Synchronous control method, device, aircraft and computer-readable storage medium

Abstract

The present invention provides a synchronous control method, device, aircraft and computer-readable storage medium, which relate to the field of control. First, in response to an attitude change instruction, a speed control instruction and a pitch control instruction are obtained; then, based on the pitch control instruction, the pitch of the propeller is adjusted to a target pitch; and while adjusting the pitch, a pre-constructed motor control model is used to drive and control the motor once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach the target speed. In the present invention, when driving and controlling the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction, and the disturbance data can reflect the external interference caused by the pitch change, so the use of the disturbance data for error correction can effectively ensure the stability and accuracy of controlling the pitch and propeller speed at the same time.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a synchronous control method, device, aircraft and computer-readable storage medium. Background Art

[0002] A tiltrotor aircraft is a special type of aircraft that combines the features of a helicopter and a fixed-wing aircraft. It can take off, land, and fly at low altitudes like a helicopter, while flying like a fixed-wing aircraft at high speeds.

[0003] When a tiltrotor aircraft changes its attitude in the air, it usually involves adjusting the pitch (the pitch is the angle between the chord line of the propeller blade profile and the disc plane (the blade tip trajectory plane)) and the propeller speed. The pitch adjustment will affect the propeller speed adjustment to a certain extent. Therefore, how to synchronously achieve stable control of the pitch and propeller speed is an issue that needs to be considered. Summary of the Invention

[0004] The object of the present invention is to provide a synchronous control method, device, aircraft and computer-readable storage medium to improve the problems existing in the prior art.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a synchronization control method, comprising:

[0007] Responding to attitude change commands, obtaining speed control commands and pitch control commands;

[0008] adjusting the pitch of the propeller to a target pitch based on the pitch control instruction;

[0009] While adjusting the pitch, a pre-constructed motor control model is used to drive and control the motor once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach the target speed; wherein, when driving and controlling in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction, and the disturbance data reflects the external interference caused by the pitch change.

[0010] Optionally, the motor control model includes a speed control model and a drive control model; the speed control model includes an angular velocity control model and an observation model;

[0011] The step of performing a drive control on the motor based on the angular velocity control instruction converted from the rotational speed control instruction comprises:

[0012] Obtain status data and disturbance data of the previous operation cycle;

[0013] Inputting the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain a driving current;

[0014] Inputting the driving current into the driving control model to obtain a driving signal;

[0015] Using the driving signal to drive the motor to rotate, and collecting the actual angular velocity of the motor;

[0016] The driving current and the actual angular velocity are input into the observation model to obtain state data and disturbance data of the current operation cycle.

[0017] Optionally, the angular velocity control model includes an angular velocity controller;

[0018] The step of inputting the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain the driving current includes:

[0019] Subtracting the angular velocity control instruction from the state data of the previous operation cycle and inputting the resultant into the angular velocity controller to obtain a speed loop output;

[0020] The ratio of the disturbance data of the previous operating cycle to the speed loop gain is used as the speed loop compensation;

[0021] The driving current is obtained by subtracting the speed loop output from the speed loop compensation.

[0022] Optionally, the state data includes a first angular velocity observation value and a second angular velocity observation value, and the disturbance data includes a first disturbance error and a second disturbance error;

[0023] The step of subtracting the angular velocity control instruction from the state data of the previous operation cycle and inputting the resultant difference into the angular velocity controller to obtain the speed loop output comprises:

[0024] The sum of the first angular velocity observation value and the second angular velocity observation value of the previous operation cycle is taken as the total angular velocity observation value;

[0025] Inputting the difference between the angular velocity control instruction and the total angular velocity observation value into the angular velocity controller to obtain the speed loop output;

[0026] The step of using the ratio of the disturbance data of the previous operating cycle to the speed loop gain as the speed loop compensation includes:

[0027] The sum of the first disturbance error and the second disturbance error of the previous operation cycle is taken as the total disturbance error;

[0028] The product of the inverse of the speed loop gain and the total disturbance error is used as the speed loop compensation.

[0029] Optionally, the observation model includes a first observer and a second observer; the state data includes a first angular velocity observation value and a second angular velocity observation value; and the disturbance data includes a first disturbance error and a second disturbance error;

[0030] The step of inputting the driving current and the actual angular velocity into the observation model to obtain state data and disturbance data of the current operation cycle includes:

[0031] Inputting the driving current, the actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operation cycle into the first observer to obtain the first angular velocity observation value and the first disturbance error of the current operation cycle;

[0032] The driving current, the actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle are input into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle.

[0033] Optionally, the first observer includes a first integrator and a second integrator;

[0034] The step of inputting the driving current, the actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operation cycle into the first observer to obtain the first angular velocity observation value and the first disturbance error of the current operation cycle includes:

[0035] Obtaining a speed loop gain, a first observation gain, and a second observation gain;

[0036] Multiplying the driving current by the speed loop gain to obtain a first product;

[0037] Calculating a difference between a first angular velocity observation value of a previous operating cycle and the actual angular velocity to obtain a first error;

[0038] multiplying the first error by the first observation gain to obtain a second product;

[0039] multiplying the first error by the second observation gain, and inputting the inverse of the multiplication result into the first integrator to obtain a first disturbance error of the current operation cycle;

[0040] A first addition and subtraction result is obtained by subtracting the second product from the first product and adding the first disturbance error of the current operation cycle. The first addition and subtraction result is input into the second integrator to obtain a first angular velocity observation value of the current operation cycle.

[0041] Optionally, the second observer includes a third integrator and a fourth integrator;

[0042] The step of inputting the driving current, the actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle includes:

[0043] Obtaining a speed loop gain, a third observation gain, and a fourth observation gain;

[0044] Multiplying the driving current by the speed loop gain to obtain a first product;

[0045] Calculating a difference between a second angular velocity observation value of a previous operating cycle and the actual angular velocity to obtain a second error;

[0046] multiplying the second error by the third observation gain to obtain a third product;

[0047] multiplying the second error by the fourth observation gain, and inputting the inverse of the multiplication result into the third integrator to obtain a second disturbance error of the current operation cycle;

[0048] A second addition and subtraction result is obtained by adding the first disturbance error of the current operating cycle to the first product, subtracting the third product, and then adding the second disturbance error of the current operating cycle. The second addition and subtraction result is input into the fourth integrator to obtain a second angular velocity observation value of the current operating cycle.

[0049] In a second aspect, the present invention provides a synchronous control device, comprising:

[0050] A control response module is used to respond to attitude change instructions and obtain speed control instructions and pitch control instructions;

[0051] a pitch control module, configured to adjust the pitch of the propeller to a target pitch based on the pitch control instruction;

[0052] The motor control module is used to: convert the speed control instruction into an angular velocity control instruction; while adjusting the pitch, use a pre-constructed motor control model to drive and control the motor once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach a target speed; wherein, when driving and controlling in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction, and the disturbance data reflects the external interference caused by the pitch change.

[0053] In a third aspect, the present invention provides an aircraft, comprising: a memory and a processor, wherein the memory stores a software program, and when the aircraft is running, the processor executes the software program to implement the synchronous control method as described in the first aspect above.

[0054] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the synchronization control method described in the first aspect.

[0055] Compared with the prior art, the embodiments of the present invention provide a synchronous control method, device, aircraft, and computer-readable storage medium. First, the method responds to an attitude change instruction to obtain a speed control instruction and a pitch control instruction. Then, based on the pitch control instruction, the pitch of the propeller is adjusted to a target pitch. While adjusting the pitch, the method utilizes a pre-built motor control model to drive the motor once every preset operating cycle based on an angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach the target speed. In the present invention, when performing drive control in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction. The disturbance data can reflect the external interference caused by the pitch change. Therefore, the use of the disturbance data for error correction can effectively ensure the stability and accuracy of the simultaneous control of the pitch and propeller speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0057] Figure 1 This is one of the flow charts of a synchronization control method provided by an embodiment of the present invention.

[0058] Figure 2 This is a structural block diagram of a motor control model provided by an embodiment of the present invention.

[0059] Figure 3 This is a principle block diagram of the drive control model in the motor control model provided by an embodiment of the present invention.

[0060] Figure 4 This is a principle block diagram of the speed control model in the motor control model provided by an embodiment of the present invention.

[0061] Figure 5 This is a principle block diagram of a first observer provided by an embodiment of the present invention.

[0062] Figure 6 This is a principle block diagram of a second observer provided by an embodiment of the present invention.

[0063] Figure 7 A schematic structural diagram of a synchronous control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0065] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0066] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0067] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0068] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0069] When a tiltrotor aircraft changes its attitude in the air, it typically involves adjusting the propeller pitch and speed, and pitch adjustment will affect the propeller speed adjustment to a certain extent. The propeller pitch can vary from 0 to 90 degrees, and pitch adjustment is required to adapt to different flight modes (such as hovering, forward flight, and transition flight). These mode transitions require the motor to quickly adapt to changes in load, resulting in significant changes in the motor's load characteristic curve. Therefore, using a conventional PI (proportional-integral) controller to control the propeller speed while adjusting the pitch is prone to slow response, overshoot, and large steady-state fluctuations, resulting in poor speed control.

[0070] In the prior art, there are the following two processing methods for simultaneously controlling the propeller speed and pitch.

[0071] Method 1: Utilizing joint control, load characteristic changes are monitored in real time during the adjustment process, allowing the speed control loop parameters to be adjusted synchronously based on these changes. However, this approach requires joint operation with the load controller, coupled with each other for coordinated control. Connecting the two controllers to monitor and analyze load characteristic changes in real time complicates control logic, makes communication susceptible to interference, and increases the risk of interruption or misoperation, resulting in low reliability.

[0072] Method 2: Use ADRC combined with various observers or parameter identification methods in the speed loop to find a suitable improved ADRC model. This ADRC compensates for varying load characteristics, thereby achieving stable speed control. However, whether using nonlinear ADRC or linear ADRC with a sliding mode speed controller, not only does the control method become complex and parameter tuning difficult, but when large pitch changes lead to significant load variations, only the speed loop control speed and stability can be adjusted. Under complex operating conditions (such as high environmental interference or large overall vibration), speed control stability deteriorates, resulting in large speed fluctuations.

[0073] In summary, method 1 can maximize the anti-interference performance of the algorithm by adding control logic, reduce the control difficulty, and be able to cope with various load changes, but it increases the complexity of the system and the application scenarios will be limited; method 2 only considers the anti-interference ability during slight load changes. When the load characteristics often change greatly, it is easy to cause speed control errors and large speed fluctuations.

[0074] Based on the discovery of the above technical problems, the inventors have proposed the following technical solutions after creative work to solve or improve the above problems. It should be noted that the defects existing in the solutions in the above prior art are the results obtained by the inventors after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of this application below for the above problems should all be the contributions made by the inventors to this application in the process of invention and creation, and should not be understood as technical contents known to those skilled in the art.

[0075] In view of this, an embodiment of the present invention provides a synchronous control method that can achieve stable and rapid control of propeller speed under different pitch changes. The following embodiments and the accompanying drawings provide a detailed description of the method.

[0076] Please refer to Figure 1 , Figure 1 A flowchart of a synchronous control method provided by an embodiment of the present invention is provided. The method may be executed by an aircraft or a flight control system of the aircraft, and includes the following steps S100 to S300.

[0077] S100 , responding to an attitude change instruction, obtaining a rotation speed control instruction and a pitch control instruction.

[0078] In this embodiment, the attitude change command is generated when the aircraft needs to switch flight modes (such as hover mode, forward flight mode, transition flight mode, etc.). Alternatively, the attitude change command can be generated when the aircraft senses a change in the external environment, such as encountering strong airflow or high winds. Both situations involve adjusting the pitch and speed of the propellers. Therefore, based on the attitude change command, the speed control command and the pitch control command can be obtained.

[0079] S200: Adjust the propeller pitch to a target pitch based on the pitch control instruction.

[0080] In this embodiment, the pitch control instruction carries the target pitch that the propeller needs to achieve, and the specific pitch adjustment process is not described in detail here.

[0081] S300. While adjusting the pitch, use a pre-built motor control model to drive and control the motor once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach the target speed.

[0082] In this embodiment, the speed control instruction is converted into an angular velocity control instruction, wherein the speed control instruction carries the target speed n of the propeller. * , the angular velocity control instruction obtained by conversion is: Then, while adjusting the pitch, the speed of the propeller is controlled. The propeller is selected by the motor, so the motor speed is actually controlled. The control process is: using the pre-built motor control model, the motor is driven and controlled once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the speed of the propeller driven by the motor reaches the target speed.

[0083] It can be understood that for the control of the motor, the external interference factors are not constant, so the control of the motor speed is periodically corrected, and when the drive control is performed in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction. The disturbance data reflects the external interference caused by the pitch change and the interference caused by the change in the flight environment of the aircraft.

[0084] The synchronous control method provided by an embodiment of the present invention first responds to an attitude change instruction to obtain a speed control instruction and a pitch control instruction; then, based on the pitch control instruction, the pitch of the propeller is adjusted to a target pitch; and while adjusting the pitch, a pre-constructed motor control model is used to drive and control the motor once every preset operating cycle based on an angular velocity control instruction obtained by converting the speed control instruction, so that the motor drives the propeller to reach the target speed. In the present invention, when performing drive control in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction. The disturbance data can reflect the external interference caused by the pitch change, so the use of the disturbance data for error correction can effectively ensure the stability and accuracy of the simultaneous control of the pitch and propeller speed.

[0085] For optional implementations, see Figure 2 The motor control model includes a speed control model and a drive control model, and the speed control model includes an angular velocity control model and an observation model. Therefore, the process of performing a drive control on the motor based on the angular velocity control instruction converted from the speed control instruction in step S300 can include the following sub-steps S310 to S350.

[0086] S310: Acquire state data and disturbance data of the previous operation cycle.

[0087] S320 : Input the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain the driving current.

[0088] Optionally, the angular velocity control model may include an angular velocity controller, which may adopt, but is not limited to, a proportional (P) algorithm, a proportional-integral (PI) algorithm, a proportional-derivative (PD) algorithm, a proportional-integral-derivative (PID) algorithm, etc. Correspondingly, the sub-steps of step S320 may include S321 to S323.

[0089] S321, subtracting the angular velocity control instruction from the state data of the previous operation cycle and inputting the result into the angular velocity controller to obtain a speed loop output;

[0090] S322, taking the ratio of the disturbance data of the previous operation cycle to the speed loop gain as the speed loop compensation;

[0091] S323. Subtract the speed loop output from the speed loop compensation to obtain the driving current.

[0092] S330 , inputting the driving current into the driving control model to obtain a driving signal.

[0093] S340: Use the driving signal to drive the motor to rotate, and collect the actual angular velocity of the motor.

[0094] In this embodiment, combined with Figure 2 The motor uses a permanent magnet synchronous motor (PMSM), and the drive signal is UVW. These three letters represent the three different phases of the motor's three-phase winding: U, V, and W. The actual angular velocity of the motor can be determined based on the rotor position θ collected by the position sensor (resolver).

[0095] S350 , inputting the driving current and the actual angular velocity into the observation model to obtain state data and disturbance data of the current operation cycle.

[0096] Optionally, the observation model may employ an observer such as a LESO (Linear Extended State Observer) or a load torque observer. When the observation model includes a first observer and a second observer, the state data includes a first angular velocity observation value and a second angular velocity observation value, and the disturbance data includes a first disturbance error and a second disturbance error. Therefore, the substeps of step S350 may include steps S351 and S352.

[0097] S351: Input the driving current, the actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operation cycle into a first observer to obtain the first angular velocity observation value and the first disturbance error of the current operation cycle.

[0098] S352: Input the driving current, the actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle.

[0099] Furthermore, the sub-steps of S321 may include S3211 to S3212.

[0100] S3211. Take the sum of the first angular velocity observation value and the second angular velocity observation value of the previous operation cycle as the total angular velocity observation value.

[0101] S3212: Input the difference between the angular velocity control command and the total angular velocity observation value into the angular velocity controller to obtain the speed loop output.

[0102] The sub-steps of the above step S322 may include S3221 to S3222.

[0103] S3221. Take the sum of the first disturbance error and the second disturbance error of the previous operation cycle as the total disturbance error.

[0104] S3222. The product of the inverse of the speed loop gain and the total disturbance error is used as the speed loop compensation.

[0105] Optional, in Figure 2 Based on this, please combine Figure 3 , Figure 3 The principle block diagram of the drive control model is shown in Figure 3 The drive module outputs a three-phase AC drive signal to the PMSM.

[0106] in, Figure 3 The speed control model can adopt the cascade LADRC (Linear Active Disturbance Rejection Control) structure, so in Figure 3 Based on this, please combine Figure 4 , Figure 4 Figure 2 shows the principle block diagram of the speed control model. Figure 4 It can be seen that when the angle controller adopts the proportional algorithm, the state equation of the angular velocity control model is:

[0107]

[0108] in, Represents the target angular velocity required by the angular velocity control instruction. is the total angular velocity observation value of the previous operation cycle, k p represents the proportional control coefficient, u0 represents the speed loop output; b represents the speed loop gain, b=1.5·Pn·phif / J, Pn is the number of motor pole pairs, phif is the motor rotor flux, and J is the overall moment of inertia of the motor and propeller; z2 is the total disturbance error of the previous operating cycle, Represents the driving current of the current operating cycle.

[0109] Optionally, the first observer includes a first integrator and a second integrator, and therefore, the sub-steps of step S351 may include S3511 to S3516.

[0110] S3511. Obtain a speed loop gain, a first observation gain, and a second observation gain.

[0111] S3512: Multiply the driving current by the speed loop gain to obtain a first product.

[0112] S3513. Calculate the difference between the first angular velocity observation value of the previous operation cycle and the actual angular velocity to obtain a first error.

[0113] S3514. Multiply the first error by the first observation gain to obtain a second product.

[0114] S3515: Multiply the first error by the second observation gain, and input the inverse of the multiplication result into the first integrator to obtain the first disturbance error of the current operation cycle.

[0115] S3516. Subtract the second product from the first product and add the first disturbance error of the current operation cycle to obtain a first addition and subtraction result, and input the first addition and subtraction result into the second integrator to obtain a first angular velocity observation value of the current operation cycle.

[0116] In this embodiment, combined with Figure 5 , Figure 5 is the principle block diagram of the first observer, Figure 5 It can be seen that the state equation of the first observer is:

[0117]

[0118] Among them, z 11 Represents the first angular velocity observation value of the previous operating cycle, ω m represents the actual angular velocity of the current operating cycle, e1 represents the first error, z 12 Represents the first disturbance error of the previous operating cycle; β 11 , β 12 Represent the first observation gain and the second observation gain respectively, b represents the speed loop gain, Represents the driving current of the current operating cycle; represents the derivation of the first angular velocity observation value of the current operating cycle, Represents the derivative of the first disturbance error of the current operating cycle.

[0119] Optionally, the second observer includes a third integrator and a fourth integrator, and therefore, the sub-steps of step S352 may include S3521 to S3526.

[0120] S3521. Obtain a speed loop gain, a third observation gain, and a fourth observation gain.

[0121] S3522. Multiply the drive current by the speed loop gain to obtain a first product.

[0122] S3523. Calculate the difference between the second angular velocity observation value of the previous operation cycle and the actual angular velocity to obtain a second error.

[0123] S3524. Multiply the second error by the third observation gain to obtain a third product.

[0124] S3525: Multiply the second error by the fourth observation gain, and input the inverse of the multiplication result into the third integrator to obtain the second disturbance error of the current operation cycle.

[0125] S3526. Add the first disturbance error of the current operating cycle to the first product, subtract the third product, and then add the second disturbance error of the current operating cycle to obtain a second addition and subtraction result. Input the second addition and subtraction result into the fourth integrator to obtain the second angular velocity observation value of the current operating cycle.

[0126] In this embodiment, combined with Figure 6 , Figure 6 is the principle block diagram of the second observer, Figure 6 It can be seen that the state equation of the second observer is:

[0127]

[0128] Among them, z 21 Represents the second angular velocity observation value of the previous operation cycle, ω m represents the actual angular velocity of the current operating cycle, e2 represents the second error, z 22 Represents the second disturbance error of the previous operating cycle, β 21 , β 22 Respectively represent the third observation gain and the fourth observation gain, b represents the speed loop gain, Represents the driving current of the current operating cycle; 12 Represents the first disturbance error of the current operation cycle; represents the derivation of the second angular velocity observation value of the current operation cycle, Represents the derivative of the second disturbance error of the current operating cycle.

[0129] Among them, the four observer gains meet the following conditions:

[0130]

[0131] ω0 is the preset bandwidth of the two observers, and its typical value can be 400.

[0132] In the optional example, the operating cycle can be 1ms or 2ms, etc. After multiple operating cycle iterations, the actual angular velocity ω of the motor m Able to achieve the target angular velocity required by the angular velocity control instruction

[0133] It should be noted that the execution order of the steps in the above method embodiment is not limited to that shown in the drawings, and the execution order of the steps shall be based on actual application conditions.

[0134] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0135] In the present invention, pitch control and propeller speed control are completely decoupled and do not interfere with each other. During the propeller speed control process, the two observers of the cascaded LADRC estimate the state and disturbance of the motor system in the current operating cycle. These state and disturbance are then substituted into the control process of the next operating cycle to perform error correction. This ensures that the propeller speed can be adjusted stably and accurately while the pitch is adjusted.

[0136] The motor control model adopted by the present invention can maximize the operating range of the speed loop without increasing the algorithm complexity and parameter tuning difficulty. At the same time, it does not consider the coordinated control with the pitch controller and avoids increasing the coupling between the two control systems. It can achieve fast and stable control of the speed loop under different load characteristics with minimal modification.

[0137] Combine Figure 3 、 Figure 4 As can be seen, the motor control model used in this invention is a dual closed-loop control structure. The outer loop is a cascaded linear auto-disturbance rejection (ADR) system for controlling propeller speed, and the inner loop is a linear ADR current loop for controlling drive current. Therefore, in addition to the conventional linear ADR speed loop, this invention uses a cascaded linear ADR to implement speed loop control. This uses cascaded compensation to achieve adaptive load characteristic control of the variable-pitch propeller speed loop. This allows for rapid and stable speed control regardless of propeller blade pitch (0-90° pitch angle).

[0138] In order to execute the corresponding steps in the above method embodiment and various possible implementations, an implementation of a synchronization control device is provided below.

[0139] See Figure 7 , Figure 7 FIG2 is a schematic diagram showing the structure of a synchronous control device provided by an embodiment of the present invention. The synchronous control device 200 includes: a control response module 210 , a pitch control module 220 and a motor control module 230 .

[0140] A control response module 210 is used to respond to the attitude change instruction and obtain the speed control instruction and the pitch control instruction;

[0141] a pitch control module 220 for adjusting the pitch of the propeller to a target pitch based on the pitch control instruction;

[0142] The motor control module 230 is used to: convert the speed control instruction into an angular velocity control instruction; while adjusting the pitch, use a pre-built motor control model to drive and control the motor once every preset operating cycle based on the angular velocity control instruction converted from the speed control instruction, so that the motor drives the propeller to reach the target speed; wherein, when driving and controlling in the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction, and the disturbance data reflects the external interference caused by the pitch change.

[0143] Optionally, the motor control model includes a speed control model and a drive control model; the speed control model includes an angular velocity control model and an observation model. The motor control module 230 can be specifically configured to: obtain state data and disturbance data from the previous operating cycle; input the angular velocity control instruction and the state data and disturbance data from the previous operating cycle into the angular velocity control model to obtain a drive current; input the drive current into the drive control model to obtain a drive signal; use the drive signal to drive the motor and collect the actual angular velocity of the motor; and input the drive current and actual angular velocity into the observation model to obtain state data and disturbance data from the current operating cycle.

[0144] Optionally, the angular velocity control model includes an angular velocity controller; the motor control module 230 can be specifically used to: subtract the angular velocity control instruction from the state data of the previous operating cycle and input it into the angular velocity controller to obtain the speed loop output; use the ratio of the disturbance data of the previous operating cycle to the speed loop gain as the speed loop compensation; and subtract the speed loop output from the speed loop compensation to obtain the driving current.

[0145] Optionally, the state data includes a first angular velocity observation value and a second angular velocity observation value, and the disturbance data includes a first disturbance error and a second disturbance error. The motor control module 230 can be specifically configured to: use the sum of the first angular velocity observation value and the second angular velocity observation value of the previous operating cycle as the total angular velocity observation value; input the difference between the angular velocity control command and the total angular velocity observation value into the angular velocity controller to obtain the speed loop output. The motor control module 230 can be specifically configured to: use the sum of the first disturbance error and the second disturbance error of the previous operating cycle as the total disturbance error; and use the product of the inverse of the speed loop gain and the total disturbance error as the speed loop compensation.

[0146] Optionally, the observation model includes a first observer and a second observer; the state data includes a first angular velocity observation value and a second angular velocity observation value; and the disturbance data includes a first disturbance error and a second disturbance error.

[0147] The motor control module 230 can be specifically used to: input the driving current, actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operating cycle into the first observer to obtain the first angular velocity observation value and the first disturbance error of the current operating cycle; input the driving current, actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle.

[0148] Optionally, the first observer includes a first integrator and a second integrator. The motor control module 230 can be specifically configured to: obtain a speed loop gain, a first observation gain, and a second observation gain; multiply the drive current by the speed loop gain to obtain a first product; calculate the difference between the first angular velocity observation value of the previous operating cycle and the actual angular velocity to obtain a first error; multiply the first error by the first observation gain to obtain a second product; multiply the first error by the second observation gain and input the inverse of the multiplication result into the first integrator to obtain a first disturbance error of the current operating cycle; subtract the second product from the first product and add the first disturbance error of the current operating cycle to obtain a first addition and subtraction result, and input the first addition and subtraction result into the second integrator to obtain the first angular velocity observation value of the current operating cycle.

[0149] Optionally, the second observer includes a third integrator and a fourth integrator. The motor control module 230 can be specifically configured to: obtain a speed loop gain, a third observation gain, and a fourth observation gain; multiply the drive current by the speed loop gain to obtain a first product; calculate the difference between the second angular velocity observation value of the previous operating cycle and the actual angular velocity to obtain a second error; multiply the second error by the third observation gain to obtain a third product; multiply the second error by the fourth observation gain and input the inverse of the multiplication result into the third integrator to obtain a second disturbance error of the current operating cycle; add the first disturbance error of the current operating cycle to the first product, subtract the third product, and then add the second disturbance error of the current operating cycle to obtain a second addition and subtraction result; input the second addition and subtraction result into the fourth integrator to obtain the second angular velocity observation value of the current operating cycle.

[0150] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the synchronization control device 200 described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0151] An embodiment of the present invention further provides an aircraft, which includes a processor, a memory, and a bus, wherein the processor is connected to the memory via the bus.

[0152] The memory can be used to store software programs, such as the software program corresponding to the synchronous control device 200 provided in the embodiment of the present invention. The processor executes the software program stored in the memory to perform various functional applications and data processing to implement the synchronous control method provided in the embodiment of the present invention.

[0153] Among them, the memory can be but is not limited to: RAM (Random Access Memory), ROM (Read Only Memory), FLASH (Flash Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electric Erasable Programmable Read-Only Memory), etc.

[0154] A processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc.; it can also be a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0155] It can be understood that the aircraft may further include more or fewer components, and each component may be implemented by hardware, software or a combination thereof.

[0156] Embodiments of the present invention further provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the synchronization control method disclosed in the above embodiments. The computer-readable storage medium may be, but is not limited to, a USB flash drive, a mobile hard drive, ROM, RAM, PROM, EPROM, EEPROM, a FLASH disk, or an optical disk, among other media capable of storing program code.

[0157] In summary, the embodiments of the present invention provide a synchronous control method, device, aircraft, and computer-readable storage medium. First, the method responds to an attitude change instruction to obtain a speed control instruction and a pitch control instruction; then, based on the pitch control instruction, the pitch of the propeller is adjusted to a target pitch; and while adjusting the pitch, a pre-constructed motor control model is used to drive and control the motor once every preset operating cycle based on the angular velocity control instruction obtained by converting the speed control instruction, so that the motor drives the propeller to reach the target speed. In the present invention, when driving and controlling the current operating cycle, the disturbance data of the previous operating cycle is used to perform error correction. The disturbance data can reflect the external interference caused by the pitch change, so the use of the disturbance data for error correction can effectively ensure the stability and accuracy of the simultaneous control of the pitch and propeller speed.

[0158] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A synchronous control method, characterized in that: include: Responding to attitude change commands, obtaining speed control commands and pitch control commands; adjusting the pitch of the propeller to a target pitch based on the pitch control instruction; While adjusting the pitch, a pre-established motor control model is used to drive and control the motor once every preset operating cycle based on an angular velocity control instruction obtained by converting the speed control instruction, so that the speed of the propeller driven by the motor reaches a target speed; wherein, during the drive control in the current operating cycle, disturbance data from the previous operating cycle is used to perform error correction, the disturbance data reflecting external interference caused by the pitch change; The motor control model includes a speed control model and a drive control model; the speed control model includes an angular velocity control model and an observation model; and the step of performing a drive control on the motor based on the angular velocity control instruction converted from the speed control instruction includes: Obtain status data and disturbance data of the previous operation cycle; Inputting the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain a driving current; Inputting the driving current into the driving control model to obtain a driving signal; Using the driving signal to drive the motor to rotate, and collecting the actual angular velocity of the motor; The driving current and the actual angular velocity are input into the observation model to obtain state data and disturbance data of the current operation cycle.

2. The method according to claim 1, characterized in that The angular velocity control model includes an angular velocity controller; The step of inputting the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain the driving current includes: Subtracting the angular velocity control instruction from the state data of the previous operation cycle and inputting the resultant into the angular velocity controller to obtain a speed loop output; The ratio of the disturbance data of the previous operating cycle to the speed loop gain is used as the speed loop compensation; The driving current is obtained by subtracting the speed loop output from the speed loop compensation.

3. The method according to claim 2, characterized in that The state data includes a first angular velocity observation value and a second angular velocity observation value, and the disturbance data includes a first disturbance error and a second disturbance error; The step of subtracting the angular velocity control instruction from the state data of the previous operation cycle and inputting the resultant difference into the angular velocity controller to obtain the speed loop output comprises: The sum of the first angular velocity observation value and the second angular velocity observation value of the previous operation cycle is taken as the total angular velocity observation value; Inputting the difference between the angular velocity control instruction and the total angular velocity observation value into the angular velocity controller to obtain the speed loop output; The step of using the ratio of the disturbance data of the previous operating cycle to the speed loop gain as the speed loop compensation includes: The sum of the first disturbance error and the second disturbance error of the previous operation cycle is taken as the total disturbance error; The product of the inverse of the speed loop gain and the total disturbance error is used as the speed loop compensation.

4. The method according to claim 1, wherein The observation model includes a first observer and a second observer; the state data includes a first angular velocity observation value and a second angular velocity observation value, and the disturbance data includes a first disturbance error and a second disturbance error; The step of inputting the driving current and the actual angular velocity into the observation model to obtain state data and disturbance data of the current operation cycle includes: Inputting the driving current, the actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operation cycle into the first observer to obtain the first angular velocity observation value and the first disturbance error of the current operation cycle; The driving current, the actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle are input into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle.

5. The method according to claim 4, characterized in that The first observer includes a first integrator and a second integrator; The step of inputting the driving current, the actual angular velocity, and the first angular velocity observation value and the first disturbance error of the previous operation cycle into the first observer to obtain the first angular velocity observation value and the first disturbance error of the current operation cycle includes: Obtaining a speed loop gain, a first observation gain, and a second observation gain; Multiplying the driving current by the speed loop gain to obtain a first product; Calculating a difference between a first angular velocity observation value of a previous operating cycle and the actual angular velocity to obtain a first error; multiplying the first error by the first observation gain to obtain a second product; multiplying the first error by the second observation gain, and inputting the inverse of the multiplication result into the first integrator to obtain a first disturbance error of the current operation cycle; A first addition and subtraction result is obtained by subtracting the second product from the first product and adding the first disturbance error of the current operation cycle. The first addition and subtraction result is input into the second integrator to obtain a first angular velocity observation value of the current operation cycle.

6. The method according to claim 4, characterized in that The second observer includes a third integrator and a fourth integrator; The step of inputting the driving current, the actual angular velocity, the second angular velocity observation value and the second disturbance error of the previous operating cycle, and the first disturbance error of the current operating cycle into the second observer to obtain the second angular velocity observation value and the second disturbance error of the current operating cycle includes: Obtaining a speed loop gain, a third observation gain, and a fourth observation gain; Multiplying the driving current by the speed loop gain to obtain a first product; Calculating a difference between a second angular velocity observation value of a previous operating cycle and the actual angular velocity to obtain a second error; multiplying the second error by the third observation gain to obtain a third product; multiplying the second error by the fourth observation gain, and inputting the inverse of the multiplication result into the third integrator to obtain a second disturbance error of the current operation cycle; A second addition and subtraction result is obtained by adding the first disturbance error of the current operating cycle to the first product, subtracting the third product, and then adding the second disturbance error of the current operating cycle. The second addition and subtraction result is input into the fourth integrator to obtain a second angular velocity observation value of the current operating cycle.

7. A synchronous control device, characterized in that: include: A control response module is used to respond to attitude change instructions and obtain speed control instructions and pitch control instructions; a pitch control module, configured to adjust the pitch of the propeller to a target pitch based on the pitch control instruction; Motor control modules for: Converting the rotational speed control instruction into an angular velocity control instruction; While adjusting the pitch, a pre-established motor control model is used to drive and control the motor once every preset operating cycle based on an angular velocity control instruction obtained by converting the speed control instruction, so that the speed of the propeller driven by the motor reaches a target speed; wherein, during the drive control in the current operating cycle, disturbance data from the previous operating cycle is used to perform error correction, the disturbance data reflecting external interference caused by the pitch change; The motor control model includes a speed control model and a drive control model; the speed control model includes an angular velocity control model and an observation model; in the process of performing a drive control on the motor based on the angular velocity control instruction converted from the speed control instruction, the motor control module is specifically used to: Obtain status data and disturbance data of the previous operation cycle; Inputting the angular velocity control instruction and the state data and disturbance data of the previous operation cycle into the angular velocity control model to obtain a driving current; Inputting the driving current into the driving control model to obtain a driving signal; Using the driving signal to drive the motor to rotate, and collecting the actual angular velocity of the motor; The driving current and the actual angular velocity are input into the observation model to obtain state data and disturbance data of the current operation cycle.

8. An aircraft, characterized in that: include: A memory and a processor, wherein the memory stores a software program, and when the aircraft is running, the processor executes the software program to implement the synchronous control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the synchronous control method according to any one of claims 1 to 6 is implemented.

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