Flight control method and device and aircraft

Abstract

The embodiment of the invention discloses a flight control method and device and an aircraft. The method comprises the following steps: in response to failure of a plurality of flight control modules or failure of flight control data buses corresponding to the plurality of flight control modules, switching a backup control module in a backup control system to a normal working state; acquiring motion information of the aircraft based on a sensor in the backup control system, wherein the motion information comprises a linear velocity, an attitude angle and an angular velocity; and the backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and an expected linear velocity so as to control the aircraft based on the control information. Through the above mode, when the plurality of flight control modules of the aircraft fail or the flight control data buses corresponding to the plurality of flight control modules fail, the backup control module can control the aircraft based on the control information, and the safety of the aircraft is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and more specifically, to a flight control method, device and aircraft. Background Art

[0002] With the development of science and technology, aircraft have become a hot topic in the research of urban three-dimensional transportation. In related methods, aircraft can use similar redundant flight control modules for flight control, so that when one of the flight control modules fails, the aircraft can be controlled by other flight control modules. However, in related methods, the safety of aircraft needs to be improved. Summary of the invention

[0003] In view of the above problems, the present application proposes a flight control method, device and aircraft to improve the above problems.

[0004] In a first aspect, the present application provides a flight control method, the method comprising: in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, a backup control module in a backup control system switches to a normal working state; based on the sensors in the backup control system, motion information of the aircraft is acquired, the motion information including linear velocity, attitude angle, and angular velocity; the backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information.

[0005] In the second aspect, the present application provides a flight control device, which includes: a state switching unit, which is used to trigger the backup control module to switch to a normal working state in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules; a motion information acquisition unit, which is used to acquire the motion information of the aircraft based on the sensors in the backup control system, and the motion information includes linear velocity, attitude angle, and angular velocity; a control information output unit, which is used for the backup control module to output control information based on the motion information and expected motion information, so as to control the aircraft based on the control information.

[0006] In the third aspect, the present application provides a backup control system, comprising a backup control module and a sensor, wherein the backup control module is connected to the sensor, wherein: the backup control module is used to trigger the backup control module to switch to a normal working state in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules; the backup control module is also used to obtain motion information of the aircraft based on the sensor, and the motion information includes linear velocity, attitude angle, and angular velocity; the backup control module is also used to output control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information.

[0007] In a fourth aspect, the present application provides an aircraft, comprising a plurality of flight control modules and the above-mentioned backup control system.

[0008] In a fifth aspect, the present application provides a computer-readable storage medium, in which program code is stored, wherein the above method is executed when the program code is run.

[0009] The present application provides a flight control method, device, aircraft and storage medium. In response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module in the backup control system switches to a normal working state, obtains the motion information of the aircraft based on the sensor in the backup control system, and the motion information includes linear velocity, attitude angle, angular velocity, and the backup control module outputs control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, so as to control the aircraft based on the control information. Through the above-mentioned method, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module switches to a normal working state, and obtains the motion information of the aircraft through the sensor in the backup control system, so that the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, and further when the multiple flight control modules of the aircraft fail or the flight control data buses corresponding to the multiple flight control modules fail, the backup control module can control the aircraft based on the control information, thereby improving the safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A flow chart of a flight control method proposed in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of an aircraft proposed in the present application is shown;

[0013] Figure 3 A schematic diagram of a control information calculation proposed in the present application is shown;

[0014] Figure 4 A flow chart of a flight control method proposed in another embodiment of the present application is shown;

[0015] Figure 5 A schematic diagram showing a working logic proposed in this application is shown;

[0016] Figure 6 A structural block diagram of a flight control device proposed in an embodiment of the present application is shown;

[0017] Figure 7 A structural block diagram of an aircraft proposed in this application is shown. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In the embodiment of the present application, the inventor proposes a flight control method, device and aircraft, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module in the backup control system switches to a normal working state, obtains the motion information of the aircraft based on the sensor in the backup control system, and the motion information includes linear velocity, attitude angle, angular velocity, and the backup control module outputs control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, so as to control the aircraft based on the control information. Through the above-mentioned method, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module switches to a normal working state, and obtains the motion information of the aircraft through the sensor in the backup control system, so that the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, and then when the multiple flight control modules of the aircraft fail or the flight control data buses corresponding to the multiple flight control modules fail, the backup control module can control the aircraft based on the control information, thereby improving the safety of the aircraft.

[0020] See also Figure 1 , an embodiment of the present application provides a flight control method, the method comprising:

[0021] S110: In response to the failure of multiple flight control modules or the failure of flight control data buses corresponding to the multiple flight control modules, the backup control module in the backup control system switches to a normal working state.

[0022] Among them, Figure 2 As shown, the aircraft 100 may include a backup control system 102, multiple flight control modules 104, a rotor motor 106, multiple data lines, etc. Among them, the backup control module 102 can be used to control the aircraft 100 when all flight control modules 104 fail. The backup control system 102 may include a backup control module (Backup Control Module, BCM) 1022, multiple sensors 1024, and a dual-port remote electronic unit (Remote Electronic Unit, REU) 1028. Among them, the backup control module 1022 may include a sensor data acquisition module, a state receiving module, a processor and related circuit modules, an input / output module, etc. The sensor data acquisition module can be used to receive data from multiple sensors 1024, and demodulate and perform analog / digital conversion on the received data; the state receiving module can be used to receive the state values ​​of multiple flight control modules 104 and flight control data buses, and start the backup control module 1022 to enter the working state after multiple flight control modules fail or the flight control data buses corresponding to multiple flight control modules fail. The processor can be used to output control information based on the data of the sensor data acquisition module, and the input / output module can be used to output control information. Among them, the processor module and the related circuit module can be divided into two branches, and the two branches can use non-similar processors to suppress the common mode failure of the processor. The two branches work in a frame synchronization mode, and branch 2 can compare and monitor the solution instructions of branch 1 to ensure the integrity of the instructions.

[0023] Sensor 1024 can be used to provide the backup control module 1022 with the motion information of the aircraft. The multiple sensors can include a redundant inertial sensor and a radio / radar altimeter. The redundant inertial sensor can be composed of multiple inertial sensors of different models but with the same measurement content. Exemplarily, taking the redundant inertial sensor as an example, which includes three inertial sensors of different models but all used to measure the attitude angle of the aircraft, each inertial sensor can measure the attitude angle of the aircraft, so that the output information of the redundant inertial sensor can be obtained as a three-redundant attitude angle based on the three measured attitude angles. The radio / radar altimeter can be used to measure the relative height of the aircraft entering the landing phase and the ground.

[0024] It should be noted that the sensor 1024 can also be used to provide the motion information of the aircraft to the multiple flight control modules 104. For example, when one of the multiple flight control modules 104 controls the aircraft, the sensor 1024 can send the motion information to the corresponding flight control module; when the backup control module 1022 controls the aircraft, the sensor 1024 can send the motion information to the backup control module 1022.

[0025] The dual-port remote electronic unit 1028 can be used to receive control instructions from the backup control module 1022 or multiple flight control modules 104 , and send the received control instructions to the rotor motor 106 .

[0026] Among them, the multiple flight control modules 104 may include a main flight control module and multiple redundant flight control modules. After the aircraft 100 is powered on, the aircraft may be controlled preferentially through the main flight control module. When the main flight control module fails, in order to ensure the safety of the aircraft and personnel, a redundant flight control module may be selected from the multiple redundant flight control modules to control the aircraft. If the currently selected redundant flight control module fails, a redundant flight control module may be selected from the remaining redundant flight control modules to control the aircraft until all redundant flight control modules fail. The aircraft may be controlled through the backup control system 102. The failure of the flight control module may be understood as the failure of the flight control module itself to control the aircraft.

[0027] Among them, the rotor motor 106 can be used to receive control instructions from the backup control module 1022 or multiple flight control modules 104 to achieve changes in the motion state of the aircraft, such as speed changes, flight attitude changes, flight altitude changes, etc.

[0028] The plurality of data lines may include a flight control data bus, a backup control data bus, a state transmission bus, a control information output data line, etc. The flight control data bus may be used to transmit control instructions of a plurality of flight control modules 104 to the dual-port remote electronic unit 1028; the backup control data bus may be used to transmit control instructions of the backup control module 1022 to the dual-port remote electronic unit 1028; the state transmission bus may be used to transmit state values ​​of a plurality of flight control modules 104 and the flight control data bus to the backup control module 1022; and the control information output data line may be used to transmit control instructions of the backup control module 1022 or a plurality of flight control modules 104 to the rotor motor 106.

[0029] It should be noted that the aircraft may be a vertical take-off and landing aircraft, which may be understood as an aircraft that can take off and land without taxiing.

[0030] In the embodiment of the present application, the failure of the flight control module may refer to the inability to control the aircraft due to a fault in the flight control module itself (e.g., disconnection of the internal circuit of the flight control module, current overload of a certain device, etc.). The failure of the flight control data bus may refer to the inability of the flight control data bus to successfully transmit the control instruction of the corresponding flight control module, that is, the receiver of the control instruction fails to receive the control instruction issued by the corresponding flight control module. The normal working state of the backup control module may refer to that all modules, circuits, etc. in the backup control module are in the power-on state.

[0031] In the embodiment of the present application, the backup control module in the backup control system can be switched to a normal working state under various circumstances.

[0032] As a method, in response to the failure of multiple flight control modules or the failure of flight control data buses corresponding to multiple flight control modules, the backup control module in the backup control system can be switched to a normal working state.

[0033] Optionally, if the status receiving module obtains that the status values ​​of multiple flight control modules are all the first target values, it can be confirmed that the multiple flight control modules are all failed; if the status receiving module obtains that the status values ​​of the flight control data bus are all the second target values, it can be confirmed that the flight control data bus is all failed.

[0034] Among them, the status value of the flight control module / flight control data bus can indicate whether the corresponding flight control module / flight control data bus is invalid.

[0035] Optionally, the first target value and the second target value may be determined by relevant workers based on actual circuit logic.

[0036] Exemplarily, the first target value may be 0, and there may be 3 flight control modules. If the status values ​​of the 3 flight control modules are all 0, that is, FCC_1_State=0, FCC_2_State=0, and FCC_3_State=0, it may indicate that multiple flight control modules are all failed; if at least one of the status values ​​of the 3 flight control modules is not 0, it may indicate that there is a non-failed flight control module among the multiple flight control modules.

[0037] Exemplarily, the second target value can be 0, there can be 3 flight control modules and 1 flight control data bus corresponding to each of the 3 flight control modules. If the status values ​​of the 3 flight control data buses are all 0, that is, Bus_1_State=0, Bus_2_State=0, and Bus_3_State=0, it can indicate that the 3 flight control data buses are all failed; if at least one of the status values ​​of the 3 flight control data buses is not 0, it can indicate that there is a non-failed flight control data bus among the 3 flight control data buses.

[0038] In the embodiments of the present application, the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules may be due to a common mode failure. Common mode failure can be understood as the same failure mode causing multiple devices to fail. For example, multiple flight control modules all use similar computers, and due to hardware development errors, multiple flight control modules may have the same failure mode, which may cause common mode failures.

[0039] As another way, in response to the non-failed flight control module not matching the non-failed flight control data bus, the backup control module in the backup control system switches to a normal working state.

[0040] Exemplarily, there may be three flight control modules and one flight control data bus corresponding to each of the three flight control modules. If the status values ​​of the three flight control modules may be FCC_1_State=1, FCC_2_State=0, and FCC_3_State=0, respectively, the status values ​​of the flight control data buses corresponding to each of the three flight control modules may be Bus_1_State=0, Bus_2_State=0, and Bus_3_State=1, respectively, wherein the non-failed flight control module is FCC_1, and the non-failed flight control data bus is Bus_3. Since the flight control data bus corresponding to the flight control module FCC_1 is Bus_1, the current non-failed flight control module does not match the non-failed flight control data bus, which results in the control instructions of the flight control module FCC_1 being unable to be transmitted to the dual-port remote control unit.

[0041] S120: Acquire motion information of the aircraft based on sensors in the backup control system, where the motion information includes linear velocity, attitude angle, and angular velocity.

[0042] The linear velocity can refer to the speed of the aircraft on each coordinate axis in the three-dimensional coordinate system. The linear velocity of the aircraft can be expressed as (X V , Y V , Z V ). The attitude angle may refer to the angle between the body coordinate system and the ground inertial coordinate system. The attitude angle may include the roll angle (roll), pitch angle (pitch), and yaw angle (yaw). The attitude angle of the aircraft may be expressed as (φ, θ, ψ). The angular velocity may refer to the rate at which the aircraft rotates around its own axis. The angular velocity of the aircraft may be expressed as (p, q, r).

[0043] As a method, there can be multiple sensors in the backup control system, and three-degree-of-freedom motion information can be obtained based on the multiple sensors. The three-degree-of-freedom motion information can include the motion information obtained by each sensor; based on the preset voting algorithm and the three-degree-of-freedom motion information, the motion information of the aircraft is obtained.

[0044] The three-degree redundant motion information may include linear velocity three-degree redundant motion information, attitude angle three-degree redundant motion information, and angular velocity three-degree redundant motion information.

[0045] In the embodiment of the present application, there may be multiple preset voting algorithms.

[0046] Optionally, the preset voting algorithm may be to take average values ​​of the three-degree redundant motion information of the linear velocity, the three-degree redundant motion information of the attitude angle, and the three-degree redundant motion information of the angular velocity, respectively.

[0047] Taking the three-degree redundant motion information of angular velocity as an example, the three-degree redundant motion information of angular velocity can be A, B, and C respectively, and the angular velocity of the aircraft can be: (A+B+C) / 3.

[0048] Optionally, the preset voting algorithm may be to take the median of the three-degree redundant motion information of linear velocity, the three-degree redundant motion information of attitude angle, and the three-degree redundant motion information of angular velocity, respectively.

[0049] Taking the three-degree redundant motion information of angular velocity as an example, the three-degree redundant motion information of angular velocity can be A, B, and C in order from large to small, and the angular velocity of the aircraft can be B.

[0050] Optionally, the angular velocity and acceleration may be acquired based on each sensor first, and then the attitude angle corresponding to each sensor may be obtained based on the angular velocity and acceleration, and the linear velocity corresponding to each sensor may be obtained by integrating the acceleration.

[0051] In the embodiment of the present application, the motion information of the aircraft is obtained by using three-degree-of-freedom motion information and a preset voting algorithm, which can reduce the measurement error caused by the sensor's own measurement accuracy problem to a certain extent, thereby improving the accuracy of the acquired motion information of the aircraft.

[0052] S130: The backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information.

[0053] In an embodiment of the present application, the backup control module can calculate the rotor control law based on the linear velocity, attitude angle, angular velocity and expected linear velocity, and obtain the corresponding calculation result, which can be the control information. Among them, the control law can refer to the algorithm for the flight control system to form the control command, and the control law can describe the functional relationship between the controlled state variable and the input signal of the flight control system. The rotor control law can provide lift and torque through the thrust of the propeller to control the speed and attitude movement of the aircraft. The rotor control law can include linear velocity control, attitude control and angular velocity control. The control information can be lift and three-axis torque. Among them, lift can be used to overcome the gravity of the aircraft, and the three-axis torque can be used to control the attitude of the aircraft.

[0054] The expected linear speed may be understood as the linear speed to which the aircraft needs to switch from the current linear speed.

[0055] In the embodiments of the present application, there are multiple methods to determine the expected linear velocity.

[0056] As a way to determine the expected linear speed, the expected linear speed can be determined based on the current motion state of the aircraft and / or passenger demand and / or the surrounding environment. For example, the current linear speed can be (20, 0, 2). Since the aircraft in the current surrounding environment are too dense, in order to avoid collision, the linear speed of the aircraft can be reduced, for example, it is expected to be reduced to (10, 0, 0), then (10, 0, 0) can be the expected linear speed.

[0057] Optionally, the desired linear speed can be determined by the pilot of the aircraft based on the current motion status of the aircraft and / or passenger needs and / or the surrounding environment. After the pilot of the aircraft determines the desired linear speed, the desired linear speed can be input through an interactive device or interactive component in the aircraft so that the aircraft can obtain the desired linear speed. Among them, the interactive device can refer to the display control screen, voice collection and voice recognition equipment of the aircraft, etc., and the interactive component can refer to a speed control button, etc. Exemplarily, the pilot can enter the process of inputting the desired linear speed through the control button of the speed type selection, and then input the desired linear speed by pressing the speed plus / minus control button.

[0058] As another way to determine the expected linear speed, the expected linear speed may be determined based on the current flight altitude of the aircraft.

[0059] Optionally, the flight altitude of the aircraft may be obtained based on a sensor. The flight altitude may refer to the height relative to the horizon.

[0060] Optionally, when the aircraft is in the autopilot mode, in order to allow the aircraft to land safely and avoid overload, the flight altitude of the aircraft may be acquired based on sensors, and the expected linear speed may be determined based on the flight altitude.

[0061] As a way, Figure 3 As shown, the backup control module can obtain the expected attitude angle based on the linear velocity and the expected linear velocity; obtain the expected angular velocity based on the attitude angle and the expected attitude angle; and obtain control information based on the angular velocity and the expected angular velocity.

[0062] The present embodiment provides a flight control method, in response to multiple flight control modules failing or the flight control data buses corresponding to the multiple flight control modules failing, the backup control module in the backup control system switches to a normal working state, obtains the motion information of the aircraft based on the sensor in the backup control system, the motion information includes linear velocity, attitude angle, angular velocity, and the backup control module outputs control information based on the linear velocity, attitude angle, angular velocity, and expected linear velocity, so as to control the aircraft based on the control information. Through the above-mentioned method, in response to multiple flight control modules failing or the flight control data buses corresponding to the multiple flight control modules failing, the backup control module switches to a normal working state, and obtains the motion information of the aircraft through the sensor in the backup control system, so that the backup control module can output control information based on the linear velocity, attitude angle, angular velocity, and expected linear velocity, and further, when multiple flight control modules of the aircraft fail or the flight control data buses corresponding to the multiple flight control modules fail, the backup control module can control the aircraft based on the control information, thereby improving the safety of the aircraft.

[0063] See also Figure 4 , an embodiment of the present application provides a flight control method, the method comprising:

[0064] S210: In response to the aircraft being powered on, the backup control module performs initialization and self-detection.

[0065] Among them, powering on the aircraft can be understood as all modules, circuits, devices, etc. in the aircraft being powered on. Initialization can be understood as starting the application, clearing the memory, etc. after the module is powered on. Self-test can refer to checking whether there are faults in the internal and external interfaces of the module through a program.

[0066] In the embodiment of the present application, since different modules / circuits / devices in the aircraft have different electrical characteristics, the voltage values ​​required by different modules / circuits / devices may be different. Therefore, the aircraft may power on some modules / circuits / devices at high voltage and power on other modules / circuits / devices at high voltage. Among them, high voltage power-on may refer to the voltage provided being greater than or equal to 28V, and low voltage power-on may refer to the voltage provided being less than 28V. For example, the backup control module requires low voltage power-on, and the motor requires high voltage power-on.

[0067] As one approach, in response to the aircraft low voltage power up, the backup control module may perform initialization and self-testing.

[0068] Optionally, the aircraft may perform low voltage power-up in response to a received start-up instruction, where the start-up instruction may be a start-up instruction sent remotely, or a start-up instruction generated by triggering a button or device of the aircraft itself.

[0069] S220: If the result of the self-detection indicates that there is no fault in the backup control module, control the backup control module to enter a backup working state, wherein the backup working state is a state in which only a status receiving module in the backup control module is powered on, and the status receiving module is used to obtain the status values ​​of each of the multiple flight control modules and the status value of the flight control data bus.

[0070] As a method, if the result of the self-detection indicates that there is no fault in the backup control module, the backup control system can control the backup control module to enter the backup working state.

[0071] Optionally, if the result of the self-test indicates that there is a fault in the backup control module, the fault can be reported and the backup control module can be powered off to save aircraft power and inform the user of the safety hazard in a timely manner.

[0072] In the embodiment of the present application, after the aircraft is powered on, the backup control module performs a self-test, and when the self-test result shows that the backup control module does not have a fault, the backup control module enters a backup working state, thereby improving the safety of the aircraft. At the same time, in the absence of multiple flight control modules failing or flight control data buses failing, only the status receiving module of the backup control module is powered on, thereby saving the power of the aircraft.

[0073] S230: In response to the failure of multiple flight control modules or the failure of flight control data buses corresponding to the multiple flight control modules, and confirming that the aircraft is in an airborne flight state, the backup control module switches to a normal working state.

[0074] As a method, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, and confirming that the aircraft is in an airborne flight state, and confirming that the backup control module is powered normally, the status receiving module switches the backup control module from the backup state to the normal working state.

[0075] Optionally, if the status receiving module obtains that the status value of the aircraft is a third target value, it can be confirmed that the aircraft is in an airborne flight state, wherein the status value is determined by multiple flight control modules based on the landing gear wheel load signal, ground speed and vertical speed of the aircraft, and the status value is periodically sent to the status receiving module.

[0076] The landing gear may refer to an accessory device at the bottom of an aircraft that is used to support the aircraft during takeoff and landing or taxiing on the ground (water surface) and is used for ground (water surface) movement. The landing gear wheel load signal may represent the gravity from the aircraft borne by the landing gear.

[0077] In the embodiment of the present application, a landing gear wheel load signal may be acquired based on a pressure sensor. When the landing gear wheel load signal is 0, it may indicate that the landing gear does not support the aircraft, indicating that the aircraft may be flying in the air.

[0078] Optionally, in order to confirm the validity of the acquired landing gear wheel load signal, that is, to confirm the accuracy and reliability of the acquired landing gear wheel load signal, the voltage value corresponding to the pressure sensor can be obtained. If the voltage value is within a first preset range, it can be determined that the sensor is in a normal working state, and then the landing gear wheel load signal is confirmed to be valid; if the voltage value is not within the first preset range, it can be determined that the sensor is in an abnormal working state, and then the landing gear wheel load signal is confirmed to be invalid.

[0079] Among them, ground speed can represent the lateral movement of the aircraft, and ground speed can refer to the speed of the aircraft relative to the ground. Vertical speed can represent the movement of the aircraft in the vertical direction. Therefore, the ground speed and vertical speed can be used to preliminarily determine whether the aircraft is in the air or taxiing on the ground.

[0080] Optionally, the ground speed and vertical speed can be measured based on the GNSS (Global Navigation Satellite System) and ADS (Air Data System) carried by the inertial sensor. For example, the displacement of the aircraft over a period of time can be determined by GNSS, and then the speed can be determined based on the displacement and the value of the period of time. The speed can be the ground speed or the vertical speed. For another example, ADS can measure the altitude of the aircraft through atmospheric pressure, and the vertical speed can be obtained by measuring the altitude change over a period of time.

[0081] Optionally, in order to confirm the validity of the acquired ground speed and vertical speed, that is, to confirm the accuracy and reliability of the acquired ground speed and vertical speed, the voltage value corresponding to the inertial sensor can be obtained. If the voltage value is within a second preset range, it can be determined that the inertial sensor is in a normal working state, and then the ground speed and vertical speed are valid; if the voltage value is not within the second preset range, it can be determined that the inertial sensor is in an abnormal working state, and then the ground speed and vertical speed are invalid.

[0082] Optionally, the first preset range and the second preset range may be determined based on electrical specifications of the corresponding sensors.

[0083] Optionally, multiple flight control modules can determine whether the aircraft is in an airborne flight state based on whether the acquired landing gear wheel-loaded signal, ground speed and vertical speed meet the target conditions. The target condition can be that the landing gear wheel-loaded signal is 0 and the landing gear wheel-loaded signal is valid, and the ground speed / vertical speed is greater than the corresponding threshold value and the ground speed / vertical speed is valid. Among them, the threshold value can be determined based on the measurement accuracy of the inertial sensor. For example, when the ground speed of the aircraft is 0km / h, the inertial sensor may measure the ground speed as 0.1km / h due to errors in its own measurement accuracy, and the threshold value can be set to 0.1km / h.

[0084] The state value of the aircraft may be expressed as In_Air. When In_Air=1, it can be confirmed that the aircraft is in an airborne state.

[0085] Optionally, if the status receiving module obtains that the power supply status value of the backup control module is the fourth target value, it can be confirmed that the backup control module is powered normally.

[0086] The power supply state value of the backup control module may be expressed as 28V_DC_State. When 28V_DC_State=1, it can be confirmed that the backup control module is normally powered.

[0087] It should be noted that the backup control module may include a power management module, which can convert the external 24-28V DC power into the 12 / 5 / 3V power supply required by each PLD (Programmable Logic Device) or FPGA (Field Programmable Gate Array) in the backup control module.

[0088] Optionally, if the status receiving module obtains that the status values ​​of multiple flight control modules are all the first target values, it can be confirmed that the multiple flight control modules are all failed; if the status receiving module obtains that the status values ​​of the flight control data bus are all the second target values, it can be confirmed that the flight control data bus is all failed.

[0089] Optionally, the first target value, the second target value, the third target value and the fourth target value may be determined by relevant workers based on actual circuit logic.

[0090] Optionally, multiple flight control modules may periodically send status values ​​of multiple flight control modules, status values ​​of the flight control data bus, and status values ​​of the aircraft to the status receiving module. The status values ​​of multiple flight control modules, status values ​​of the flight control data bus, and status values ​​of the aircraft may have the same or different corresponding periods.

[0091] Optionally, the status receiving module may periodically obtain the power supply status value of the backup control module based on a relevant interface of the backup control module.

[0092] Optionally, the working logic of the backup control module switching from the backup state to the normal working state can be as follows: Figure 5 As shown, when the status values ​​of multiple flight control modules are all the first target values ​​or the status values ​​of the flight control data bus are all the second target values, and the status value of the aircraft is the third target value, and the power supply status value of the backup control module is the fourth target value, the status receiving module can switch the backup control module from the backup state to the normal working state.

[0093] S240: Acquire motion information of the aircraft based on sensors in the backup control system, where the motion information includes linear velocity, attitude angle, and angular velocity.

[0094] S250: The backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information.

[0095] The controlling of the aircraft may be controlling the aircraft to land.

[0096] As a method, when the backup control system controls the aircraft to land, the corresponding expected speed can be (0, 0, Vz). If the current aircraft is in the level flight stage, the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity after switching from the backup working state to the normal working state, so as to control the aircraft to decelerate horizontally under the action of the rotor based on the control information. When the horizontal speed is reduced to 0, the aircraft ensures a smooth landing according to the expected vertical speed and horizontal attitude.

[0097] Optionally, after the backup control module outputs the control information, the control information may be sent to the motor speed regulator based on the dual-port remote electronic unit, so that the motor speed regulator controls the rotor motor to reach a desired rotation speed.

[0098] The present embodiment provides a flight control method, through the above-mentioned method, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module switches to a normal working state, and obtains the motion information of the aircraft through the sensor in the backup control system, so that the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, and then when the multiple flight control modules of the aircraft fail or the flight control data buses corresponding to the multiple flight control modules fail, the backup control module can control the aircraft based on the control information, thereby improving the safety of the aircraft. In addition, in the present embodiment, the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, so as to control the aircraft to land safely based on the control information, thereby improving the safety of the aircraft.

[0099] See also Figure 6 The present application provides a flight control device 400, the device 400 comprising:

[0100] The state switching unit 410 is used to trigger the backup control module to switch to a normal working state in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules.

[0101] The motion information acquisition unit 420 is used to acquire the motion information of the aircraft based on the sensors in the backup control system, and the motion information includes linear velocity, attitude angle, and angular velocity.

[0102] The control information output unit 430 is used for the backup control module to output control information based on the motion information and the expected motion information, so as to control the aircraft based on the control information.

[0103] As a method, the state switching unit 410 is specifically used to respond to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, and confirming that the aircraft is in an airborne flight state, and the backup control module switches to a normal working state.

[0104] Optionally, the state switching unit 410 is specifically used to confirm that the aircraft is in an air flight state if the state value of the aircraft is obtained to be a third target value, wherein the state value is determined by the multiple flight control modules based on the landing gear wheel load signal, ground speed and vertical speed of the aircraft, and the state value is periodically sent to the state receiving module.

[0105] As a method, the state switching unit 410 is specifically used to initialize and self-detect the backup control module in response to the aircraft being powered on; if the result of the self-detection indicates that there is no fault in the backup control module, the backup control module is controlled to enter a backup working state, and the backup working state is a state in which only the state receiving module in the backup control module is powered on, and the state receiving module is used to obtain the state values ​​of each of the multiple flight control modules and the state value of the flight control data bus.

[0106] Optionally, the state switching unit 410 is specifically used to confirm that the multiple flight control modules are all failed if the state values ​​of the multiple flight control modules obtained by the state receiving module are all first target values; if the state values ​​of the flight control data bus obtained by the state receiving module are all second target values, confirm that the flight control data bus is all failed.

[0107] As a mode, the control information output unit 430 is specifically used for the backup control module to obtain the expected attitude angle based on the linear velocity and the expected linear velocity; to obtain the expected angular velocity based on the attitude angle and the expected attitude angle; and to obtain the control information based on the angular velocity and the expected angular velocity.

[0108] As a method, there are multiple sensors, and the motion information acquisition unit 420 is specifically used to obtain three-degree-of-freedom motion information, which includes the motion information acquired by each sensor; based on a preset voting algorithm and the three-degree-of-freedom motion information, the motion information of the aircraft is obtained.

[0109] Optionally, the controlling the aircraft is controlling the aircraft to land.

[0110] The following will be combined Figure 7 An aircraft provided by the present application is described.

[0111] See also Figure 7 Based on the above-mentioned flight control method and device, the embodiment of the present application also provides another aircraft 100 that can execute the above-mentioned flight control method. The aircraft 100 includes a backup control system 102 and multiple flight control modules 104. The backup control system 102 includes a backup control module 1022, a memory 1024, and a sensor module 1026, wherein the memory 1024 stores a program that can execute the content of the above-mentioned embodiment, and the backup control module 1022 can execute the program stored in the memory 1024.

[0112] The backup control module 1022 may include one or more processing cores. The backup control module 1022 uses various interfaces and lines to connect various parts of the entire backup control system 102, and executes various functions and processes data of the backup control system 102 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1024, and calling data stored in the memory 1024. Optionally, the backup control module 1022 can be implemented in at least one hardware form of a network processor (Neural network Processing Unit, NPU), a digital signal processing (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The backup control module 1022 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a network processor (Neural network Processing Unit, NPU) and a modem. The CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the backup control module 1022, but may be implemented separately through a communication chip.

[0113] The memory 1024 may include a random access memory (RAM), and may also include a read-only memory (RAM) and a double data rate synchronous dynamic random access memory (DDR). The memory 1024 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 1024 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the backup control system 102 during use.

[0114] The sensor module 1026 may include at least one sensor. Specifically, the sensor module 1026 may include, but is not limited to: a level meter, a light sensor, a motion sensor, a pressure sensor, an infrared heat sensor, a distance sensor, an acceleration sensor, and other sensors.

[0115] Among them, the pressure sensor may be a sensor that detects the pressure generated by pressing on the aircraft 100. That is, the pressure sensor detects the pressure generated by the contact or pressing between the user and the aircraft 100, for example, the pressure generated by the contact or pressing between the user's hand and the aircraft 100. Therefore, the pressure sensor can be used to determine whether contact or pressing occurs between the user and the aircraft 100, and the magnitude of the pressure.

[0116] Among them, the acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary, and can be used for applications to identify the attitude of the aircraft 100 (such as magnetometer attitude calibration), vibration recognition related functions (such as pedometer, knocking), etc. In addition, the aircraft 100 can also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, etc., which will not be repeated here.

[0117] The embodiment of the present application provides a computer-readable storage medium 800. The computer-readable storage medium 800 stores program codes, and the program codes can be called by a processor to execute the method described in the above method embodiment.

[0118] The computer readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 800 includes a non-transitory computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 that performs any method step in the above method. These program codes can be read from or written to one or more computer program products. The program code 810 can be compressed, for example, in an appropriate form.

[0119] In summary, the present application provides a flight control method, device and aircraft. In response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module in the backup control system switches to a normal working state, obtains the motion information of the aircraft based on the sensor in the backup control system, and the motion information includes linear velocity, attitude angle, and angular velocity. The backup control module outputs control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity to control the aircraft based on the control information. Through the above-mentioned manner, in response to the failure of multiple flight control modules or the failure of the flight control data buses corresponding to the multiple flight control modules, the backup control module switches to a normal working state, and obtains the motion information of the aircraft through the sensor in the backup control system, so that the backup control module can output control information based on the linear velocity, attitude angle, angular velocity and expected linear velocity, and then when the multiple flight control modules of the aircraft fail or the flight control data buses corresponding to the multiple flight control modules fail, the backup control module can control the aircraft based on the control information, thereby improving the safety of the aircraft.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight control method, characterized in that: The method comprises: In response to the failure of the plurality of flight control modules or the failure of the flight control data buses corresponding to the plurality of flight control modules, the backup control module in the backup control system switches to a normal working state; Acquiring motion information of the aircraft based on sensors in the backup control system, wherein the motion information includes linear velocity, attitude angle, and angular velocity; The backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and the desired linear velocity, so as to control the aircraft based on the control information.

2. The method according to claim 1, characterized in that In response to the failure of the plurality of flight control modules or the failure of the flight control data buses corresponding to the plurality of flight control modules, the backup control module switches to a normal working state, including: In response to the failure of multiple flight control modules or the failure of flight control data buses corresponding to the multiple flight control modules, and confirming that the aircraft is in an airborne flight state, the backup control module switches to a normal working state.

3. The method according to claim 2, characterized in that The method further comprises: If the state value of the aircraft obtained is the third target value, it is confirmed that the aircraft is in an airborne flight state, wherein the state value is determined by the multiple flight control modules based on the landing gear wheel load signal, ground speed and vertical speed of the aircraft, and the state value is periodically sent to the state receiving module.

4. The method according to claim 1, characterized in that: The backup control module outputs control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information, including: The backup control module obtains a desired attitude angle based on the linear velocity and the desired linear velocity; Based on the attitude angle and the expected attitude angle, obtaining an expected angular velocity; The control information is obtained based on the angular velocity and the expected angular velocity.

5. The method according to claim 1, characterized in that There are multiple sensors, and the acquisition of the motion information of the aircraft based on the sensors in the backup control system includes: Acquire three-degree-of-freedom motion information, where the three-degree-of-freedom motion information includes motion information acquired by each of the sensors; Based on a preset voting algorithm and the three-degree-of-freedom motion information, the motion information of the aircraft is obtained.

6. The method according to claim 1, characterized in that In response to the failure of the plurality of flight control modules or the failure of the flight control data buses corresponding to the plurality of flight control modules, before the backup control module switches to a normal working state, the method further includes: In response to the aircraft being powered on, the backup control module performs initialization and self-testing; If the result of the self-detection indicates that there is no fault in the backup control module, the backup control module is controlled to enter a backup working state, wherein the backup working state is a state in which only the status receiving module in the backup control module is powered on, and the status receiving module is used to obtain the status values ​​of each of the multiple flight control modules and the status value of the flight control data bus.

7. The method according to claim 6, characterized in that The method further comprises: If the state receiving module obtains that the state values ​​of the plurality of flight control modules are all the first target values, confirming that the plurality of flight control modules are all failed; If the status receiving module obtains that the status values ​​of the flight control data buses are all second target values, it is confirmed that the flight control data buses are all invalid.

8. The method according to any one of claims 1 to 7, characterized in that: The controlling of the aircraft is controlling the aircraft to land.

9. A flight control device, characterized in that: The device comprises: A state switching unit, configured to trigger the backup control module to switch to a normal working state in response to a failure of the plurality of flight control modules or a failure of the flight control data buses corresponding to the plurality of flight control modules; A motion information acquisition unit, used to acquire motion information of the aircraft based on sensors in the backup control system, wherein the motion information includes linear velocity, attitude angle, and angular velocity; A control information output unit is used for the backup control module to output control information based on the motion information and the expected motion information, so as to control the aircraft based on the control information.

10. A backup control system, characterized in that: It includes a backup control module and a sensor, wherein the backup control module is connected to the sensor, wherein: The backup control module is used to trigger the backup control module to switch to a normal working state in response to the failure of multiple flight control modules or the failure of flight control data buses corresponding to the multiple flight control modules; The backup control module is further used to obtain motion information of the aircraft based on the sensor, wherein the motion information includes linear velocity, attitude angle, and angular velocity; The backup control module is further used to output control information based on the linear velocity, the attitude angle, the angular velocity and the expected linear velocity, so as to control the aircraft based on the control information.

11. An aircraft, characterized in that: It comprises a plurality of flight control modules and the backup control system as claimed in claim 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, wherein when the program code is run, the method according to any one of claims 1 to 8 is executed.

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