Hovering control method, device and equipment for tilt-configuration aircraft and medium

Abstract

The invention provides a hovering control method, device and equipment for a tilt-configuration aircraft and a medium. The method comprises the steps that an acceleration instruction of the aircraft is obtained in real time; the method comprises the following steps: acquiring a tilt angle of a tilt mechanism of the aircraft, acquiring a control distribution matrix when the tilt angle is greater than a preset angle, and converting an acceleration instruction into a target control instruction by using the control distribution matrix, thereby performing hovering control on the aircraft based on the target control instruction. The target control instruction comprises a roll angle control instruction, a tension control instruction and a pitch angle control instruction. Compared with the prior art, hovering control does not need to depend on a hovering datum point, the current flight state of the aircraft is considered, control is conducted by controlling the distribution matrix, hovering control can be matched with the actual state of the aircraft, and the risk of the aircraft in the hovering process is reduced.

Description

Technical Field

[0001] The present invention relates to the field of aircraft control, and in particular to a hovering control method, device, equipment and medium for a tilt-configuration aircraft. Background Art

[0002] The direction of the rotor pull of a rotor-configured aircraft is usually perpendicular to the aircraft body and upward, but the direction of the pull of a tilt-configured aircraft will change with the change of the tilt angle. Therefore, this leads to the control method of the rotor-configured aircraft not being applicable in some special application scenarios, such as large attitudes or large maneuvers. The control law design for rotor-configured aircraft in the prior art is generally based on a specific balance point. For example, most of the external loop controllers of this type of aircraft use the horizontal hovering point as the reference point of the control law. This method is based on balancing at a specific tilt angle and realizing the distribution of horizontal acceleration, which leads to a low match between the control of the aircraft and its actual state, and there are risks in some application scenarios. Summary of the invention

[0003] The present invention application provides a hovering control method, device, equipment and medium for a tilt-configuration aircraft to solve the technical problem of how to improve the matching degree between the hovering control of the aircraft and the actual state, so as to reduce the flight risk.

[0004] In order to solve the above technical problems, the first aspect of the present invention provides a hovering control method for a tilting configuration aircraft, comprising:

[0005] Acquiring acceleration instructions of an aircraft in real time, wherein the aircraft is a tilt configuration aircraft;

[0006] Acquire a tilt angle of a tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, acquire a preset control allocation matrix;

[0007] The control allocation matrix is ​​used to convert the acceleration instruction into a target control instruction, so as to perform hovering control on the aircraft based on the target control instruction. The target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

[0008] In implementing the present invention application, according to the tilt angle of the tilt mechanism of the aircraft, a preset control allocation matrix is ​​obtained when it is greater than a preset angle, and the matrix is ​​used to convert the acceleration command into a roll angle control command, a tension control command and a pitch angle control command, thereby realizing the conversion of the acceleration command and the allocation of the roll angle control, the tension control and the pitch angle control. Compared with the existing technical solutions, the present invention application starts fixed-point hovering when the tilt angle is greater than a preset angle, and the hovering control does not need to rely on the hovering reference point, but takes into account the current flight state of the aircraft (the tilt angle of the tilt mechanism) and controls it through the control allocation matrix, so that the hovering control can match the actual state of the aircraft to reduce the risk of the aircraft during the hovering control process.

[0009] In some implementations of the first aspect, the aircraft is provided with a tilt mechanism; when the tilt angle is greater than a preset angle, obtaining a preset control allocation matrix comprises:

[0010] When the tilt angle is greater than a preset angle, obtaining a singular value of a current pulling force vector of the aircraft, a singular value of a current angle of attack of the aircraft, and a tilt angle of the tilt mechanism;

[0011] When the singular value of the current pulling force vector and the singular value of the current angle of attack meet the preset singular value conditions, a preset control allocation matrix is ​​obtained.

[0012] In some implementations of the first aspect, when the singular value of the current pull vector and the singular value of the current angle of attack meet preset singular value conditions, obtaining a preset control allocation matrix includes:

[0013] When the singular value of the current angle of attack is less than a preset first angle of attack singular threshold, or when the singular value of the current pull vector is greater than the singular value of the current angle of attack, a preset control allocation matrix is ​​obtained.

[0014] In some implementations of the first aspect, the method for constructing the control allocation matrix is ​​specifically:

[0015] Obtaining a pulling force vector, a pitch angle, a rolling angle, and a difference between a track angle and a heading angle of the aircraft in a track coordinate system;

[0016] The control allocation matrix is ​​constructed according to the thrust vector, the pitch angle, the roll angle, and the difference between the track angle and the heading angle.

[0017] In some implementations of the first aspect, obtaining the pulling force vector of the aircraft in a track coordinate system is specifically:

[0018] Obtaining the rotor thrust of the aircraft in a tilt angle coordinate system;

[0019] The rotor thrust in the tilt angle coordinate system is converted into the thrust in the body coordinate system through a preset tilt vector rotation matrix;

[0020] The pulling force of the body coordinate system is rotated according to the pitch angle and the roll angle to obtain the pulling force vector of the aircraft in the track coordinate system.

[0021] In some implementations of the first aspect, the aircraft is provided with a speed controller; and the real-time acquisition of the acceleration instruction of the aircraft is specifically:

[0022] Obtain the navigation coordinate system speed of the aircraft in real time;

[0023] The navigation coordinate system velocity is converted into the track coordinate system velocity by a preset velocity rotation matrix;

[0024] Acquire and respond to the speed control instruction, and control the speed controller to perform the following steps: obtain the acceleration instruction according to the track coordinate system speed and the speed control instruction.

[0025] In some implementations of the first aspect, before performing hover control on the aircraft based on the target control instruction, the method further includes:

[0026] Obtaining a judgment result of the fault diagnosis state machine, wherein the judgment result indicates the tilting capability and the state of the tilting mechanism of the aircraft;

[0027] According to the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control.

[0028] The second aspect of the present invention application provides a hovering control device for a tilt-rotating aircraft, comprising an acceleration instruction acquisition module, a distribution matrix acquisition module and a control module; wherein:

[0029] The acceleration instruction acquisition module is used to acquire the acceleration instruction of the aircraft in real time, and the aircraft is a tilt configuration aircraft;

[0030] The allocation matrix acquisition module is used to acquire the tilt angle of the tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, acquire a preset control allocation matrix;

[0031] The control module is used to convert the acceleration instruction into a target control instruction using the control allocation matrix, so as to perform hovering control on the aircraft based on the target control instruction, wherein the target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

[0032] In some implementations of the second aspect, when the tilt angle is greater than a preset angle, the allocation matrix acquisition module acquires a preset control allocation matrix, including:

[0033] The allocation matrix acquisition module acquires the singular value of the current pulling force vector of the aircraft, the singular value of the current angle of attack of the aircraft and the tilt angle of the tilt mechanism when the tilt angle is greater than a preset angle;

[0034] When the singular value of the current pulling force vector and the singular value of the current angle of attack meet the preset singular value conditions, a preset control allocation matrix is ​​obtained.

[0035] In some implementations of the second aspect, when the singular value of the current pull vector and the singular value of the current angle of attack meet preset singular value conditions, the allocation matrix acquisition module acquires a preset control allocation matrix, including:

[0036] The allocation matrix acquisition module acquires a preset control allocation matrix when the singular value of the current angle of attack is less than a preset first angle of attack singular threshold, or when the singular value of the current pull vector is greater than the singular value of the current angle of attack.

[0037] In some embodiments of the second aspect, the hover control device further includes a control allocation matrix construction module, wherein the control allocation matrix construction module is used to:

[0038] Obtaining a pulling force vector, a pitch angle, a rolling angle, and a difference between a track angle and a heading angle of the aircraft in a track coordinate system;

[0039] The control allocation matrix is ​​constructed according to the thrust vector, the pitch angle, the roll angle, and the difference between the track angle and the heading angle.

[0040] In some implementations of the second aspect, the control allocation matrix construction module obtains the pulling force vector of the aircraft in the track coordinate system, specifically:

[0041] The control allocation matrix construction module obtains the rotor thrust of the aircraft in the tilt angle coordinate system;

[0042] The rotor thrust in the tilt angle coordinate system is converted into the thrust in the body coordinate system through a preset tilt vector rotation matrix;

[0043] The pulling force of the body coordinate system is rotated according to the pitch angle and the roll angle to obtain the pulling force vector of the aircraft in the track coordinate system.

[0044] In some implementations of the second aspect, the aircraft is provided with a speed controller; the acceleration instruction acquisition module acquires the three-axis acceleration instructions of the aircraft in real time, specifically:

[0045] The acceleration instruction acquisition module acquires the navigation coordinate system velocity of the aircraft in real time;

[0046] The navigation coordinate system velocity is converted into the track coordinate system velocity by a preset velocity rotation matrix;

[0047] Acquire and respond to the speed control instruction, and control the speed controller to perform the following steps: obtain the three-axis acceleration instruction according to the track coordinate system speed and the speed control instruction.

[0048] In some implementations of the second aspect, the hovering control device further includes a condition judgment module, which is configured to, before the control module performs hovering control on the aircraft based on the target control instruction:

[0049] Obtaining a judgment result of the fault diagnosis state machine, wherein the judgment result indicates the tilting capability and the state of the tilting mechanism of the aircraft;

[0050] According to the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control.

[0051] The third aspect of the present application provides a hover control device for a tilt-configuration aircraft, comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the hover control method for the tilt-configuration aircraft.

[0052] The fourth aspect of the present application provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the hovering control method of the tilt-configuration aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 : A flow chart of a first embodiment of the hovering control method for a tilt-configuration aircraft provided in the present application.

[0054] Figure 2 : A flow chart of a second embodiment of the hovering control method for a tilt-configuration aircraft provided in the present application.

[0055] Figure 3 : A schematic structural diagram of a first embodiment of a hovering control device for a tilt-configuration aircraft provided in the present application.

[0056] Figure 4: A structural schematic diagram of a first embodiment of a hovering control device for a tilt-configuration aircraft provided in the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] According to relevant technical records, the control law design for rotor-configured aircraft is generally based on a specific balance point. For example, the outer loop controller of some rotor-configured aircraft uses the horizontal hovering point as the reference point of the control law. This method is based on balancing at a specific tilt angle, and then through the position loop controller, according to the position and speed instructions of the aircraft and other related information, a three-axis acceleration instruction under the position loop is generated to achieve the distribution of horizontal acceleration. This results in a low match between the control of the aircraft and its actual state, and there are control risks in some application scenarios. In addition, this technical solution often relies on the robustness of the control law itself to achieve control, so it is difficult to achieve perfect control in large attitudes or large maneuvers.

[0059] For one or more of the above technical issues, please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the hovering control method for a tilting configuration aircraft provided by the present invention. The hovering control method for a tilting configuration aircraft described in this embodiment can be applied to the controller of the aircraft, and specifically includes steps S101 to S103; wherein,

[0060] Step S101, obtaining the acceleration instruction of the aircraft in real time.

[0061] In this step, the aircraft is a tilt-configuration aircraft, which can be an airplane, a space shuttle, or other flying tools with a flight function and a tilt-configuration.

[0062] The acceleration command may be a three-axis acceleration command in a track coordinate system. The track coordinate system takes the track angle direction of the aircraft as the positive direction of the X-axis, the direction perpendicular to the body symmetry plane and 90 degrees to the X-axis as the Y-axis, and the direction perpendicular to the body symmetry plane pointing to the ground as the positive direction of the Z-axis.

[0063] exist Figure 1 Based on the embodiment shown, Figure 2 FIG. 1 shows a flow chart of step S101 provided in another embodiment of the present application. It should be noted that: Figure 2 The embodiment shown is Figure 1 The same steps will not be repeated here. The aircraft of this embodiment is provided with a speed controller, specifically as follows Figure 2 As shown, step S101 includes step S201 and step S203, which are described in detail as follows:

[0064] Step S201, obtaining the navigation coordinate system velocity of the aircraft in real time.

[0065] Step S202: converting the navigation coordinate system velocity into the track coordinate system velocity by using a preset velocity rotation matrix.

[0066] Step S203, obtaining and responding to the speed control instruction, and controlling the speed controller to perform the following steps: obtaining the acceleration instruction according to the track coordinate system speed and the speed control instruction.

[0067] In this embodiment, the navigation coordinate system speed may be obtained from geographic navigation system data. For example, the navigation coordinate system speed may specifically be the north-east speed of the Global Positioning System (GPS).

[0068] After obtaining the navigation coordinate system velocity, the navigation coordinate system velocity can be converted to the track coordinate system velocity by using a pre-built velocity rotation matrix. For example, the velocity rotation matrix can be:

[0069]

[0070] Wherein, x1 is the velocity rotation matrix, and β can be the difference between the track angle and the heading angle of the aircraft.

[0071] The heading angle is the angle between the projection of the xb axis of the body coordinate system (or the nose coordinate system) on the horizontal plane and the xg axis of the ground coordinate system. When the xg axis rotates counterclockwise to the projection line of the xb axis of the body, the heading angle is positive, that is, the right yaw of the aircraft head is positive, and vice versa. In addition, the heading angle is a type of attitude angle, which also includes the pitch angle and the roll angle. The heading angle, pitch angle, and roll angle are all Euler angles.

[0072] It should be noted that the body coordinate system takes the forward direction of the aircraft's head as the positive direction of the X-axis, the direction perpendicular to the body's symmetry plane and 90 degrees to the X-axis as the Y-axis, and the direction perpendicular to the body's symmetry plane pointing to the ground as the positive direction of the Z-axis.

[0073] It can be understood that as the track angle and heading angle of the aircraft change, the difference between the track angle and heading angle of the aircraft also changes, and the speed rotation matrix also changes accordingly. In this way, when the aircraft calculates the (three-axis) acceleration instruction, the navigation coordinate system speed can be accurately and quickly converted to the track coordinate system speed according to the real-time navigation coordinate system speed and the real-time speed rotation matrix; further, by obtaining and responding to the speed control instruction, the speed controller obtains the three-axis acceleration instruction based on the real-time track coordinate system speed according to the speed control instruction.

[0074] Step S102, obtaining the tilt angle of the tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, obtaining a preset control allocation matrix.

[0075] In this step, the flight stage of the tilt-rotor flight can be divided into the rotor section, the rotor transition section, the fixed-wing transition section or the fixed-wing section. Different control ideas can be adopted according to the different flight stages of the tilt-rotor flight.

[0076] The rotor transition section refers to a situation where the rotor characteristics are stronger than the fixed-wing characteristics, and the fixed-wing transition section refers to a situation where the fixed-wing characteristics are stronger than the rotor characteristics. In a further preferred embodiment, when the flight phase of the current tilt flight is the rotor section or the rotor transition section, a preset control allocation matrix is ​​obtained.

[0077] Exemplarily, when the tilt angle is greater than a preset angle, obtaining a preset control allocation matrix in step S102 includes: when the tilt angle is greater than a preset angle, obtaining a singular value of the current thrust vector of the aircraft, a singular value of the current angle of attack of the aircraft, and a tilt angle of the tilt mechanism; when the singular value of the current thrust vector and the singular value of the current angle of attack meet a preset singular value condition, obtaining a preset control allocation matrix. For example, when the singular value of the current angle of attack is less than a preset first angle of attack singular threshold, or when the singular value of the current thrust vector is greater than the singular value of the current angle of attack, obtaining a preset control allocation matrix.

[0078] By implementing the implementation mode of the present application, the rotor characteristics and fixed-wing characteristics of the aircraft can be determined through singular value analysis, thereby determining the flight stage of the tilt flight and obtaining the current flight state of the aircraft, laying the foundation for the hovering control of the aircraft in step S103.

[0079] Exemplarily, for some specific types of aircraft, determining the flight stage of the aircraft is specifically as follows: obtaining the singular value of the current thrust vector of the aircraft, the singular value of the current angle of attack of the aircraft, and the tilt angle of the tilt mechanism; and determining the flight stage of the current tilt flight of the aircraft according to the tilt angle, the singular value of the current thrust vector, and the singular value of the current angle of attack.

[0080] Furthermore, since the tilt angle represents the angle of the tilt mechanism, when the tilt angle is zero, it is a fixed-wing configuration, and when the tilt angle is ninety degrees, it is a rotary-wing configuration. Therefore, ninety degrees to zero degrees are divided into a first preset tilt angle interval, a second preset tilt angle interval, a third preset tilt angle interval, and a fourth preset tilt angle interval, and the first preset tilt angle interval, the second preset tilt angle interval, the third preset tilt angle interval, and the fourth preset tilt angle interval are continuous intervals from large to small.

[0081] When the singular value of the current angle of attack is less than a preset first angle of attack singular threshold and the tilt angle is in a first preset tilt angle range, it is determined that the flight stage of the current tilt flight of the aircraft is the rotor stage, for example, the singular value of the current angle of attack is almost zero and the tilt angle is close to ninety degrees.

[0082] When the singular value of the current thrust vector is greater than the singular value of the current angle of attack, and the tilt angle is in a second preset tilt angle range (for example, less than ninety degrees but some distance away from ninety degrees), it is determined that the flight stage of the current tilt flight of the aircraft is the rotor transition stage.

[0083] When the singular value of the current pulling force vector is less than or equal to the singular value of the current angle of attack, and the tilt angle is in a third preset tilt angle interval (for example, greater than zero degrees but a certain distance from zero degrees), it is determined that the flight stage of the current tilt flight of the aircraft is a fixed-wing transition stage;

[0084] When the tilt angle is in the fourth preset tilt angle interval (e.g., close to zero degrees), it is determined that the flight phase of the current tilt flight of the aircraft is the fixed wing segment. The first preset tilt angle interval and the second preset tilt angle interval can be understood as the interval in which the tilt angle in step S102 is greater than the preset angle value.

[0085] By implementing this preferred embodiment, for some specific types of aircraft, singular value analysis is performed on the aircraft's thrust vector and current angle of attack to quantify their contribution to the vertical direction. Therefore, combined with the tilt angle, the flight stage of the aircraft's current tilt flight can be accurately determined. On the basis of accurately determining the flight stage of the current tilt flight, the control allocation matrix can be obtained when it is determined that the aircraft is in the rotor section or the rotor transition section. In the subsequent steps, the allocation of roll angle control, thrust control and pitch angle control can be performed with higher accuracy and efficiency.

[0086] In some implementations, a control allocation matrix may be pre-constructed before step S103, and the control allocation matrix may be acquired when the aircraft is in the rotor section or the rotor transition section to achieve fixed-point hovering control.

[0087] Exemplarily, the method for constructing the control allocation matrix is ​​specifically as follows: obtaining the thrust vector, pitch angle, roll angle, and the difference between the track angle and the heading angle of the aircraft in the track coordinate system; and constructing the control allocation matrix according to the thrust vector, pitch angle, roll angle, and the difference between the track angle and the heading angle.

[0088] The combination of the pulling force and the tilt angle is the pulling force vector. For example, when the difference between the track angle and the heading angle is 0, the pulling force vector can be represented as:

[0089]

[0090] Among them, x2 is the representation of the thrust vector when the difference between the track angle and the heading angle is 0, aT represents the acceleration generated by the rotor thrust, tilt represents the tilt angle, θ is the pitch angle, and φ is the roll angle.

[0091] In a further preferred embodiment, the method for acquiring the thrust vector in the track coordinate system is specifically as follows: acquiring the rotor thrust of the aircraft in the tilt angle coordinate system; converting the rotor thrust in the tilt angle coordinate system into the thrust of the body coordinate system through a preset tilt vector rotation matrix. Exemplarily, the tilt vector rotation matrix may be:

[0092]

[0093] Among them, x3 is the tilt vector rotation matrix.

[0094] Then, according to the real-time pitch angle and roll angle of the aircraft, the tension of the body coordinate system is rotated to obtain the tension vector of the aircraft in the track coordinate system and obtain the control allocation matrix. And the pre-built control allocation matrix is ​​obtained when the aircraft is in the rotor section or the rotor transition section.

[0095] Step S103, using the control allocation matrix, converting the acceleration instruction into a target control instruction, so as to perform hovering control on the aircraft based on the target control instruction, wherein the target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

[0096] In this step, the control allocation matrix can be used for incremental nonlinear dynamic inversion (INDI) control allocation, so as to convert the acceleration command into a target control command to achieve fixed-point hovering control of the aircraft.

[0097] The roll angle control instruction, the tension control instruction and the pitch angle control instruction may be the roll angle increment, the tension increment and the pitch angle increment respectively, and the roll angle increment, the tension increment and the pitch angle increment may take negative values.

[0098] In some preferred embodiments, before hovering control is performed on the aircraft based on the target control instruction, the state of the aircraft and its tilt mechanism may be identified. For example, a judgment result of a fault diagnosis state machine is obtained, the judgment result indicates the tilt capability and tilt mechanism state of the aircraft; based on the tilt capability and tilt mechanism state, it is determined that the aircraft meets the conditions for hovering control.

[0099] In this way, when the fault diagnosis state machine determines that the aircraft cannot be tilted, or the tilting mechanism fails, etc., the hovering control of the aircraft can be started. It can be understood that the control method of the tilting configuration aircraft of the present application can be pre-stored in the controller, and the hovering control based on the target control instruction described in step S103 is started again when the above abnormal situation occurs.

[0100] like Figure 3 As shown, Figure 3 The present invention is a structural schematic diagram of an embodiment of a hovering control device 300 for a tilting configuration aircraft, wherein the hovering control device 300 includes an acceleration instruction acquisition module 301, a distribution matrix acquisition module 302 and a control module 303; wherein,

[0101] The acceleration instruction acquisition module 301 is used to acquire the acceleration instruction of the aircraft in real time, and the aircraft is a tilt configuration aircraft;

[0102] The allocation matrix acquisition module 302 is used to acquire the tilt angle of the tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, acquire a preset control allocation matrix;

[0103] The control module 303 is used to convert the acceleration instruction into a target control instruction using the control allocation matrix, so as to perform hovering control on the aircraft based on the target control instruction, wherein the target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

[0104] In some preferred implementations, when the tilt angle is greater than a preset angle, the allocation matrix acquisition module 302 acquires a preset control allocation matrix, including:

[0105] The allocation matrix acquisition module 302 acquires the singular value of the current pulling force vector of the aircraft, the singular value of the current angle of attack of the aircraft and the tilt angle of the tilt mechanism when the tilt angle is greater than a preset angle;

[0106] When the singular value of the current pulling force vector and the singular value of the current angle of attack meet the preset singular value conditions, a preset control allocation matrix is ​​obtained.

[0107] In some preferred embodiments, when the singular value of the current force vector and the singular value of the current angle of attack meet the preset singular value conditions, the allocation matrix acquisition module 302 acquires the preset control allocation matrix, including:

[0108] The allocation matrix acquisition module 302 acquires a preset control allocation matrix when the singular value of the current angle of attack is less than a preset first angle of attack singular threshold, or when the singular value of the current pull vector is greater than the singular value of the current angle of attack.

[0109] In some preferred embodiments, the hover control device 300 further includes a control allocation matrix building module, and the control allocation matrix building module is used to:

[0110] Obtaining a pulling force vector, a pitch angle, a rolling angle, and a difference between a track angle and a heading angle of the aircraft in a track coordinate system;

[0111] The control allocation matrix is ​​constructed according to the thrust vector, the pitch angle, the roll angle, and the difference between the track angle and the heading angle.

[0112] In some preferred implementations, the control allocation matrix construction module obtains the pulling force vector of the aircraft in the track coordinate system, specifically:

[0113] The control allocation matrix construction module obtains the rotor thrust of the aircraft in the tilt angle coordinate system;

[0114] The rotor thrust in the tilt angle coordinate system is converted into the thrust in the body coordinate system through a preset tilt vector rotation matrix;

[0115] The pulling force of the body coordinate system is rotated according to the pitch angle and the roll angle to obtain the pulling force vector of the aircraft in the track coordinate system.

[0116] In some preferred embodiments, the aircraft is provided with a speed controller; the acceleration instruction acquisition module 301 acquires the acceleration instruction of the aircraft in real time, specifically:

[0117] The acceleration instruction acquisition module 301 acquires the navigation coordinate system velocity of the aircraft in real time;

[0118] The navigation coordinate system velocity is converted into the track coordinate system velocity by a preset velocity rotation matrix;

[0119] Acquire and respond to the speed control instruction, and control the speed controller to perform the following steps: obtain the acceleration instruction according to the track coordinate system speed and the speed control instruction.

[0120] In some preferred embodiments, the hovering control device 300 further includes a condition judgment module, which is used to, before the control module performs hovering control on the aircraft based on the target control instruction:

[0121] Obtaining a judgment result of the fault diagnosis state machine, wherein the judgment result indicates the tilting capability and the state of the tilting mechanism of the aircraft;

[0122] According to the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control. As for the device implementation, since it is basically similar to the method implementation, the relevant description can refer to the partial description of the method implementation.

[0123] like Figure 4 As shown, Figure 4 A hover control device for a tilt-rotating aircraft provided in the present application includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the hover control method for the tilt-rotating aircraft.

[0124] Figure 4 A schematic structural diagram of an implementation of a hovering control device for a tilt-rotating aircraft of the present invention is shown. The specific implementation of the present invention does not limit the specific implementation of the hovering control device for a tilt-rotating aircraft.

[0125] like Figure 4 As shown, the hovering control device of the tilt-configuration aircraft may include: a processor 402 , a communications interface 404 , a memory 406 , and a communications bus 408 .

[0126] The processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408. The communication interface 404 is used to communicate with other devices such as a client or other server network elements. The processor 402 is used to execute the program 410, which can specifically execute the relevant steps in the above-mentioned hovering control method implementation method for a tilt-configuration aircraft.

[0127] Specifically, the program 410 may include program code including computer executable instructions.

[0128] The processor 402 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the hovering control device of the tilt-rotating aircraft may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0129] The memory 406 is used to store the program 410. The memory 406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0130] In addition, the present application also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the hovering control method of the tilt-configuration aircraft.

[0131] Wherein, if the module integrated in the hovering control device of the tilt-rotating configuration aircraft is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0132] Compared with the prior art, the embodiments of the present invention at least have the following beneficial effects:

[0133] The present invention application obtains a preset control allocation matrix when the tilt angle of the tilt mechanism of the aircraft is greater than a preset angle, and uses the matrix to convert acceleration instructions into roll angle control instructions, tension control instructions and pitch angle control instructions, thereby realizing the conversion of acceleration instructions and the allocation of roll angle control, tension control and pitch angle control. Compared with the existing technical solutions, the present invention application starts fixed-point hovering when the tilt angle is greater than a preset angle, and the hovering control does not need to rely on the hovering reference point, but takes into account the current flight state of the aircraft (the tilt angle of the tilt mechanism) and controls it through the control allocation matrix, which can match the hovering control with the actual state of the aircraft to reduce the risk of the aircraft during the hovering control process.

[0134] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hovering control method for a tilt-rotating aircraft, characterized in that: include: Acquiring acceleration instructions of an aircraft in real time, wherein the aircraft is a tilt configuration aircraft; Acquire a tilt angle of a tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, acquire a preset control allocation matrix; The control allocation matrix is ​​used to convert the acceleration instruction into a target control instruction, so as to perform hovering control on the aircraft based on the target control instruction. The target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

2. A hovering control method for a tilt-configuration aircraft according to claim 1, characterized in that: When the tilt angle is greater than a preset angle, obtaining a preset control allocation matrix includes: When the tilt angle is greater than a preset angle, obtaining a singular value of a current pulling force vector of the aircraft, a singular value of a current angle of attack of the aircraft, and a tilt angle of the tilt mechanism; When the singular value of the current pulling force vector and the singular value of the current angle of attack meet the preset singular value conditions, a preset control allocation matrix is ​​obtained.

3. A hovering control method for a tilt-configuration aircraft according to claim 2, characterized in that: When the singular value of the current pulling force vector and the singular value of the current angle of attack meet the preset singular value conditions, obtaining the preset control allocation matrix includes: When the singular value of the current angle of attack is less than a preset first angle of attack singular threshold, or when the singular value of the current pull vector is greater than the singular value of the current angle of attack, a preset control allocation matrix is ​​obtained.

4. The hovering control method of a tilt-configuration aircraft according to claim 1, characterized in that: The construction method of the control allocation matrix is ​​specifically as follows: Obtaining a pulling force vector, a pitch angle, a rolling angle, and a difference between a track angle and a heading angle of the aircraft in a track coordinate system; The control allocation matrix is ​​constructed according to the thrust vector, the pitch angle, the roll angle, and the difference between the track angle and the heading angle.

5. A hovering control method for a tilt-configuration aircraft according to claim 4, characterized in that: The obtaining of the pulling force vector of the aircraft in the track coordinate system is specifically as follows: Obtaining the rotor thrust of the aircraft in a tilt angle coordinate system; The rotor thrust in the tilt angle coordinate system is converted into the thrust in the body coordinate system through a preset tilt vector rotation matrix; The pulling force of the body coordinate system is rotated according to the pitch angle and the roll angle to obtain the pulling force vector of the aircraft in the track coordinate system.

6. The hovering control method of a tilt-configuration aircraft according to claim 1, characterized in that: The aircraft is provided with a speed controller; the real-time acquisition of the acceleration instruction of the aircraft is specifically: Obtain the navigation coordinate system speed of the aircraft in real time; The navigation coordinate system velocity is converted into the track coordinate system velocity by a preset velocity rotation matrix; Acquire and respond to the speed control instruction, and control the speed controller to perform the following steps: obtain the acceleration instruction according to the track coordinate system speed and the speed control instruction.

7. A hovering control method for a tilt-configuration aircraft according to claim 1, characterized in that: Before the hovering control of the aircraft is performed based on the target control instruction, the method further includes: Obtaining a judgment result of the fault diagnosis state machine, wherein the judgment result indicates the tilting capability and the state of the tilting mechanism of the aircraft; According to the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control.

8. A hovering control device for a tilt-rotating aircraft, characterized in that: It includes an acceleration instruction acquisition module, a distribution matrix acquisition module and a control module; wherein, The acceleration instruction acquisition module is used to acquire the acceleration instruction of the aircraft in real time, and the aircraft is a tilt configuration aircraft; The allocation matrix acquisition module is used to acquire the tilt angle of the tilt mechanism of the aircraft, and when the tilt angle is greater than a preset angle, acquire a preset control allocation matrix; The control module is used to convert the acceleration instruction into a target control instruction using the control allocation matrix, so as to perform hovering control on the aircraft based on the target control instruction, wherein the target control instruction includes a roll angle control instruction, a tension control instruction and a pitch angle control instruction.

9. A hovering control device for a tilt-configuration aircraft, characterized in that: It includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the hovering control method of the tilt-configuration aircraft as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the hovering control method of the tilting configuration aircraft according to any one of claims 1 to 7.

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