Hover control method, device, equipment and medium for tilt configuration aircraft

Abstract

This invention provides a hovering control method, apparatus, device, and medium for a tilt-configuration aircraft. The method includes: acquiring the aircraft's acceleration command in real time; acquiring the tilt angle of the aircraft's tilt mechanism, and when the tilt angle is greater than a preset angle, acquiring a control allocation matrix; using the control allocation matrix to convert the acceleration command into a target control command, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command. Compared to existing technologies, this invention does not rely on a hovering reference point during hovering control. Instead, it considers the aircraft's current flight state and controls it through a control allocation matrix, enabling the hovering control to match the actual state of the aircraft, thus reducing the risks during hovering.

Description

Technical Field

[0001] This invention application relates to the field of aircraft control, and more particularly to a hovering control method, apparatus, device, and medium for a tilt-configuration aircraft. Background Technology

[0002] In rotorcraft, the rotor thrust direction is typically perpendicular to the fuselage and upwards. However, in tilt-configuration aircraft, the thrust direction changes with the tilt angle. This makes control methods for rotorcraft unsuitable for certain applications, such as large attitudes or high-maneuvering situations. Existing control law designs for rotorcraft are generally based on a specific equilibrium point. For example, most external loop controllers for these aircraft use the horizontal hovering point as the reference point for the control law. This method, based on balancing at a specific tilt angle and distributing horizontal acceleration, results in poor matching between the aircraft's control and its actual state, posing risks in some applications. Summary of the Invention

[0003] This invention application provides a hovering control method, device, equipment, and medium for 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 flight risks.

[0004] To address the aforementioned technical problems, the first aspect of this invention provides a hovering control method for a tilt-configuration aircraft, comprising:

[0005] Real-time acquisition of acceleration commands from the aircraft, wherein the aircraft is a tilt-configuration aircraft;

[0006] Obtain the tilt angle of the aircraft's tilt mechanism, and when the tilt angle is greater than a preset angle, obtain a preset control allocation matrix;

[0007] Using the control allocation matrix, the acceleration command is converted into a target control command, thereby enabling hovering control of the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command.

[0008] By implementing this invention, a preset control allocation matrix is ​​obtained based on the tilt angle of the aircraft's tilt mechanism when it is greater than a preset angle. This matrix is ​​then used to convert acceleration commands into roll angle control commands, thrust control commands, and pitch angle control commands, thus realizing the conversion of acceleration commands and the allocation of roll angle control, thrust control, and pitch angle control. Compared with existing technical solutions, this invention initiates fixed-point hovering when the tilt angle is greater than a preset angle. Furthermore, hovering control does not rely on a hovering reference point but considers the current flight state of the aircraft (the tilt angle of the tilt mechanism) and controls it through the control allocation matrix. This enables the hovering control to match the actual state of the aircraft, thereby reducing the risks of the aircraft during hovering control.

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

[0010] When the tilt angle is greater than a preset angle, obtain 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;

[0011] When the singular values ​​of the current tension vector and the current angle of attack meet the preset singular value conditions, obtain the preset control allocation matrix.

[0012] In some embodiments of the first aspect, obtaining a preset control allocation matrix when the singular values ​​of the current tension vector and the current angle of attack meet preset singular value conditions 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 thrust vector is greater than the singular value of the current angle of attack, a preset control allocation matrix is ​​obtained.

[0014] In some embodiments of the first aspect, the method for constructing the control allocation matrix specifically includes:

[0015] Obtain the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle of the aircraft in the track coordinate system;

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

[0017] In some embodiments of the first aspect, obtaining the thrust vector of the aircraft in the track coordinate system specifically involves:

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

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

[0020] Based on the pitch and roll angles, the tension in the body coordinate system is rotated to obtain the tension vector of the aircraft in the track coordinate system.

[0021] In some embodiments of the first aspect, the aircraft is equipped with a speed controller; the real-time acquisition of the aircraft's acceleration command specifically includes:

[0022] Real-time acquisition of the aircraft's navigation coordinate system velocity;

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

[0024] Acquire and respond to the speed control command, and control the speed controller to perform the following steps: obtain the acceleration command based on the velocity in the track coordinate system and the speed control command.

[0025] In some embodiments of the first aspect, prior to performing hovering control on the aircraft based on the target control command, the method further includes:

[0026] Obtain the judgment results of the fault diagnosis state machine, wherein the judgment results indicate the tilting capability and tilting mechanism status of the aircraft;

[0027] Based on 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 this invention provides a hovering control device for a tilt-configuration aircraft, comprising an acceleration command acquisition module, an allocation matrix acquisition module, and a control module; wherein,

[0029] The acceleration command acquisition module is used to acquire the acceleration command 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 acquire a preset control allocation matrix when the tilt angle is greater than a preset angle;

[0031] The control module is used to convert the acceleration command into a target control command using the control allocation matrix, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command.

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

[0033] When the tilt angle is greater than a preset angle, the allocation matrix acquisition module acquires 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.

[0034] When the singular values ​​of the current tension vector and the current angle of attack meet the preset singular value conditions, obtain the preset control allocation matrix.

[0035] In some embodiments of the second aspect, the allocation matrix acquisition module acquires a preset control allocation matrix when the singular values ​​of the current tension vector and the current angle of attack meet preset singular value conditions, 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 thrust vector is greater than the singular value of the current angle of attack.

[0037] In some embodiments of the second aspect, the hovering control device further includes a control allocation matrix construction module, the control allocation matrix construction module being used for:

[0038] Obtain the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle of the aircraft in the track coordinate system;

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

[0040] In some embodiments of the second aspect, the control allocation matrix construction module obtains the thrust vector of the aircraft in the track coordinate system, specifically as follows:

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

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

[0043] Based on the pitch and roll angles, the tension in the body coordinate system is rotated to obtain the tension vector of the aircraft in the track coordinate system.

[0044] In some embodiments of the second aspect, the aircraft is equipped with a speed controller; the acceleration command acquisition module acquires the three-axis acceleration commands of the aircraft in real time, specifically:

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

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

[0047] Acquire and respond to speed control commands, and control the speed controller to perform the following steps: obtain the three-axis acceleration command based on the velocity in the track coordinate system and the speed control command.

[0048] In some embodiments of the second aspect, the hovering control device further includes a condition determination module, which is used before the control module performs hovering control on the aircraft based on the target control command:

[0049] Obtain the judgment results of the fault diagnosis state machine, wherein the judgment results indicate the tilting capability and tilting mechanism status of the aircraft;

[0050] Based on 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 this invention provides a hovering control device for a tilt-configuration aircraft, including a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus. The memory stores at least one executable instruction, which causes the processor to perform the hovering control method for the tilt-configuration aircraft.

[0052] A fourth aspect of this invention provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the hovering control method for the tilt-configuration aircraft. Attached Figure Description

[0053] Figure 1 : A flowchart illustrating the first embodiment of the hovering control method for a tilt-configuration aircraft provided in this invention application.

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

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

[0056] Figure 4: A schematic diagram of the first embodiment of the hovering control device for a tilt-configuration aircraft provided in this application. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] According to relevant technical records, the control law design for rotorcraft is generally based on a specific equilibrium point. For example, some rotorcraft external loop controllers use the horizontal hovering point as the reference point for the control law. This method is based on balancing at a specific tilt angle, and then, through the position loop controller, generates three-axis acceleration commands under the position loop based on the aircraft's position and velocity commands, thereby distributing horizontal acceleration. This results in a low degree of matching between the aircraft's control and its actual state, posing control risks in some application scenarios. Furthermore, this technical solution often relies on the robustness of the control law itself to achieve control, making it difficult to achieve perfect control under large attitude or high maneuver conditions.

[0059] For one or more of the above technical issues, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the hovering control method for a tilt-configuration aircraft provided in this invention application. The hovering control method for a tilt-configuration aircraft described in this embodiment can be applied to the aircraft's controller, specifically including steps S101 to S103; wherein,

[0060] Step S101: Obtain the aircraft's acceleration command in real time.

[0061] In this step, the aircraft is a tilt-configuration aircraft. This aircraft can be an airplane, a space shuttle, or any other flight vehicle with flight capabilities that employs a tilt configuration.

[0062] The acceleration command mentioned above can be a three-axis acceleration command in the track coordinate system. The track coordinate system takes the direction of the aircraft's track angle as the positive direction of the X-axis, the direction perpendicular to the plane of symmetry of the aircraft and forming a 90-degree angle with the X-axis as the Y-axis, and the direction perpendicular to the plane of symmetry of the aircraft and pointing to the ground as the positive direction of the Z-axis.

[0063] exist Figure 1 Based on the implementation method shown, Figure 2 The diagram shows a flowchart of step S101 provided in another embodiment of this application. It should be noted that... Figure 2 The embodiments shown are the same as Figure 1 The same steps will not be repeated here. The aircraft in this embodiment is equipped with a speed controller, specifically as follows: Figure 2 As shown, step S101 includes steps S201 and S203, which are detailed below:

[0064] Step S201: Obtain the speed of the aircraft's navigation coordinate system in real time.

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

[0066] Step S203: Obtain and respond to the speed control command, and control the speed controller to perform the following steps: obtain the acceleration command based on the velocity of the track coordinate system and the speed control command.

[0067] In this embodiment, the navigation coordinate system velocity can be obtained from geographic navigation system data. For example, the navigation coordinate system velocity can specifically be the northeast velocity of the Global Positioning System (GPS).

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

[0069]

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

[0071] The heading angle is the angle between the projection of the xb axis of the aircraft's coordinate system (or nose coordinate system) onto the horizontal plane and the xg axis of the ground coordinate system. The heading angle is positive when the aircraft rotates counterclockwise from the xg axis to the projection line of the xb axis, meaning a rightward yaw of the aircraft's nose is positive, and vice versa. Furthermore, the heading angle is a type of attitude angle, which also includes pitch and roll angles. All three angles—heading, pitch, and roll—are Euler angles.

[0072] It should be noted that the aircraft coordinate system takes the direction of the aircraft's nose pointing forward as the positive direction of the X-axis, the direction perpendicular to the plane of symmetry of the aircraft and forming a 90-degree angle with the X-axis as the Y-axis, and the direction perpendicular to the plane of symmetry of the aircraft and pointing to the ground as the positive direction of the Z-axis.

[0073] It is understandable that as the aircraft's track angle and heading angle change, the difference between them also changes, and the velocity rotation matrix changes accordingly. Thus, when the aircraft calculates (three-axis) acceleration commands, it can accurately and quickly convert the navigation coordinate system velocity to the track coordinate system velocity based on the real-time navigation coordinate system velocity and the real-time velocity rotation matrix. Furthermore, by acquiring and responding to speed control commands, the speed controller then obtains the three-axis acceleration commands based on the real-time track coordinate system velocity.

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

[0075] In this step, the flight phase of tilt flight can be divided into rotor phase, rotor transition phase, fixed wing transition phase, or fixed wing phase. Different control strategies can be adopted depending on the different flight phases of tilt flight.

[0076] Here, the rotor transition segment refers to a segment where the rotor characteristics are stronger than the fixed-wing characteristics, and the fixed-wing transition segment refers to a segment where the fixed-wing characteristics are stronger than the rotor characteristics. In a further preferred embodiment, when the current tilting flight is in the rotor segment or rotor transition segment, a preset control allocation matrix is ​​obtained.

[0077] For example, step S102, which involves obtaining a preset control allocation matrix when the tilt angle is greater than a preset angle, includes: 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 when the tilt angle is greater than the preset angle; and obtaining the preset control allocation matrix when the singular value of the current thrust vector and the singular value of the current angle of attack meet preset singular value conditions. For instance, the preset control allocation matrix is ​​obtained 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.

[0078] By implementing the embodiments of this application, the rotor characteristics and fixed-wing characteristics of the aircraft can be determined through singular value analysis, thereby determining the flight stage of 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] For example, for some specific types of aircraft, determining the flight stage of the aircraft specifically involves: 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 tilting mechanism; and determining the flight stage of the aircraft's current tilting flight based on 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 tilting mechanism, a tilt angle of zero indicates a fixed-wing configuration, while a tilt angle of 90 degrees indicates a rotor configuration. Therefore, the range from 90 degrees to zero degrees is sequentially 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, with these intervals being consecutive intervals decreasing in size.

[0081] When the singular value of the current angle of attack is less than a preset first angle of attack singularity threshold, and the tilt angle is within a first preset tilt angle range, the flight stage in which the aircraft is currently tilting is determined to be the rotor stage, for example, when 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 within a second preset tilt angle range (e.g., less than 90 degrees but some distance from 90 degrees), the flight stage in which the aircraft is currently tilting is determined to be the rotor transition phase.

[0083] When the singular value of the current thrust vector is less than or equal to the singular value of the current angle of attack, and the tilt angle is within a third preset tilt angle range (e.g., greater than zero degrees but some distance from zero degrees), the flight phase in which the aircraft is currently tilting is determined to be a fixed-wing transition phase.

[0084] When the tilt angle is within the fourth preset tilt angle range (e.g., close to zero degrees), the flight stage in which the aircraft is currently tilting is determined to be the fixed-wing segment. The first preset tilt angle range and the second preset tilt angle range can be understood as the range in which the tilt angle in step S102 is greater than the preset angle value.

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

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

[0087] For example, the method for constructing the control allocation matrix specifically involves: 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 based on the thrust vector, pitch angle, roll angle, and the difference between the track angle and the heading angle.

[0088] The combination of the magnitude of the thrust and the roll angle constitutes the thrust vector. For example, when the difference between the track angle and the heading angle is 0, the thrust vector can be characterized as:

[0089]

[0090] Where x2 represents 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 obtaining the thrust vector in the trajectory coordinate system is specifically as follows: obtaining the rotor thrust of the aircraft in the tilt angle coordinate system; and converting the rotor thrust in the tilt angle coordinate system into the thrust in the body coordinate system using a preset tilt vector rotation matrix. For example, the tilt vector rotation matrix can be:

[0092]

[0093] Where x3 is the tilt vector rotation matrix.

[0094] Furthermore, based on the aircraft's real-time pitch and roll angles, the thrust of the body coordinate system is rotated to obtain the thrust vector of the aircraft in the track coordinate system, thus obtaining the control allocation matrix. This pre-constructed control allocation matrix is ​​then acquired when the aircraft is in the rotor section or rotor transition section.

[0095] Step S103: Using the control allocation matrix, the acceleration command is converted into a target control command, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command.

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

[0097] The roll angle control command, pull control command, and pitch angle control command can be the roll angle increment, pull force increment, and pitch angle increment, respectively, and the roll angle increment, pull force increment, and pitch angle increment can be negative.

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

[0099] Thus, when the fault diagnosis state machine determines that the aircraft cannot tilt or that the tilt mechanism is malfunctioning, or other abnormal conditions, hovering control of the aircraft can be initiated. It is understood that the control method for the tilt-configuration aircraft of this application can be pre-stored in the controller, and the hovering control based on the target control command described in step S103 can be initiated when the aforementioned abnormal conditions occur.

[0100] like Figure 3 As shown, Figure 3 This is a schematic diagram of one embodiment of a hovering control device 300 for a tilt-configuration aircraft according to this invention. The hovering control device 300 includes an acceleration command acquisition module 301, an allocation matrix acquisition module 302, and a control module 303; wherein...

[0101] The acceleration command acquisition module 301 is used to acquire the acceleration command 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 acquire a preset control allocation matrix when the tilt angle is greater than a preset angle;

[0103] The control module 303 is used to convert the acceleration command into a target control command using the control allocation matrix, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command.

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

[0105] When the tilt angle is greater than a preset angle, the allocation matrix acquisition module 302 acquires 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.

[0106] When the singular values ​​of the current tension vector and the current angle of attack meet the preset singular value conditions, obtain the preset control allocation matrix.

[0107] In some preferred embodiments, the allocation matrix acquisition module 302 acquires a preset control allocation matrix when the singular values ​​of the current tension vector and the current angle of attack meet preset singular value conditions, 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 thrust vector is greater than the singular value of the current angle of attack.

[0109] In some preferred embodiments, the hovering control device 300 further includes a control allocation matrix construction module, the control allocation matrix construction module being used for:

[0110] Obtain the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle of the aircraft in the track coordinate system;

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

[0112] In some preferred embodiments, the control allocation matrix construction module obtains the thrust vector of the aircraft in the track coordinate system, specifically as follows:

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

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

[0115] Based on the pitch and roll angles, the tension in the body coordinate system is rotated to obtain the tension vector of the aircraft in the track coordinate system.

[0116] In some preferred embodiments, the aircraft is equipped with a speed controller; the acceleration command acquisition module 301 acquires the aircraft's acceleration command in real time, specifically:

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

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

[0119] Acquire and respond to the speed control command, and control the speed controller to perform the following steps: obtain the acceleration command based on the velocity in the track coordinate system and the speed control command.

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

[0121] Obtain the judgment results of the fault diagnosis state machine, wherein the judgment results indicate the tilting capability and tilting mechanism status of the aircraft;

[0122] Based on the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control. For the device implementation, since it is basically similar to the method implementation, the relevant description can be found in the description of the method implementation.

[0123] like Figure 4 As shown, Figure 4 The present invention provides a hovering control device for a tilt-configuration aircraft, comprising a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus. The memory stores at least one executable instruction, which causes the processor to perform the hovering control method for the tilt-configuration aircraft.

[0124] Figure 4 The diagram shows a schematic representation of an embodiment of the hovering control device for a tilt-configuration aircraft according to the present invention. The specific implementation of the present invention does not limit the specific implementation of the hovering control device for the tilt-configuration aircraft.

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

[0126] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other network elements, such as clients or other servers. Processor 402 executes program 410, specifically performing the relevant steps in the above-described hovering control method implementation for tilt-configuration aircraft.

[0127] Specifically, program 410 may include program code, which includes computer-executable instructions.

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

[0129] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0130] Furthermore, this application also provides a computer-readable storage medium, which includes a stored computer program, wherein the computer program, when running, controls the device where the computer-readable storage medium is located to execute the hovering control method for the tilt-configuration aircraft.

[0131] If the hovering control module of the tilt-configuration aircraft is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

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

[0133] This invention application obtains a preset control allocation matrix based on the tilt angle of the aircraft's tilt mechanism when it is greater than a preset angle. Using this matrix, acceleration commands are converted into roll angle control commands, thrust control commands, and pitch angle control commands. This achieves the conversion of acceleration commands and the allocation of roll angle control, thrust control, and pitch angle control. Compared to existing technical solutions, this invention application initiates fixed-point hovering when the tilt angle is greater than a preset angle. Furthermore, hovering control does not rely on a hovering reference point but considers the aircraft's current flight state (tilt angle of the tilt mechanism) and controls it through the control allocation matrix. This enables hovering control to match the actual state of the aircraft, reducing the risks during hovering control.

[0134] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A hovering control method for a tilt-configuration aircraft, characterized in that, include: Real-time acquisition of acceleration commands from the aircraft, wherein the aircraft is a tilt-configuration aircraft; Obtain the tilt angle of the aircraft's tilt mechanism, and when the tilt angle is greater than a preset angle, obtain a preset control allocation matrix; Using the preset control allocation matrix, the acceleration command is converted into a target control command, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command, and pitch angle control command. The method for constructing the preset control allocation matrix is ​​as follows: Obtain the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle of the aircraft in the track coordinate system; The preset control allocation matrix is ​​constructed based on the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle.

2. The hovering control method for a tilt-configuration aircraft as described in claim 1, characterized in that, The step of obtaining a preset control allocation matrix when the tilt angle is greater than a preset angle includes: When the tilt angle is greater than a preset angle, obtain 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; When the singular values ​​of the current tension vector and the current angle of attack meet the preset singular value conditions, obtain the preset control allocation matrix.

3. The hovering control method for a tilt-configuration aircraft as described in claim 2, characterized in that, The step of obtaining a preset control allocation matrix when the singular values ​​of the current tension vector and the current angle of attack meet preset singular value conditions 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 thrust 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 for a tilt-configuration aircraft as described in claim 1, characterized in that, The specific steps for obtaining the thrust vector of the aircraft in the trajectory coordinate system are as follows: Obtain the rotor thrust of the aircraft in the tilt angle coordinate system; By using a preset tilt vector rotation matrix, the rotor thrust in the tilt angle coordinate system is converted into the thrust in the body coordinate system; Based on the pitch and roll angles, the tension in the body coordinate system is rotated to obtain the tension vector of the aircraft in the track coordinate system.

5. The hovering control method for a tilt-configuration aircraft as described in claim 1, characterized in that, The aircraft is equipped with a speed controller; the real-time acquisition of the aircraft's acceleration command specifically includes: Real-time acquisition of the aircraft's navigation coordinate system velocity; The navigation coordinate system velocity is converted into the track coordinate system velocity by using a preset velocity rotation matrix; Acquire and respond to the speed control command, and control the speed controller to perform the following steps: obtain the acceleration command based on the velocity in the track coordinate system and the speed control command.

6. The hovering control method for a tilt-configuration aircraft as described in claim 1, characterized in that, Before performing hovering control on the aircraft based on the target control command, the method further includes: Obtain the judgment results of the fault diagnosis state machine, wherein the judgment results indicate the tilting capability and tilting mechanism status of the aircraft; Based on the tilting capability and the state of the tilting mechanism, it is determined that the aircraft meets the conditions for hovering control.

7. A hovering control device for a tilt-configuration aircraft, characterized in that, It includes an acceleration command acquisition module, an allocation matrix acquisition module, and a control module; among which, The acceleration command acquisition module is used to acquire the acceleration command 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 acquire a preset control allocation matrix when the tilt angle is greater than a preset angle; The control module is used to convert the acceleration command into a target control command using the preset control allocation matrix, thereby performing hovering control on the aircraft based on the target control command. The target control command includes roll angle control command, thrust control command and pitch angle control command. The hovering control device further includes a control allocation matrix construction module, which is used for: Obtain the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle of the aircraft in the track coordinate system; The preset control allocation matrix is ​​constructed based on the thrust vector, pitch angle, roll angle, and the difference between the track angle and heading angle.

8. A hovering control device for a tilt-configuration aircraft, characterized in that, The system includes a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus. The memory stores at least one executable instruction, which causes the processor to perform the hovering control method for a tilt-configuration aircraft as described in any one of claims 1 to 6.

9. 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, it controls the device containing the computer-readable storage medium to perform the hovering control method for a tilt-configuration aircraft as described in any one of claims 1 to 6.

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