Aircraft flight attitude simulation sensitive control system

Abstract

The invention discloses an aircraft flight attitude simulation sensitive control system, the simulation sensitive control system comprises a first motor and a second motor, the first motor and the second motor are respectively connected with a gyroscope sensor, and the first motor, the second motor and the gyroscope sensor are respectively connected and communicated with an embedded ARM main control board; the embedded ARM main control board obtains a flight path signal and controls the first motor and the second motor to rotate correspondingly; and the embedded ARM main control board obtains a detection signal of the gyroscope sensor, and feeds back, controls and adjusts the rotation of the first motor and the second motor. The beneficial effects of the invention are that the embedded ARM main control board obtains a detection signal of the gyroscope sensor, feedback control adjusts rotation of the first motor and the second motor, correction of the simulation track is realized, the rotation of the first motor and the second motor is adjusted through feedback control, the accuracy of the simulation track is repeatedly corrected, and the accuracy of the simulation track is improved. And a reference number is provided for obstacle avoidance of the unmanned aerial vehicle in actual flight.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft flight attitude simulation control, and in particular relates to an aircraft flight attitude simulation sensitive control system. Background Art

[0002] Chinese invention patent CN201910390474.4, relates to a small UAV trajectory and attitude correction method based on a flight simulator, and belongs to the field of small UAV technology. The method includes: establishing the relationship between the flight time and displacement of the UAV; before take-off, synchronizing the actual position of the UAV with the GPS positioning of the UAV in the simulator; during the flight, the control end sends the same command to the local flight simulator while controlling the flight of the UAV; the UAV determines whether to brake according to the control command reception; after the UAV brakes, the flight attitude and trajectory are corrected according to the data packet feedback from the simulator combined with the relationship between flight time and displacement. The present invention can correct the operation error problem of the UAV caused by network congestion or delay without relying on GPS, and complete the precise positioning of the UAV, and realize the control of the UAV when the communication link of the UAV system is extremely poor.

[0003] The flight attitude control of unmanned aerial vehicles in the prior art is mostly carried out by operators on the spot. For an aircraft whose flight path is guided and controlled by a guidance system, it is difficult to perform manual intervention once it is launched. When it encounters an obstacle and needs to change its trajectory, it needs its own control system to control and adjust it.

[0004] If such control and adjustment are performed in actual flight every time, a large amount of costs will be consumed, including manpower, material resources and site application, which is very unfavorable for accumulating flight experience. As for the simulation of flight trajectory, the flight simulator in the prior art can pre-set a database in the system, form a preset flight trajectory through the database by inputting the corresponding flight mode, and realize the simulation of the fixed flight trajectory. However, this simulation cannot make reasonable simulation actions when the aircraft encounters obstacles and needs to change the trajectory, and cannot meet the simulation requirements of the unmanned aerial vehicle encountering obstacles and needing to change the trajectory during flight. Summary of the invention

[0005] The objective of the present invention is to solve the problem that the flight simulator in the prior art can pre-set a database in the system, form a preset flight trajectory through the database by inputting the corresponding flight mode, and realize the simulation of a fixed flight trajectory, but this simulation cannot make reasonable simulation actions when the aircraft encounters an obstacle and needs to change trajectory, and cannot meet the technical problem of the simulation requirement of the unmanned aerial vehicle encountering an obstacle and needing to change trajectory during flight.

[0006] In order to achieve the above-mentioned object, the present invention provides an aircraft flight attitude simulation sensitive control system.

[0007] The specific technical solution adopted by the present invention is: An aircraft flight attitude simulation sensitive control system, the simulation sensitive control system comprising: A first motor, wherein an output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to an end of the first bracket; A second motor, wherein an output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to an end of the second bracket; The first rotating shaft and the second rotating shaft are arranged in a cross-intersecting rotation in the connecting block; The first motor and the second motor are connected to the gyro sensor respectively. The first motor, the second motor and the gyro sensor are respectively connected to and communicate with the embedded ARM main control board; The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly; The embedded ARM main control board obtains the detection signal of the gyroscope sensor and adjusts the rotation of the first motor and the second motor through feedback control.

[0008] Furthermore, a connecting portion is provided at the bottom of the first bracket, and the connecting portion is fixedly connected to the output shaft of the steering gear.

[0009] Furthermore, an electromagnetic damper is connected to the top of the second bracket to simulate the resistance encountered by the aircraft when changing its flight attitude.

[0010] Furthermore, the control method of the simulated sensitive control system includes: The embedded ARM main control board obtains the flight trajectory signal; Based on the flight trajectory signal, a flight simulation model is constructed and the spatial coordinate data set of the trajectory points is output in time sequence; According to the spatial coordinate data set of the trajectory points, the corresponding coordinates and angle differences of adjacent spatial coordinate points are calculated; According to the difference between the corresponding coordinates and angles, the rotation control parameters of the corresponding motor are output through the PID control algorithm; The embedded ARM main control board obtains the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the coordinate value of the current trajectory point and the coordinate value of the expected trajectory point according to the detection signal; The coordinate difference and angle difference are input into a pre-trained setting control simulator, and after multiple rounds of setting training, the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time are output; The rotation of the motor is controlled in real time according to the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time.

[0011] Furthermore, the control method of the simulated sensitive control system includes constructing a flight simulation model based on the flight trajectory signal, including: The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, a track change instruction, an acceleration instruction and a deceleration instruction; Constructing the flight simulation model includes calling a corresponding mathematical model from a pre-implanted database according to the flight trajectory signal; Assigning values ​​to corresponding mathematical models according to corresponding flight trajectory signals; Calculate the spatial coordinate value of each trajectory point by using the mathematical model in chronological order to form the spatial coordinate data set; Furthermore, in the control method of the simulated sensitive control system, a corresponding mathematical model is assigned a value according to the corresponding flight trajectory signal, and the assignment includes: The straight-line flight instruction includes the start time of the straight-line flight, the end time of the straight-line flight, and the speed of the straight-line flight; The spiral flight instruction includes the vertical distance between the starting point and the end point of the spiral flight, the radius of the spiral flight, the number of spiral flight circles, the starting time and the ending time of the spiral flight; The track change instruction includes the execution time point of the track change, the end time point of the track change, the acceleration during the track change, the turning angle of the track change and the flip angle during the track change; The corresponding acceleration and deceleration instructions during spiral flight; Furthermore, the top of the second bracket is connected to an electromagnetic damper via a non-elastic rope, and the electromagnetic damper is connected to the embedded ARM main control board: During normal flight, the embedded ARM main control board provides the electromagnetic damper with instructions for pre-setting the flight environment and provides damping for the motor; When flying during trajectory change, the embedded ARM main control board provides instructions to the electromagnetic damper, which are the product of the instructions of the pre-set flight environment and the variable coefficient, to provide damping for the motor.

[0012] The positive effects of the present invention are: the embedded ARM main control board obtains the flight trajectory signal, controls the first motor and the second motor to make corresponding rotations, and realizes the purpose of generating the flight trajectory by obtaining instructions, and obtains the detection signal of the gyroscope sensor through the embedded ARM main control board, and feedback control is used to adjust the rotation of the first motor and the second motor, so as to realize the correction of the simulated trajectory, that is, the flight trajectory signal including the conventional trajectory signal and the trajectory change trajectory signal is obtained on the embedded ARM main control board, and the rotation of the first motor and the second motor is adjusted through feedback control to repeatedly correct the accuracy of the simulated trajectory, so as to provide reference data for avoiding obstacles in the actual flight of the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the composition of a sensitive device simulator in a sensitive control system for simulating flight attitude of an aircraft according to the present invention; Figure 2 yes Figure 1 The schematic diagram of the structure of a steering gear simulator connected to the bottom of a sensitive device simulator in a sensitive control system for simulating flight attitude of an aircraft according to the present invention is shown in the figure; Figure 3 It is a schematic diagram of the mechanism for connecting a sensitive device and a steering gear simulator in a sensitive control system for simulating flight attitude of an aircraft according to the present invention; Figure 4 yes Figure 3 A schematic structural diagram of a connecting block between a first rotating shaft and a second rotating shaft of an aircraft flight attitude simulation sensitive control system according to the present invention is shown in FIG. Legend: 1—fixing plate, 2—fixing ring, 3—connecting rod, 4—connecting block, 401—first through hole, 402—second through hole, 5—servo, 6—reducer, 7—connecting shaft, 8—connecting plate, 9—first bracket, 10—second motor, 1001—first motor, 11—second bracket, 12—through pipe, 1201—telescopic rod, 13—electromagnetic damper. DETAILED DESCRIPTION

[0014] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments: In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0015] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0016] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0017] like Figures 1 to 4 As shown, it is a structural diagram and a principle diagram of an aircraft flight attitude simulation sensitive control system provided by an embodiment of the present invention, wherein the sensitive control system includes: A first motor, wherein an output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to an end of the first bracket; A second motor, wherein an output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to an end of the second bracket; The first rotating shaft and the second rotating shaft are arranged in a cross-intersecting rotation in the connecting block; The first motor and the second motor are connected to the gyro sensor respectively. The first motor, the second motor and the gyro sensor are respectively connected to and communicate with the embedded ARM main control board; The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly; The embedded ARM main control board obtains the detection signal of the gyroscope sensor and performs feedback control to adjust the rotation of the first motor and the second motor.

[0018] In an embodiment of the present invention, the embedded ARM main control board obtains a flight trajectory signal, controls the first motor and the second motor to rotate accordingly, thereby achieving the purpose of generating a flight trajectory by obtaining instructions, and obtains a detection signal of a gyroscope sensor through the embedded ARM main control board, and feedback control is used to adjust the rotation of the first motor and the second motor, thereby achieving correction of the simulated trajectory, that is, the flight trajectory signal including a conventional trajectory signal and a change trajectory signal is obtained on the embedded ARM main control board, and the rotation of the first motor and the second motor is adjusted through feedback control to repeatedly correct the accuracy of the simulated trajectory, thereby providing reference data for avoiding obstacles in the actual flight of the unmanned aerial vehicle.

[0019] Specifically, Figures 1 to 4 The sensitive control system for simulating the flight attitude of an aircraft is shown. The sensitive device control board adopts an embedded ARM main control board, realizes 1553B bus communication through the control network 1553B module, controls the two-degree-of-freedom sensitive device through the PWM signal, and connects the gyroscope sensor through the serial port; the sensitive control system includes: A first motor 1001, wherein the output shaft of the first motor 1001 is fixedly connected to the first rotating shaft, and the first rotating shaft is rotatably connected to the first through hole 401 at the end of the first bracket 9; the first motor 1001 drives the connecting block 4 and the second bracket 11 to rotate around the first rotating shaft, i.e., the first through hole 401, through the first rotating shaft; The second motor 10, the output shaft of the second motor 10 is fixedly connected to the second rotating shaft, and the second rotating shaft is rotatably connected to the second through hole 402 at the end of the second bracket 11; the second motor 10 drives the second bracket 11 to rotate around the second through hole 402 through the second rotating shaft The first rotating shaft and the second rotating shaft are arranged in a cross-intersecting rotation in the connecting block 4; The first motor 1001 and the second motor 10 are connected to the gyro sensor respectively. The first motor 1001, the second motor 10 and the gyro sensor are respectively connected to and communicate with the embedded ARM main control board; The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly; the flight trajectory signal includes a normal trajectory signal and a change trajectory signal. When the obtained flight trajectory signal is a normal trajectory signal, the embedded ARM main control board controls the first motor 1001 and the second motor 10 to simulate according to a predetermined trajectory; the embedded ARM main control board obtains the detection signal of the gyroscope sensor, and feedback control adjusts the rotation of the first motor and the second motor; when the obtained signal is a change trajectory signal, the embedded ARM main control board obtains the detection signal of the gyroscope sensor, and feedback control adjusts the rotation of the first motor and the second motor to compensate for the rotation and output torque required for the trajectory change.

[0020] In this embodiment, if Figure 1 As shown, the two-degree-of-freedom sensitive device adopts the two-degree-of-freedom mechanism designed by our company, which can realize horizontal and vertical movement under the control of the embedded ARM main control board; the gyroscope sensor uses a six-axis gyroscope module, and the characteristic indicators are as follows: Working voltage: 3.3V~5V; Current: <40mA; Measurement dimensions: acceleration: 3D, angular velocity: 3D, angle: 3D; Measuring range: acceleration: ±16g, angular velocity: ±2000°, angle X, Y ±180° Z ±90°; Stability: acceleration 0.01g, angular velocity 0.05° / s; Output content: time, acceleration, angular velocity, angle; Communication mode: RS232; The 1553B bus communication module uses the serial port 1553 module, and its characteristics are as follows: Bus interface: RS422; Single channel; Each channel has A and B dual redundancy; Rate: 1M; RT single function; The embedded ARM main control board uses an industrial control mainboard, and its characteristic indicators are as follows: CPU: Cortex-A8; 10M / 100M Ethernet port; 6 serial ports; 4-channel PWM output; 2-way CAN bus interface; 32-bit GPIO; Preferably, a connecting portion is provided at the bottom of the first bracket 9, and the connecting portion is fixedly connected to the output shaft of the steering gear; the steering gear is conventional prior art and will not be described here. The steering gear 5 is fixed on the surface of the fixing plate 1, such as Figure 3 As shown, it should be emphasized that the fixing plate 1 in the present invention includes two pieces, the upper fixing plate 1 is provided with a fixing ring, the lower fixing plate 1 is fixedly connected to the bottom of the steering gear, the motor of the steering gear 5 is fixedly connected to the connecting shaft 7 through the output shaft of the reducer 6 at the top, the connecting shaft 7 is fixedly connected to the bottom of the first bracket 9 through the connecting plate 8, and the first bracket 9 is driven to rotate through the steering gear 5; Figure 2 As shown, in this embodiment, the control board of the servo equipment adopts an embedded ARM control board, realizes 1553B bus communication through the control network 1553B module, controls the motor through RS485 signals, thereby controlling the rotation of the motion axis and obtaining the angle of the axis; it is equipped with a manual / programmed switching switch, and the motor can be controlled by button jogging in manual mode, and in program-controlled mode, the control is realized by the control host through the 1553B bus; the servo device can realize the servo deflection function driven by the motor and can give the deflection angle.

[0021] Preferably, the top of the second bracket is connected to an electromagnetic damper to provide resistance to the aircraft's flight attitude simulation trajectory change; Figure 3 As shown, it should be emphasized that the fixing plate 1 in the present invention includes two pieces, the upper fixing plate 1 is provided with a fixing ring, the lower fixing plate 1 is fixedly connected to the bottom of the steering gear, and is connected to the electromagnetic damper 13 through the connecting rod 3, the top of the second bracket 11 is connected to the electromagnetic damper 13 through a non-elastic rope or a telescopic rod 1201, and the electromagnetic damper 13 is connected to the embedded ARM main control board: the embedded ARM main control board controls the electromagnetic damper 13 to provide damping according to the set requirements: During normal flight, the embedded ARM main control board provides the electromagnetic damper with instructions for pre-setting the flight environment and provides damping for the motor; When flying during trajectory change, the embedded ARM main control board provides instructions to the electromagnetic damper, which are the product of the instructions of the pre-set flight environment and the variable coefficient, to provide damping for the motor.

[0022] In addition, control methods for simulating sensitive control systems include: Step S100: The embedded ARM main control board obtains the flight trajectory signal; Step S200: construct a flight simulation model based on the flight trajectory signal, and output the spatial coordinate data set of the trajectory points in time sequence; Step S300: Calculate the corresponding coordinates and angle differences of adjacent spatial coordinate points based on the spatial coordinate data set of the trajectory points; Step S400: outputting the rotation control parameters of the corresponding motor through the PID control algorithm according to the difference between the corresponding coordinates and angles; Step S500: the embedded ARM main control board obtains the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the coordinate value of the current trajectory point and the coordinate value of the expected trajectory point according to the detection signal; Step S600: input the coordinate difference and the angle difference into a pre-trained setting control simulator, and after multiple rounds of setting training, output the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time; Step S700: Control the rotation of the motor in real time according to the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time.

[0023] Among them, the control method of simulating the sensitive control system, based on the flight trajectory signal, constructing the flight simulation model includes: Step S210: The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, a track change instruction, an acceleration instruction and a deceleration instruction; Step S220: constructing a flight simulation model includes calling a corresponding mathematical model from a pre-implanted database according to the flight trajectory signal; Step S230: assigning a value to the corresponding mathematical model according to the corresponding flight trajectory signal; Step S240: Calculate the spatial coordinate value of each trajectory point by using the mathematical model in chronological order to form the spatial coordinate data set; Among them, in the control method of the simulated sensitive control system, a corresponding mathematical model is assigned a value according to the corresponding flight trajectory signal, and the assignment includes: The straight-line flight instruction includes the start time of the straight-line flight, the end time of the straight-line flight, and the speed of the straight-line flight; The spiral flight instruction includes the vertical distance between the starting point and the end point of the spiral flight, the radius of the spiral flight, the number of spiral flight circles, the starting time and the ending time of the spiral flight; The track change instruction includes the execution time point of the track change, the end time point of the track change, the acceleration during the track change, the turning angle of the track change and the flip angle during the track change; The corresponding acceleration and deceleration instructions during spiral flight; Furthermore, the top of the second bracket is connected to an electromagnetic damper via a non-elastic rope, and the electromagnetic damper is connected to the embedded ARM main control board: During normal flight, the embedded ARM main control board provides the electromagnetic damper with instructions for pre-setting the flight environment and provides damping for the motor; When flying during trajectory change, the embedded ARM main control board provides instructions to the electromagnetic damper, which are the product of the instructions of the pre-set flight environment and the variable coefficient, to provide damping for the motor.

[0024] The foregoing has broadly outlined some aspects and features of various embodiments, which should be construed as merely illustrative of various potential applications. Other beneficial results may be obtained by applying the disclosed information in different ways or by combining various aspects of the disclosed embodiments. Other aspects and a more comprehensive understanding may be obtained by reference to the detailed description of the exemplary embodiments in conjunction with the accompanying drawings, within the scope defined by the claims.

[0025] The above embodiments have been described in detail. Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, reductions, and substitutions made by relevant technicians within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. An aircraft flight attitude simulation sensitive control system, characterized in that: The analog sensitive control system comprises: A first motor, wherein an output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to an end of the first bracket; A second motor, wherein an output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to an end portion of the second bracket; The first rotating shaft and the second rotating shaft are arranged in a cross-intersecting rotation in the connecting block; The first motor and the second motor are connected to the gyro sensor respectively. The first motor, the second motor and the gyro sensor are respectively connected to and communicate with the embedded ARM main control board; The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly; The embedded ARM main control board obtains the detection signal of the gyroscope sensor and performs feedback control to adjust the rotation of the first motor and the second motor.

2. The aircraft flight attitude simulation sensitive control system according to claim 1, characterized in that: A connecting portion is provided at the bottom of the first bracket, and the connecting portion is fixedly connected to the output shaft of the steering gear.

3. The aircraft flight attitude simulation sensitive control system according to claim 2, characterized in that: The top of the second bracket is connected with an electromagnetic damper to simulate the resistance of the aircraft's flight attitude when changing its trajectory.

4. An aircraft flight attitude simulation sensitive control system according to any one of claims 1 to 3, characterized in that: Control methods for analog sensitive control systems include: The embedded ARM main control board obtains the flight trajectory signal; Based on the flight trajectory signal, a flight simulation model is constructed and the spatial coordinate data set of the trajectory points is output in time sequence; According to the spatial coordinate data set of the trajectory points, the corresponding coordinates and angle differences of adjacent spatial coordinate points are calculated; According to the difference between the corresponding coordinates and angles, the rotation control parameters of the corresponding motor are output through the PID control algorithm; The embedded ARM main control board obtains the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the coordinate value of the current trajectory point and the coordinate value of the expected trajectory point according to the detection signal; The coordinate difference and angle difference are input into a pre-trained setting control simulator, and after multiple rounds of setting training, the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time are output; The rotation of the motor is controlled in real time according to the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time.

5. The aircraft flight attitude simulation sensitive control system according to claim 4, characterized in that: The control method of the simulated sensitive control system is based on the flight trajectory signal to build a flight simulation model including: The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, a track change instruction, an acceleration instruction and a deceleration instruction; Constructing the flight simulation model includes calling a corresponding mathematical model from a pre-implanted database according to the flight trajectory signal; Assigning values ​​to corresponding mathematical models according to corresponding flight trajectory signals; The spatial coordinate value of each trajectory point is calculated by the mathematical model in time sequence to form the spatial coordinate data set.

6. The aircraft flight attitude simulation sensitive control system according to claim 5, characterized in that: The control method of the simulated sensitive control system assigns a value to the corresponding mathematical model according to the corresponding flight trajectory signal, and the assignment includes: The straight-line flight instruction includes the start time of the straight-line flight, the end time of the straight-line flight, and the speed of the straight-line flight; The spiral flight instruction includes the vertical distance between the starting point and the end point of the spiral flight, the radius of the spiral flight, the number of spiral flight circles, the starting time and the ending time of the spiral flight; The track change instruction includes the execution time point of the track change, the end time point of the track change, the acceleration during the track change, the turning angle of the track change and the flip angle during the track change; The corresponding acceleration and deceleration instructions during spiral flight.

7. The aircraft flight attitude simulation sensitive control system according to claim 6, characterized in that: The top of the second bracket is connected to an electromagnetic damper via a non-elastic rope, and the electromagnetic damper is connected to the embedded ARM main control board: During normal flight, the embedded ARM main control board provides the electromagnetic damper with instructions for pre-setting the flight environment and provides damping for the motor; When flying during trajectory change, the embedded ARM main control board provides instructions to the electromagnetic damper, which are the product of the instructions of the pre-set flight environment and the variable coefficient, to provide damping for the motor.

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