficient of the aircraft model.

3. The ground control method of the aircraft model according to claim 2, characterized in that: The method of adjusting the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on adjusting the control torque of the aircraft model includes: Determining a current pitch angle and a current roll angle of the aircraft model based on the pitch attitude data and the roll attitude data; Determining a target control torque of the aircraft model based on a difference between a target pitch angle and the current pitch angle, and a difference between a target roll angle and the current roll angle; The pitch attitude data and the roll attitude data of the aircraft model are adjusted based on adjusting the control torque of the aircraft model to the target control torque.

4. The ground control method of the aircraft model according to claim 1, characterized in that: The ground support reaction force is: ； in, is the ground support reaction force, is the stiffness coefficient of the buffer support, is the damping coefficient of the buffer strut, is the compression of the buffer strut, is the compression rate of the buffer strut.

5. The ground control method of the aircraft model according to claim 1, characterized in that: Before determining the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut of the aircraft model, the method further includes: Based on the sensor of the aircraft model, the center of gravity height and the vertical speed of the aircraft model are obtained, and based on the visual system of the aircraft model, the center of gravity terrain height data of the aircraft model is obtained; Based on the center of gravity height, the vertical speed, and the center of gravity terrain height data, a compression amount of the cushioning strut and a compression rate of the cushioning strut are determined.

6. The ground control method of the aircraft model according to claim 1, characterized in that: The ground operation state includes ground taxiing of the aircraft model, taxiing of the aircraft model before take-off, and landing taxiing of the aircraft model.

7. A ground control device for an aircraft model, characterized in that: include: A state determination module, used to determine whether the aircraft model is in a ground operation state; A ground support reaction force module, used to determine the ground support reaction force of the aircraft model based on the stiffness coefficient of the buffer strut of the aircraft model, the damping coefficient of the buffer strut, the compression amount of the buffer strut and the compression rate of the buffer strut; A terrain response module, used to determine the pitch attitude data of the aircraft model and the roll attitude data of the aircraft model based on the landing gear position information of the aircraft model and the position information of the landing gear relative to the center of gravity of the aircraft model; A handling characteristic module, used to determine the ground rolling resistance of the aircraft model based on the rolling speed of the aircraft model and the braking control amount of the aircraft model; The control module is used to adjust the ground support reaction force, the pitch attitude data, the roll attitude data and the ground sliding resistance so that the attitude of the aircraft model adapts to the terrain changes of the ground.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the ground control method of the aircraft model according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the ground control method of the aircraft model according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the ground control method of the aircraft model according to any one of claims 1 to 6 is implemented.

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