Aircraft vertical landing process control method and system and storage medium

Abstract

The invention discloses a method and a system for controlling a vertical landing process of an aircraft and a storage medium, and realizes stable transition of the aircraft from vertical take-off and landing to the ground by accurately controlling the rotating speed of a tilting rotor and optimizing the tilting process. In the transition process of the aircraft, by reducing the rotating speed of the tilting rotor wings, the influence of aerodynamic disturbance generated by the tilting rotor wings on the wings and the aircraft body is avoided, so that the flight comfort and safety are improved; meanwhile, the flight speed and the flight height of the aircraft in the transition period are maintained by depending on the propelling propellers, the design of a flight control system is simplified, and the complexity and the redundancy of the flight control system are reduced; the aircraft adopting the take-off and landing process control method has higher safety, stability and comfort, and is suitable for various application scenes including the fields of urban air traffic and emergency rescue.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft control, and in particular relates to an aircraft vertical landing process control method, system and storage medium. Background Art

[0002] Vertical take-off and landing vehicles (VTOL) have gained wide attention in recent years in many fields such as civil, military and logistics. Especially in the fields of urban air traffic and emergency rescue, VTOL technology is expected to solve problems such as traffic congestion and rapid response. Since VTOL aircraft can take off and land vertically without relying on runways, they have significant advantages in scenes with complex terrain or limited space. Research on this type of aircraft has been carried out worldwide, especially in personal travel and drone logistics, and has broad application prospects. However, existing vertical take-off and landing technologies still face many challenges such as efficiency and control complexity.

[0003] The first is a tilt-rotor power system, similar to the American Osprey. Due to the large power tilt and rotor pitch change, there are problems such as large weight and volume, complex structure and relatively high failure rate. The second is a turbofan duct, which obtains upward lift by changing the jet direction. There are problems such as large weight and volume, complex structure, high failure rate, and huge fuel consumption. The third is a composite wing, which relies on a dedicated rotor for vertical takeoff and landing, and another dedicated rotor for cruising. There are problems such as the vertical takeoff and landing dedicated rotor becomes a large waste weight and waste resistance when the cruising time accounts for the vast majority.

[0004] Therefore, the existing tilt control strategy has the following problems: 1. During the tilt process, the aerodynamic coupling between the rotor, wing and fuselage is strong, and the aerodynamic interference is very serious; 2. The tilt transition process is difficult to control. In a tilt-rotor aircraft, the strong airflow disturbances generated during the tilt process often affect the stability of the aircraft. For example, the additional aerodynamic interference on the wings and fuselage will increase the complexity of the flight control system, thereby increasing the difficulty of design and debugging. This not only reduces the ride comfort of passengers, but also increases the requirements for redundancy and safety of the flight control system. Therefore, it is difficult for the existing technology to simultaneously meet the safety control requirements during smooth flight and transition, and it is necessary to further improve the control method of the aircraft landing process. Summary of the invention

[0005] The present invention provides a method, system and storage medium for controlling the vertical landing process of an aircraft, which can solve the problems of poor stability, low comfort and complex flight control of existing tilt-rotor aircraft during take-off, landing and transition. The control method significantly improves the performance of the aircraft by controlling the deceleration of the tilt-rotor and optimizing the tilting process.

[0006] To solve the above problems, the technical solution provided by the present invention is as follows:

[0007] The embodiment of the present invention also provides a method for controlling a vertical landing process of an aircraft, comprising:

[0008] Step 1, providing an aircraft, wherein a flight control system and a sensor for real-time monitoring of the aircraft status are provided in the aircraft, and the aircraft is provided with a propulsion propeller and a plurality of tilt-rotors;

[0009] The aircraft is preparing to land: when the aircraft is preparing to enter the landing phase, the tilt-rotor is perpendicular to the horizontal plane, or at a preset first preset angle to the vertical direction of the horizontal plane; the tilt-rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propeller cooperates to maintain the flight speed and altitude;

[0010] Step 2, gradually reducing the rotation speed of the tilt-rotor: after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, and the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller;

[0011] Step 3, the tilt rotor tilts: when the rotation speed of the tilt rotor decreases to a certain level, the flight control system begins to gradually tilt the wing surface of the tilt rotor from a vertical state to a state parallel to the horizontal plane, or to a preset second angle with the horizontal plane; during the tilting process, the tilt rotor does not do work relative to the aircraft, and precise control is required to ensure the stability of the aircraft and flight safety;

[0012] Step 4, the rotation speed of the tilt-rotor is increased again: after the tilt-rotor is completely tilted to the preset second angle of the horizontal state, the flight control system will increase the rotation speed of the tilt-rotor again, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the rotation speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing;

[0013] Step 5, the lift provided by the tilt-rotor and the self-weight detection of the aircraft: the flight control system detects in real time through the sensor whether the lift provided by the tilt-rotor is sufficient to support the self-weight of the aircraft; if it is detected that the lift provided by the tilt-rotor is greater than the self-weight of the aircraft, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state;

[0014] Step 6, gradually reducing the speed of the propulsion propeller until it stops: after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend;

[0015] Step 7, the aircraft relies on the tilt-rotor to hover and prepare for landing: when the propulsion propeller stops, the aircraft enters the hovering mode, with the lift support completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

[0016] In an optional embodiment of the present invention, the onboard computer in step 1 performs self-inspection on the actuator and sensors, and the sensors include: an inertial measurement unit, an air pressure sensor, a temperature sensor, a speed sensor, an oil level sensor, a navigation sensor, a radar and laser sensor, an optical sensor, a strain sensor, an altitude sensor and a load sensor; the preset first preset angle in step 1 is -30° to 30°.

[0017] In an optional embodiment of the present invention, in step 2, the rotation speed of the tilt-rotor is measured by a rotation speed sensor built into the drive motor, and the rotation speed of the tilt-rotor is gradually reduced according to a preset curve.

[0018] In an optional embodiment of the present invention, in the process of gradually reducing the rotation speed of the tilt-rotor in step 2, the rotation speed of the tilt-rotor is set to zero or a preset low speed, wherein the preset low speed is 0 to 100 rpm.

[0019] In an optional embodiment of the present invention, in step 3, when the rotation speed of the tilt-rotor is reduced to a certain level, less than 100 rpm, the flight control system starts to tilt the wing surface of the tilt-rotor 90°; the second preset angle in step 3 is -30° to 30°.

[0020] In an optional embodiment of the present invention, step 6 also includes: a wind energy suction pump and an air tank are provided at the bottom of the aircraft, and gas is continuously ejected downward through the air outlet of the air tank to provide lift support for the vertical landing of the aircraft.

[0021] In an optional embodiment of the present invention, the descent speed of the aircraft in step 7 is 2 to 6 m / s.

[0022] The embodiment of the present invention further provides an aircraft vertical landing process control system, which includes:

[0023] The aircraft is ready to land module, which is used when the aircraft is ready to enter the landing stage, the tilt rotor is perpendicular to the horizontal plane, or at a preset first preset angle with the vertical direction of the horizontal plane, and the preset first preset angle is -30° to 30°; the tilt rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propulsion propeller cooperates to maintain the flight speed and altitude;

[0024] A module for gradually reducing the rotation speed of the tilt-rotor is used for, after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller;

[0025] The tilt-rotor tilt module is used for the flight control system to gradually tilt the wing surface of the tilt-rotor from a vertical state to be parallel to the horizontal plane, or to be at a preset second angle with the horizontal plane when the rotation speed of the tilt-rotor decreases to a certain degree, and the second preset angle is -30° to 30°; during the tilting process, the tilt-rotor does not do work relative to the aircraft, and precise control is required to ensure the stability and flight safety of the aircraft;

[0026] The tilt-rotor speed increasing module is used for the flight control system to increase the speed of the tilt-rotor again after the tilt-rotor is fully tilted to the preset second angle of the horizontal state, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing;

[0027] The tilt-rotor provides lift and the aircraft's own weight detection module, which is used for the flight control system to detect in real time through sensors whether the lift provided by the tilt-rotor is sufficient to support the aircraft's own weight; if it is detected that the lift provided by the tilt-rotor is greater than the aircraft's own weight, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state;

[0028] A module for gradually reducing the speed of the propulsion propeller to stop is used for, after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend;

[0029] The aircraft relies on the tilt-rotor to hover and prepare for landing module, which is used for the aircraft to enter the hovering mode after the propulsion propeller stops, and the lift support is completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

[0030] An optional embodiment of the present invention further includes an auxiliary lift module, which includes a wind energy suction pump and an air tank disposed at the bottom of the aircraft, and gas is continuously ejected downward through the air outlet of the air tank to provide lift support for the vertical landing of the aircraft.

[0031] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of a method for controlling a vertical landing process of an aircraft as described in the above embodiment are implemented.

[0032] Compared with the prior art, the embodiments of the present invention provide a method, system and storage medium for controlling the vertical landing process of an aircraft, which have the following beneficial effects:

[0033] (1) The present invention improves flight comfort. During the transition process of existing tilt-rotor aircraft, the rotor usually needs to maintain the rotation speed and increase the pitch, and continuously output power to the aircraft to generate sufficient lift to balance the aircraft's own weight and the power for forward flight. In this case, the airflow disturbance caused by the high-speed rotation of the tilt-rotor can easily affect the fuselage and wings of the aircraft, resulting in unstable flight, which in turn affects the riding comfort of passengers. The present invention gradually reduces the rotation speed of the tilt-rotor after the aircraft reaches a certain airspeed, thereby reducing the interference of the tilt-rotor on the airflow, making the tilt transition process smoother, thereby significantly improving riding comfort.

[0034] (2) The present invention simplifies the design of the flight control system. In the prior art, the tilt-rotor needs to be responsible for maintaining the flight altitude and propulsion speed of the aircraft at the same time during the transition phase, which increases the difficulty of designing the flight control system and is prone to system redundancy problems. In contrast, the present invention relies on the propulsion propeller to provide thrust to the aircraft during the transition process to maintain the speed and altitude of the aircraft. The tilt-rotor maintains a low speed during the tilting process and does not interfere with the attitude control of the aircraft, which simplifies the design of the flight control system, reduces the need for redundancy in the flight control system, and reduces the complexity of the system.

[0035] (3) The present invention improves the energy efficiency of the aircraft. In existing composite wing layout aircraft, the lift rotor stops working during the horizontal flight phase and becomes a "dead weight", which greatly reduces the energy efficiency of the aircraft. In the present invention, the tilt rotor increases its rotation speed again after the tilt is completed, and participates in the propulsion work during the horizontal flight phase, thus preventing the rotor from becoming a burden. Such a design improves the overall energy utilization efficiency of the aircraft and extends the endurance of the aircraft, and is particularly suitable for long-distance flight missions.

[0036] (4) The present invention has a simple structure and is easy to implement. The control method of the present invention can be implemented on the basis of the existing tilt-rotor aircraft structure by rationally designing the deceleration, tilting and re-acceleration process of the tilt-rotor without introducing additional complex structures or new components. This not only reduces the manufacturing and maintenance costs of the aircraft, but also reduces the failure rate and improves the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A flowchart of a method for controlling the vertical landing process of an aircraft provided in an embodiment of the present application.

[0039] Figure 2 A schematic diagram of the structure of an aircraft provided in an embodiment of the present application.

[0040] Figure 3 A schematic diagram of a storage medium for an aircraft vertical landing process control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] The present invention provides a method for controlling the vertical landing process of an aircraft, aiming to solve the problems of aerodynamic disturbance, flight control complexity and flight safety in the transition process of existing tilt-rotor aircraft. The method for controlling the take-off and landing process ensures that the aircraft is more stable, safe and efficient during the transition process between vertical landing and the ground through reasonable rotor speed control and tilting process design. The specific technical solution is as follows:

[0043] like Figure 1 As shown, an embodiment of the present invention further provides a method for controlling a vertical landing process of an aircraft, comprising:

[0044] Step 1, providing an aircraft, wherein a flight control system and a sensor for real-time monitoring of the aircraft status are provided in the aircraft, and the aircraft is provided with a propulsion propeller and a plurality of tilt-rotors;

[0045] The aircraft is preparing to land: when the aircraft is preparing to enter the landing phase, the tilt-rotor is perpendicular to the horizontal plane, or at a preset first preset angle to the vertical direction of the horizontal plane; the tilt-rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propeller cooperates to maintain the flight speed and altitude;

[0046] Step 2, gradually reducing the rotation speed of the tilt-rotor: after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, and the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller;

[0047] Step 3, the tilt rotor tilts: when the rotation speed of the tilt rotor decreases to a certain level, the flight control system begins to gradually tilt the wing surface of the tilt rotor from a vertical state to be parallel to the horizontal plane, or to be at a preset second angle with the horizontal plane, where the second preset angle is -30° to 30°; during the tilting process, the tilt rotor does not do work relative to the aircraft, and precise control is required to ensure the stability of the aircraft and flight safety;

[0048] Step 4, the rotation speed of the tilt-rotor is increased again: after the tilt-rotor is completely tilted to the preset second angle of the horizontal state, the flight control system will increase the rotation speed of the tilt-rotor again, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the rotation speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing;

[0049] Step 5, the lift provided by the tilt-rotor and the self-weight detection of the aircraft: the flight control system detects in real time through the sensor whether the lift provided by the tilt-rotor is sufficient to support the self-weight of the aircraft; if it is detected that the lift provided by the tilt-rotor is greater than the self-weight of the aircraft, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state;

[0050] Step 6, gradually reducing the speed of the propulsion propeller until it stops: after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend;

[0051] Step 7, the aircraft relies on the tilt-rotor to hover and prepare for landing: when the propulsion propeller stops, the aircraft enters the hovering mode, with the lift support completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

[0052] like Figure 1 As shown, the aircraft 1 in step S1 may be provided with a propulsion propeller 3 at the front or / and rear of the fuselage, and a plurality of tilt-rotors 4 may be symmetrically provided on the wings 2 on both sides of the aircraft 1. In other embodiments, a plurality of tilt-rotors may be provided at the front or / and rear of the fuselage of the aircraft, and propulsion propellers may be symmetrically provided on the wings on both sides of the aircraft. The propulsion propellers and tilt-rotors may be installed according to specific circumstances and needs, and are not specifically limited here.

[0053] Preferably, the sensors used to monitor the status of the aircraft in real time in step S1 mainly include: Inertial Measurement Unit (IMU): including accelerometers and gyroscopes, used to measure the acceleration, angular velocity and attitude of the aircraft. Air pressure sensor: used to measure altitude and atmospheric pressure to help the aircraft maintain the correct altitude. Temperature sensor: monitors the temperature of the engine and other key components to prevent overheating. Speed ​​sensor: including pitot tube and GPS module, real-time monitoring of flight speed and heading. Fuel level sensor: used to monitor fuel or battery power in real time to ensure that the aircraft operates within a safe range. Navigation sensor: such as GPS, GLONASS, etc., provides location and navigation information. Radar and laser sensors: used for obstacle detection and avoidance. Optical sensor: used to monitor the external environment, such as image recognition and visual navigation. Strain sensor: monitors the stress and deformation of the fuselage structure to ensure structural safety. When the value measured by the altitude sensor exceeds a certain threshold, or the contact force detected by the load sensor is reduced to zero, the control system determines that the aircraft has left the ground.

[0054] Sensors are installed in the aircraft at the following locations: Inertial measurement units (IMUs) are usually installed near the center of gravity of the fuselage to improve the accuracy of attitude and motion measurements. Speed ​​sensors (such as pitot tubes) and air pressure sensors are usually installed on the wings and tail to measure the speed and altitude of the aircraft. Air pressure sensors and altitude sensors can be installed on the bottom to ensure accuracy at different flight altitudes. Tilt rotor and propeller drive motors have built-in speed sensors. Tilt actuator angle sensors are installed on the shaft connecting the fixed end and the rotating end of the actuator.

[0055] During the vertical landing phase, the lift provided by the tilt-rotor needs to be greater than the weight of the aircraft. If the aircraft weighs 1000kg, the lift needs to be greater than 1000kg.

[0056] In step S1, the flight control system is composed of a cockpit control device, an onboard computer, sensors, a tilt-rotor actuator, a tilt-rotor assembly, a propeller, an aircraft control surface, and necessary mechanical and electrical mechanisms to control the flight of the aircraft. Among them, according to the requirements of manned or unmanned control, the flight control command is issued by the cockpit control device or the onboard computer. The actuator includes a tilt-rotor actuator, a tilt-rotor assembly, a propeller, and an aircraft control surface. Various sensors, such as accelerometers, gyroscopes, pitot tubes, GPS modules, etc., provide control feedback signals to the onboard computer.

[0057] In this embodiment, the vertical landing aircraft is configured as follows: total length 6m, wingspan 8.8m, height 1.6m; maximum take-off and landing weight 1000kg, empty weight 700kg; the tilt-rotor is composed of a 100kw drive motor and a tilt-rotor (two-blade propeller) with a diameter of 1.6m; the propulsion propeller is composed of a 70kw drive motor and a propulsion propeller (two-blade propeller) with a diameter of 1.2m.

[0058] Preferably, the onboard computer in step 1 performs self-check on the actuator and sensor, and the sensors include: inertial measurement unit, air pressure sensor, temperature sensor, speed sensor, oil level sensor, navigation sensor, radar and laser sensor, optical sensor, strain sensor, altitude sensor and load sensor. The preset first preset angle in step 1 is -30° to 30°. The tilt-rotor speed in step 2 is measured by the built-in speed sensor of the drive motor, and the tilt-rotor speed is gradually reduced according to the preset curve. In other embodiments, the tilt-rotor speed decreases linearly at 45° with the time axis.

[0059] In the process of gradually reducing the speed of the tilt-rotor in step 2, the speed of the tilt-rotor will be zero or preset to a low speed, and the preset low speed is 0 to 100 rpm. In the process of gradually reducing the speed of the tilt-rotor in step 2 of this embodiment, the deceleration of the tilt-rotor does not necessarily need to be stopped, and it can also run at a low speed. The tilt-rotor may not be decelerated at all. At this time, since both the tilt-rotor and the propulsion propeller require power, the total power demand increases. The preset second preset angle in step 3 is -30° to 30°. Step 6 also includes: A wind energy suction pump and an air tank are provided at the bottom of the aircraft, and gas is continuously ejected downward through the jet port of the air tank to provide lift support for the vertical landing of the aircraft.

[0060] The present invention provides a method for controlling the vertical landing process of an aircraft, which aims to optimize the process of transitioning from a horizontal flight state to a vertical landing, and ensure a smooth and safe landing of the aircraft by coordinating the work of the tilt rotor and the propeller. The specific technical steps are as follows:

[0061] Step 1: Prepare the aircraft for landing

[0062] In the initial state, the aircraft is in horizontal flight. When the aircraft is ready to enter the landing phase, the wing surface of the tilt-rotor is in a position that is basically perpendicular to the horizontal plane. The tilt-rotor provides the main forward thrust at this time, and cooperates with the propeller to maintain the flight speed and altitude. At this time, the speed of the tilt-rotor is maintained at about 80% of the vertical take-off phase; when the speed of the propeller is maintained at about 3000rpm, the thrust generated can make the aircraft exceed the stall speed (about 60km / h).

[0063] Step 2: Gradually reduce the tiltrotor speed

[0064] After entering the landing phase, the flight control system first gradually reduces the speed of the tilt rotor to a lower speed (less than 100rpm) or stops. The reduction in the speed of the rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilt operation of the rotor. At this time, the flight altitude of the aircraft is maintained by the thrust of the propeller.

[0065] Step 3: Tilt Rotor

[0066] When the speed of the tiltrotor decreases to a certain level (less than 100rpm), the flight control system begins to tilt the wing surface of the tiltrotor 90°. Since the tiltrotor is basically in a non-working state, the airflow generated by the rotor has a greatly reduced impact on the wing and fuselage, thereby improving the stability and flight safety of the aircraft.

[0067] Step 4: Increase the speed of the tilt rotor again

[0068] When the wing surface of the tilt-rotor is fully tilted 90°, the flight control system will increase the speed of the tilt-rotor again, so that it can provide enough vertical lift to support the hovering or slow descent of the aircraft. The increase in speed should match the weight and descent speed of the aircraft to ensure that the aircraft can hover steadily in the air and prepare for landing. If the landing weight of the aircraft is estimated to be 1000kg, a 100kw drive motor can be selected with a tilt-rotor with a diameter of 1.6m (two-blade propeller). When the tilt-rotor speed is around 2500rpm, the lift generated can allow the aircraft to hover in the air.

[0069] Step 5: Lift and aircraft weight detection

[0070] The flight control system uses the altitude sensor to detect in real time whether the lift provided by the tilt-rotor is sufficient to support the weight of the aircraft. If it detects that the altitude of the aircraft remains basically unchanged, the flight control system confirms that the aircraft can hover and enter the landing phase. Otherwise, the flight control system will further increase the speed of the tilt-rotor to ensure the stability of the hovering state.

[0071] Step 6: Gradually reduce the propeller speed to a stop

[0072] After confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propeller until the propeller stops completely. At this point, the aircraft relies entirely on the lift of the tilt-rotor to hover or descend.

[0073] Step 7: The aircraft hovers with the help of the tilt-rotor and prepares to land

[0074] When the propulsion propeller stops, the aircraft enters the hovering mode, and the tilt-rotor provides lift support completely. At this time, the aircraft can gradually descend and complete a smooth landing by relying on the control of the tilt-rotor according to the specific conditions of the landing point. If the aircraft descends at a speed of 2 to 6 m / s, 3 m / s is preferred.

[0075] According to the above-mentioned method for controlling the vertical landing process of an aircraft, the present invention also provides a flight control system for the landing process of a vertical take-off and landing aircraft, including:

[0076] The aircraft is ready to land module, which is used when the aircraft is ready to enter the landing stage, the tilt rotor is perpendicular to the horizontal plane, or at a preset first preset angle with the vertical direction of the horizontal plane, and the preset first preset angle is -30° to 30°; the tilt rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propulsion propeller cooperates to maintain the flight speed and altitude;

[0077] A module for gradually reducing the rotation speed of the tilt-rotor is used for, after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller;

[0078] The tilt-rotor tilt module is used for the flight control system to gradually tilt the wing surface of the tilt-rotor from a vertical state to be parallel to the horizontal plane, or to be at a preset second angle with the horizontal plane when the rotation speed of the tilt-rotor decreases to a certain degree, and the second preset angle is -30° to 30°; during the tilting process, the tilt-rotor does not do work relative to the aircraft, and precise control is required to ensure the stability and flight safety of the aircraft;

[0079] The tilt-rotor speed increasing module is used for the flight control system to increase the speed of the tilt-rotor again after the tilt-rotor is fully tilted to the preset second angle of the horizontal state, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing;

[0080] The tilt-rotor provides lift and the aircraft's own weight detection module, which is used for the flight control system to detect in real time through sensors whether the lift provided by the tilt-rotor is sufficient to support the aircraft's own weight; if it is detected that the lift provided by the tilt-rotor is greater than the aircraft's own weight, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state;

[0081] A module for gradually reducing the speed of the propulsion propeller to stop is used for, after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend;

[0082] The aircraft relies on the tilt-rotor to hover and prepare for landing module, which is used for the aircraft to enter the hovering mode after the propulsion propeller stops, and the lift support is completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

[0083] A control system for the vertical landing process of an aircraft also includes an auxiliary lift module, which includes a wind energy suction pump and an air tank arranged at the bottom of the aircraft. Gas is continuously ejected downward through the air jet outlet of the air tank to provide lift support for the vertical landing of the aircraft.

[0084] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a method for controlling a vertical landing process of an aircraft as described in the above embodiment are implemented.

[0085] like Figure 3 As shown, when the processor 30 executes the computer program 32, the steps of a method for controlling the vertical landing process of an aircraft in the above embodiment are implemented. The processor 30 can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The memory 31 can be an internal storage unit, hard disk or memory of a server of a control system for the vertical landing process of an aircraft. The memory 31 can also be an external storage device of the server, or a plug-in hard disk, smart memory card, secure digital card, flash memory card, etc. Further, the memory 31 can also include both the internal storage unit of the server and the external storage device. The memory 31 is used to store computer programs and other programs and data required by electronic devices. The memory 31 can also be used to temporarily store data that has been output or is to be output. The input and output device 33 can be used to receive input digital or character information. Specifically, the input and output device 33 can also include but is not limited to one or more of a keyboard, a mouse, a joystick, etc. The display device 34 may be used to display information input by the user or information provided to the user and various menus of the terminal. The display device 34 may include a display panel, and optionally, a liquid crystal display may be used.

[0086] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A method for controlling a vertical landing process of an aircraft, characterized in that: include: Step 1, providing an aircraft, wherein a flight control system and a sensor for real-time monitoring of the aircraft status are provided in the aircraft, and the aircraft is provided with a propulsion propeller and a plurality of tilt-rotors; The aircraft is preparing to land: when the aircraft is preparing to enter the landing phase, the tilt-rotor is perpendicular to the horizontal plane, or at a preset first preset angle to the vertical direction of the horizontal plane; the tilt-rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propeller cooperates to maintain the flight speed and altitude; Step 2, gradually reducing the rotation speed of the tilt-rotor: after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, and the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller; Step 3, the tilt rotor tilts: when the rotation speed of the tilt rotor decreases to a certain level, the flight control system begins to gradually tilt the wing surface of the tilt rotor from a vertical state to a state parallel to the horizontal plane, or to a preset second angle with the horizontal plane; during the tilting process, the tilt rotor does not do work relative to the aircraft, and precise control is required to ensure the stability of the aircraft and flight safety; Step 4, the rotation speed of the tilt-rotor is increased again: after the tilt-rotor is completely tilted to the preset second angle of the horizontal state, the flight control system will increase the rotation speed of the tilt-rotor again, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the rotation speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing; Step 5, the lift provided by the tilt-rotor and the self-weight detection of the aircraft: the flight control system detects in real time through the sensor whether the lift provided by the tilt-rotor is sufficient to support the self-weight of the aircraft; if it is detected that the lift provided by the tilt-rotor is greater than the self-weight of the aircraft, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state; Step 6, gradually reducing the speed of the propulsion propeller until it stops: after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend; Step 7, the aircraft relies on the tilt-rotor to hover and prepare for landing: when the propulsion propeller stops, the aircraft enters the hovering mode, with the lift support completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

2. The method for controlling the vertical landing process of an aircraft according to claim 1, characterized in that: The onboard computer in step 1 performs self-inspection on the actuators and sensors, including: an inertial measurement unit, an air pressure sensor, a temperature sensor, a speed sensor, an oil level sensor, a navigation sensor, a radar and laser sensor, an optical sensor, a strain sensor, an altitude sensor and a load sensor; the preset first preset angle in step 1 is -30° to 30°.

3. The method for controlling a vertical landing process of an aircraft according to claim 1, characterized in that: In step 2, the tilt-rotor speed is measured by the built-in speed sensor of the drive motor, and the tilt-rotor speed is gradually reduced according to a preset curve.

4. The method for controlling a vertical landing process of an aircraft according to claim 1, characterized in that: In step 2, the tilt-rotor rotation speed is gradually reduced to zero or a preset low speed, wherein the preset low speed is 0 to 100 rpm.

5. The method for controlling a vertical landing process of an aircraft according to claim 1, characterized in that: In step 3, when the rotation speed of the tilt-rotor is reduced to a certain degree, less than 100 rpm, the flight control system starts to tilt the wing surface of the tilt-rotor by 90°; the second preset angle in step 3 is -30° to 30°.

6. The method for controlling the vertical landing process of an aircraft according to claim 1, characterized in that: Step 6 also includes: a wind energy suction pump and an air tank are arranged at the bottom of the aircraft, and gas is continuously ejected downward through the air outlet of the air tank to provide lift support for the vertical landing of the aircraft.

7. The method for controlling a vertical landing process of an aircraft according to claim 1, characterized in that: The aircraft descent speed in step 7 is 2 to 6 m / s.

8. An aircraft vertical landing process control system, characterized in that: include: The aircraft is ready to land module, which is used when the aircraft is ready to enter the landing stage, the tilt rotor is perpendicular to the horizontal plane, or at a preset first preset angle with the vertical direction of the horizontal plane, and the preset first preset angle is -30° to 30°; the tilt rotor provides the main forward thrust at this time, the aircraft is still in flight mode, and the propulsion propeller cooperates to maintain the flight speed and altitude; A module for gradually reducing the rotation speed of the tilt-rotor is used for, after entering the landing phase, the flight control system first gradually reduces the rotation speed of the tilt-rotor, the reduction in the rotation speed of the tilt-rotor can reduce the forward thrust of the aircraft, gradually slow down the flight speed of the aircraft, and prepare for the subsequent tilting operation of the tilt-rotor; at this time, the flight altitude of the aircraft is maintained by the thrust of the propulsion propeller; The tilt-rotor tilt module is used for the flight control system to gradually tilt the wing surface of the tilt-rotor from a vertical state to be parallel to the horizontal plane, or to be at a preset second angle with the horizontal plane when the rotation speed of the tilt-rotor decreases to a certain degree, and the second preset angle is -30° to 30°; during the tilting process, the tilt-rotor does not do work relative to the aircraft, and precise control is required to ensure the stability and flight safety of the aircraft; The tilt-rotor speed increasing module is used for the flight control system to increase the speed of the tilt-rotor again after the tilt-rotor is fully tilted to the preset second angle of the horizontal state, so that it can provide sufficient vertical lift to support the hovering or slow descent of the aircraft; the increase in the speed of the tilt-rotor should match the weight and descent speed of the aircraft to ensure that the aircraft can hover stably in the air and prepare for landing; The tilt-rotor provides lift and the aircraft's own weight detection module, which is used for the flight control system to detect in real time through sensors whether the lift provided by the tilt-rotor is sufficient to support the aircraft's own weight; if it is detected that the lift provided by the tilt-rotor is greater than the aircraft's own weight, the flight control system confirms that the aircraft can hover and enter the landing phase; if the lift is insufficient, the flight control system will further adjust the rotation speed of the tilt-rotor to ensure the stability of the hovering state; A module for gradually reducing the speed of the propulsion propeller to stop is used for, after confirming that the lift provided by the tilt-rotor is sufficient to support the aircraft, the flight control system gradually reduces the speed of the propulsion propeller until the propulsion propeller stops completely; at this time, the aircraft completely relies on the lift of the tilt-rotor to hover or descend; The aircraft relies on the tilt-rotor to hover and prepare for landing module, which is used for the aircraft to enter the hovering mode after the propulsion propeller stops, and the lift support is completely provided by the tilt-rotor; at this time, the aircraft gradually descends and completes a smooth landing based on the specific conditions of the landing point by relying on the control of the tilt-rotor.

9. The aircraft vertical landing process control system according to claim 8, characterized in that: It also includes an auxiliary lift module, which includes a wind energy suction pump and an air tank arranged at the bottom of the aircraft. Gas is continuously ejected downward through the air jet outlet of the air tank to provide lift support for the vertical landing of the aircraft.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a method for controlling a vertical landing process of an aircraft as described in any one of claims 1 to 7 are implemented.

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