Method and device for controlling rotorcraft to turn, electronic equipment, program product and storage medium

Abstract

The invention provides a method and device for controlling a rotorcraft to turn, electronic equipment, a program product and a storage medium, and is applied to the technical field of aircrafts, and the method for controlling the rotorcraft to turn comprises the steps: obtaining horizontal speed information and yaw angle speed information corresponding to the rotorcraft when a turning instruction is received; determining compensation attitude inclination angle information according to the horizontal speed information and the yaw angle speed information, so that the rotation speed of the rotorcraft in the horizontal speed direction is consistent with the rotation speed of the nose; and controlling the rotorcraft to turn based on the turning instruction and the compensation attitude inclination angle information. Compared with a method for controlling the rotorcraft to turn directly based on a turning instruction, the method has the advantages that the rotation speed of the rotorcraft in the horizontal speed direction can be consistent with the rotation speed of the nose after the compensation attitude inclination angle information is added, so that the rotorcraft does not sideslip in the turning process, turning is smoother and more flexible, and the speed is stable.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and more specifically, to a method and device, electronic equipment, program product, and storage medium for controlling a rotorcraft to turn. Background Art

[0002] The design principle of rotorcraft, such as helicopters and multi-rotor drones, is mainly based on the rotation of the rotor to generate lift and control force; among them, the rotation speed of the rotor, the pitch (the angle between the rotor blades and the rotation plane), and the number and layout of the rotors will affect the flight performance and turning ability of the aircraft. By increasing or decreasing the rotation speed of the rotor on one side, the lift on that side can be changed, thereby achieving lateral movement and turning of the aircraft. In the prior art, the pilot can control the yaw channel to turn during the flight of the rotorcraft. However, due to the large turning radius of the rotorcraft during the turning process, the rotorcraft will slip and be unstable during the turning process. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method and device, electronic equipment, program product, and storage medium for controlling the turning of a rotorcraft, so as to solve the technical problem in the prior art that the rotorcraft may slip and be unstable during the turning process.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a rotorcraft to turn, comprising: upon receiving a turning command, obtaining horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; determining compensation attitude inclination information based on the horizontal speed information and the yaw angular velocity information so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose; and controlling the rotorcraft to turn based on the turning command and the compensation attitude inclination information.

[0005] In the above scheme, when a turning instruction is received, the corresponding compensation attitude tilt information can be determined based on the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; based on the above compensation attitude tilt information and the turning instruction, the rotorcraft can be controlled to turn. Compared with directly controlling the rotorcraft to turn based on the turning instruction, since the addition of the compensation attitude tilt information can make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0006] In an optional embodiment, the horizontal velocity information includes the magnitude of the horizontal velocity and the direction of the horizontal velocity, the yaw angular velocity information includes the magnitude of the yaw angular velocity and the direction of the yaw angular velocity, and the compensation attitude inclination information includes the magnitude of the compensation attitude inclination and the direction of the compensation attitude inclination; the determination of the compensation attitude inclination information based on the horizontal velocity information and the yaw angular velocity information includes: determining the magnitude of the compensation attitude inclination based on the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and determining the direction of the compensation attitude inclination based on the direction of the horizontal velocity and the direction of the yaw angular velocity. In the above scheme, the magnitude of the compensation attitude inclination can be determined according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination can be determined according to the direction of the horizontal velocity and the direction of the yaw angular velocity, so that the magnitude and direction of the rotorcraft during the turning process can be compensated respectively, thereby ensuring that the rotorcraft will not skid during the turning process.

[0007] In an optional embodiment, the determining of the compensation attitude inclination angle according to the magnitude of the horizontal speed and the magnitude of the yaw angular velocity includes: calculating the centripetal force according to the magnitude of the horizontal speed and the magnitude of the yaw angular velocity; and determining the compensation attitude inclination angle according to the centripetal force and the vertical pulling force of the rotorcraft. In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the rotation speed of the nose of the rotorcraft will be much greater than the rotation speed in the horizontal speed direction. Therefore, the centripetal acceleration can be compensated for the rotorcraft so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0008] In an optional embodiment, the method of determining the compensation attitude inclination direction according to the horizontal velocity direction and the yaw angular velocity direction includes: when the yaw angular velocity direction is right, determining the direction perpendicular to the horizontal velocity direction and to the right as the compensation attitude inclination direction; when the yaw angular velocity direction is left, determining the direction perpendicular to the horizontal velocity direction and to the left as the compensation attitude inclination direction. In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the nose direction of the rotorcraft will be different from the speed direction. Therefore, the inclination direction can be compensated for the rotorcraft so that the speed direction of the rotorcraft is consistent with the nose direction. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0009] In an optional embodiment, the obtaining of the horizontal speed information corresponding to the rotorcraft includes: obtaining the real-time flight speed corresponding to the rotorcraft; and calculating the horizontal speed information according to the real-time flight speed. In the above scheme, the navigation system in the rotorcraft can measure the real-time flight speed of the rotorcraft in real time, and therefore, the horizontal speed information can be calculated based on the real-time flight speed.

[0010] In an optional embodiment, obtaining the yaw angular velocity information corresponding to the rotorcraft includes: receiving the yaw angular velocity information sent by a navigation system. In the above scheme, the navigation system in the rotorcraft can measure the yaw angular velocity information of the rotorcraft in real time, and therefore, the yaw angular velocity information sent by the navigation system can be received.

[0011] In a second aspect, an embodiment of the present application provides a device for controlling a rotorcraft to turn, comprising: an acquisition module, for acquiring horizontal speed information and yaw angular velocity information corresponding to the rotorcraft when a turning command is received; a determination module, for determining compensation attitude inclination information based on the horizontal speed information and the yaw angular velocity information, so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose; and a control module, for controlling the rotorcraft to turn based on the turning command and the compensation attitude inclination information.

[0012] In the above scheme, when a turning instruction is received, the corresponding compensation attitude tilt information can be determined based on the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; based on the above compensation attitude tilt information and the turning instruction, the rotorcraft can be controlled to turn. Compared with directly controlling the rotorcraft to turn based on the turning instruction, since the addition of the compensation attitude tilt information can make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0013] In an optional embodiment, the horizontal velocity information includes the magnitude of the horizontal velocity and the direction of the horizontal velocity, the yaw angular velocity information includes the magnitude of the yaw angular velocity and the direction of the yaw angular velocity, and the compensation attitude inclination information includes the magnitude of the compensation attitude inclination and the direction of the compensation attitude inclination; the determination module is specifically used to: determine the magnitude of the compensation attitude inclination according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and determine the direction of the compensation attitude inclination according to the direction of the horizontal velocity and the direction of the yaw angular velocity. In the above scheme, the magnitude of the compensation attitude inclination can be determined according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination can be determined according to the direction of the horizontal velocity and the direction of the yaw angular velocity, so that the magnitude and direction of the rotorcraft during the turning process can be compensated respectively, thereby ensuring that the rotorcraft will not skid during the turning process.

[0014] In an optional embodiment, the determination module is also used to: calculate the centripetal force according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity; determine the magnitude of the compensation attitude inclination angle according to the centripetal force and the vertical pulling force of the rotorcraft. In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the rotation speed of the nose of the rotorcraft will be much greater than the rotation speed in the horizontal velocity direction. Therefore, the centripetal acceleration can be compensated for the rotorcraft so that the rotation speed in the horizontal velocity direction of the rotorcraft is consistent with the rotation speed of the nose. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0015] In an optional embodiment, the determination module is also used for: when the yaw angular velocity direction is right, determining the direction perpendicular to the horizontal velocity direction and to the right as the direction of the compensated attitude inclination angle; when the yaw angular velocity direction is left, determining the direction perpendicular to the horizontal velocity direction and to the left as the direction of the compensated attitude inclination angle. In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the nose direction of the rotorcraft will be different from the speed direction. Therefore, the inclination direction can be compensated for the rotorcraft so that the speed direction of the rotorcraft is consistent with the nose direction. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0016] In an optional embodiment, the acquisition module is specifically used to: acquire the real-time flight speed corresponding to the rotorcraft; and calculate the horizontal speed information according to the real-time flight speed. In the above scheme, the navigation system in the rotorcraft can measure the real-time flight speed of the rotorcraft in real time, so the horizontal speed information can be calculated based on the real-time flight speed.

[0017] In an optional implementation, the acquisition module is specifically used to: receive the yaw rate information sent by the navigation system. In the above solution, the navigation system in the rotorcraft can measure the yaw rate information of the rotorcraft in real time, so the yaw rate information sent by the navigation system can be received.

[0018] In a third aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, which, when read and executed by a processor, execute the method for controlling the turning of a rotorcraft as described in the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a memory and a bus; the processor and the memory communicate with each other through the bus; the memory stores computer program instructions that can be executed by the processor, and the processor calls the computer program instructions to execute the method for controlling the turning of a rotorcraft as described in the first aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions. When the computer program instructions are executed by a computer, the computer executes the method for controlling a rotorcraft to turn as described in the first aspect.

[0021] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following specifically cites the embodiments of the present application and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of a rotorcraft provided in an embodiment of the present application;

[0024] Figure 2 A flowchart of a method for controlling a rotorcraft to turn provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the force applied to the rotorcraft in the vertical plane along the speed direction provided by an embodiment of the present application;

[0026] Figure 4 A structural block diagram of a device for controlling a rotorcraft to turn provided in an embodiment of the present application;

[0027] Figure 5 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] Before introducing the method for controlling the turning of a rotorcraft provided in the embodiment of the present application, the control principle of the rotorcraft is briefly introduced. Figure 1 , Figure 1 A schematic diagram of a rotorcraft provided in an embodiment of the present application, Figure 1 The three directions of X-axis, Y-axis and Z-axis are shown in FIG.

[0029] First, the pilot controls the pitch angle by manipulating the pitch channel, and then controls the X-axis acceleration and speed of the aircraft; second, the pilot controls the roll angle by manipulating the roll channel, and then controls the Y-axis acceleration and speed of the aircraft; third, the pilot controls the yaw angle by manipulating the yaw channel, that is, controls the direction of the nose; fourth, the pilot controls the lift by manipulating the throttle channel, and then controls the Z-axis acceleration and speed of the aircraft.

[0030] Take the scenario where the pilot controls the rotorcraft to turn left at a forward speed of 10m / s as an example: the pilot controls the pitch channel to make the aircraft pitch down, accelerating the aircraft forward; when the speed reaches 10m / s, the pilot turns the yaw channel to the left to make the aircraft yaw left, that is, the nose turns left. The applicant found that the rotation speed of the nose at this time is much greater than the rotation speed of the aircraft in the horizontal speed direction, so a large side slip will occur, and the turning speed is unstable, and the entire turning process is uncoordinated.

[0031] Based on the above analysis, the applicant proposes a method for controlling the turning of a rotorcraft. With this method for controlling the turning of a rotorcraft, when the pilot makes a left yaw channel to make the aircraft produce a left yaw angle, the controller will actively compensate for the left roll angle at the same time. When the aircraft rotates its nose, due to the compensation effect of the inclination angle along the negative direction of the Y axis, the aircraft produces a left centripetal acceleration, so that the rotation speed of the aircraft in the horizontal speed direction is consistent with the rotation speed of the nose, so that the aircraft will not skid, and the turning will be smoother and more flexible, and the speed of the entire turning process is stable.

[0032] The following will describe the technical solution in the embodiment of the present application in conjunction with the accompanying drawings in the embodiment of the present application. Figure 2 , Figure 2 A flowchart of a method for controlling a rotorcraft to turn provided in an embodiment of the present application, the method for controlling a rotorcraft to turn may specifically include the following steps:

[0033] Step S201: upon receiving a turning instruction, obtaining horizontal speed information and yaw angular speed information corresponding to the rotorcraft.

[0034] Step S201: Determine compensation attitude inclination information according to the horizontal speed information and the yaw angular velocity information, so that the rotation speed of the rotorcraft in the horizontal speed direction is consistent with the rotation speed of the nose.

[0035] Step S203: Controlling the rotorcraft to turn based on the turning instruction and the compensation attitude inclination information.

[0036] Specifically, in the above step S201, the turning instruction is used to control the yaw angle of the rotorcraft so that the rotorcraft turns. When the above turning instruction is received, it means that the rotorcraft is currently entering a turning process, so the horizontal speed information and yaw angular speed information corresponding to the rotorcraft can be obtained in real time.

[0037] The horizontal velocity represents the speed of the rotorcraft in the horizontal direction, wherein the embodiment of the present application does not make any specific limitation on the specific real-time mode of the horizontal velocity information, and the above-mentioned horizontal velocity information may include the horizontal velocity direction and / or the horizontal velocity magnitude; the yaw angular velocity represents the rotation speed of the nose of the rotorcraft, wherein the embodiment of the present application does not make any specific limitation on the specific real-time mode of the yaw angular velocity information, and the above-mentioned yaw angular velocity information may include the yaw angular velocity direction and / or the yaw angular velocity magnitude.

[0038] It should be noted that the embodiments of the present application do not specifically limit the specific implementation methods for obtaining the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft, and those skilled in the art may make appropriate adjustments according to actual conditions. For example, the horizontal speed information and / or yaw angular velocity information sent by an external device may be received; or the horizontal speed information and / or yaw angular velocity information pre-stored locally or in the cloud may be read; or the horizontal speed information and / or yaw angular velocity information may be calculated based on other parameters of the rotorcraft.

[0039] In the above step S201, the compensation attitude inclination information can be determined according to the horizontal velocity information and the yaw angular velocity information obtained in the above step S201. By adding the above compensation inclination information during the turning process of the rotorcraft, the rotation speed in the horizontal velocity direction of the rotorcraft can be made consistent with the rotation speed of the nose, so that the rotorcraft will not skid during the turning process.

[0040] It should be noted that the embodiments of the present application do not specifically limit the specific implementation method of determining the compensation attitude inclination information based on the horizontal velocity information and the yaw angular velocity information, and those skilled in the art can make appropriate adjustments according to actual conditions. For example, the horizontal velocity information and the yaw angular velocity information can be used to perform calculations to obtain the compensation attitude inclination information; or the horizontal velocity information and the yaw angular velocity information can be input into a pre-trained machine learning model to obtain the compensation attitude inclination information output by the model.

[0041] In the above step S203, based on the turning instruction and the compensation attitude inclination information determined in the above step S202, the rotorcraft can be controlled to turn.

[0042] For example, when the aircraft has a speed of 10m / s in the positive direction of the Y axis, the pilot hits the yaw channel to the right, and the aircraft nose deflects to the right (i.e., the nose rotates in the positive direction around the Z axis). At this time, the calculated compensation attitude inclination angle is a positive pitch angle (i.e., head up), which generates a centripetal acceleration perpendicular to the speed direction (negative direction of the X axis). Therefore, the entire action completes the right turn process quickly when the aircraft has a speed of 10m / s in the positive direction of the Y axis, with the nose rotating to the right and the head up pitch angle actively compensated, to achieve a coordinated turn (when the rotorcraft is turning, the nose can be aligned with the speed direction in real time without side slipping).

[0043] In the above scheme, when a turning instruction is received, the corresponding compensation attitude tilt information can be determined based on the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; based on the above compensation attitude tilt information and the turning instruction, the rotorcraft can be controlled to turn. Compared with directly controlling the rotorcraft to turn based on the turning instruction, since the addition of the compensation attitude tilt information can make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0044] Further, based on the above embodiment, as an implementation mode, the above horizontal speed information may include the magnitude of the horizontal speed and the direction of the horizontal speed, the above yaw angular velocity information may include the magnitude of the yaw angular velocity and the direction of the yaw angular velocity, and the above compensated attitude inclination information may include the magnitude of the compensated attitude inclination and the direction of the compensated attitude inclination. In this implementation mode, the above step S202 may specifically include the following steps:

[0045] The magnitude of the compensation attitude inclination angle is determined according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination angle is determined according to the direction of the horizontal velocity and the direction of the yaw angular velocity.

[0046] In the above scheme, the magnitude of the compensation attitude inclination angle can be determined according to the magnitude of the horizontal speed and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination angle can be determined according to the direction of the horizontal speed and the direction of the yaw angular velocity, so that the magnitude and direction of the rotorcraft during the turning process can be compensated respectively, thereby ensuring that the rotorcraft will not skid during the turning process.

[0047] Further, based on the above embodiment, the step of determining the magnitude of the compensation attitude inclination angle according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity may specifically include the following steps:

[0048] Step 1), calculate the centripetal force according to the horizontal velocity and the yaw angular velocity.

[0049] Step 2), determining the compensation attitude inclination angle according to the centripetal force and the vertical pulling force of the rotorcraft.

[0050] Specifically, in the above step 1), the centripetal force can be calculated according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity. As an implementation method, the centripetal force can be calculated using the following formula:

[0051] F a =mr×V g ;

[0052] Among them, F a represents the centripetal force, m represents the mass of the rotorcraft, r represents the yaw angular velocity, V g Indicates the horizontal velocity.

[0053] In step 2) above, please refer to Figure 3 , Figure 3 A schematic diagram of the rotorcraft subjected to forces in a vertical plane along the velocity direction provided in an embodiment of the present application. Vertical pulling force F of the rotorcraft T It is calculated by the control system of the rotorcraft according to the vertical motion control, for example: in the hovering state F T = mg, accelerated climbing state F T >mg, etc.

[0054] According to the vertical tension F T and the centripetal force F a , we can get the angle β of the resultant force, that is, the size of the compensation attitude inclination angle.

[0055] In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the rotation speed of the nose of the rotorcraft will be much greater than the rotation speed in the horizontal speed direction. Therefore, the centripetal acceleration of the rotorcraft can be compensated to make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0056] Further, based on the above embodiment, the step of determining the direction of the compensation attitude inclination angle according to the horizontal velocity direction and the yaw angular velocity direction may specifically include the following steps:

[0057] Step 1), when the yaw angular velocity direction is right, determine the direction perpendicular to the horizontal velocity direction and to the right as the direction of the compensation attitude tilt angle.

[0058] Step 2), when the yaw angular velocity direction is left, determine the direction perpendicular to the horizontal velocity direction and to the left as the direction of the compensation attitude tilt angle.

[0059] There is no specific execution order for the above steps 1) and 2), which are just different branches in two different situations.

[0060] In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the nose direction of the rotorcraft will be different from the speed direction. Therefore, the inclination direction of the rotorcraft can be compensated to make the speed direction of the rotorcraft consistent with the nose direction. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0061] Further, based on the above embodiment, the step of obtaining the horizontal speed information corresponding to the rotorcraft in the above step S201 may specifically include the following steps:

[0062] Step 1), obtain the real-time flight speed corresponding to the rotorcraft.

[0063] Step 2), calculate the horizontal speed information according to the real-time flight speed.

[0064] Specifically, in the above step 1), the navigation system on the rotorcraft can measure the real-time flight speed V of the rotorcraft in real time. x 、V y 、V z , where the above V x 、V y 、V zThey represent the north-east velocity in the geographic axis system. The north-east velocity (NED velocity) is a concept that describes the velocity of an object in a specific coordinate system, where the x-axis points to the north, the y-axis points to the east, and the z-axis points to the ground (down, i.e., the direction of the center of the earth, perpendicular to the ground and pointing to the center of the earth).

[0065] In the above step 2), the horizontal speed information can be calculated according to the real-time flight speed obtained in the above step 1). As an implementation method, the horizontal speed information can be calculated using the following formula:

[0066]

[0067] in, Indicates the horizontal velocity direction, V g Indicates the horizontal velocity.

[0068] In the above scheme, the navigation system in the rotorcraft can measure the real-time flight speed of the rotorcraft in real time, and therefore, the horizontal speed information can be calculated based on the real-time flight speed.

[0069] Further, based on the above embodiment, the step of obtaining the yaw angular velocity information corresponding to the rotorcraft in the above step S201 may specifically include the following steps:

[0070] Receive yaw rate information sent by the navigation system.

[0071] Specifically, the rotorcraft is equipped with a control system and a navigation system. The inertial measurement unit (IMU) of the navigation system can measure the direction and magnitude of the yaw angular velocity r in real time. Figure 1 In the coordinate system shown, when r is a positive value, it means that the nose of the aircraft is deflected to the right, and when r is a negative value, it means that the nose of the aircraft is deflected to the left.

[0072] In the above solution, the navigation system in the rotorcraft can measure the yaw angular velocity information of the rotorcraft in real time, and therefore, the yaw angular velocity information sent by the navigation system can be received.

[0073] In particular, when the horizontal speed of the rotorcraft is 0, that is, when the rotorcraft is hovering, the pilot controls the yaw channel only to deflect the nose, without turning, so there is no compensation for the attitude inclination.

[0074] Please refer to Figure 4 , Figure 4A structural block diagram of a device for controlling a rotorcraft to turn provided in an embodiment of the present application, the device 400 for controlling a rotorcraft to turn includes: an acquisition module 401, used to acquire horizontal speed information and yaw angular velocity information corresponding to the rotorcraft when a turning instruction is received; a determination module 402, used to determine compensation attitude inclination information according to the horizontal speed information and the yaw angular velocity information, so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose; and a control module 403, used to control the rotorcraft to turn based on the turning instruction and the compensation attitude inclination information.

[0075] In the above scheme, when a turning instruction is received, the corresponding compensation attitude tilt information can be determined based on the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; based on the above compensation attitude tilt information and the turning instruction, the rotorcraft can be controlled to turn. Compared with directly controlling the rotorcraft to turn based on the turning instruction, since the addition of the compensation attitude tilt information can make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0076] Further, based on the above embodiment, the horizontal velocity information includes the magnitude of the horizontal velocity and the direction of the horizontal velocity, the yaw angular velocity information includes the magnitude of the yaw angular velocity and the direction of the yaw angular velocity, and the compensation attitude inclination information includes the magnitude of the compensation attitude inclination and the direction of the compensation attitude inclination; the determination module 402 is specifically used to: determine the magnitude of the compensation attitude inclination according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and determine the direction of the compensation attitude inclination according to the horizontal velocity direction and the yaw angular velocity direction.

[0077] In the above scheme, the magnitude of the compensation attitude inclination angle can be determined according to the magnitude of the horizontal speed and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination angle can be determined according to the direction of the horizontal speed and the direction of the yaw angular velocity, so that the magnitude and direction of the rotorcraft during the turning process can be compensated respectively, thereby ensuring that the rotorcraft will not skid during the turning process.

[0078] Furthermore, based on the above embodiment, the determination module 402 is also used to: calculate the centripetal force according to the horizontal velocity and the yaw angular velocity; and determine the compensation attitude inclination angle according to the centripetal force and the vertical pulling force of the rotorcraft.

[0079] In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the rotation speed of the nose of the rotorcraft will be much greater than the rotation speed in the horizontal speed direction. Therefore, the centripetal acceleration of the rotorcraft can be compensated to make the rotation speed of the rotorcraft in the horizontal speed direction consistent with the rotation speed of the nose. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0080] Further, based on the above embodiment, the determination module 402 is also used for: when the yaw angular velocity direction is right, determining the direction perpendicular to the horizontal velocity direction and to the right as the direction of the compensation attitude inclination; when the yaw angular velocity direction is left, determining the direction perpendicular to the horizontal velocity direction and to the left as the direction of the compensation attitude inclination.

[0081] In the above scheme, during the turning process of the rotorcraft, after the pilot opens the yaw channel to make the rotorcraft produce a yaw angle, the nose direction of the rotorcraft will be different from the speed direction. Therefore, the inclination direction of the rotorcraft can be compensated to make the speed direction of the rotorcraft consistent with the nose direction. Therefore, the rotorcraft will not skid during the turning process, and the turning will be smoother and more flexible with a stable speed.

[0082] Further, based on the above embodiment, the acquisition module 401 is specifically used for: acquiring the real-time flight speed corresponding to the rotorcraft; and calculating the horizontal speed information according to the real-time flight speed.

[0083] In the above scheme, the navigation system in the rotorcraft can measure the real-time flight speed of the rotorcraft in real time, and therefore, the horizontal speed information can be calculated based on the real-time flight speed.

[0084] Further, based on the above embodiment, the acquisition module 401 is specifically used to: receive the yaw angular velocity information sent by a navigation system.

[0085] In the above solution, the navigation system in the rotorcraft can measure the yaw angular velocity information of the rotorcraft in real time, and therefore, the yaw angular velocity information sent by the navigation system can be received.

[0086] Please refer to Figure 5 , Figure 5The structural block diagram of an electronic device provided in an embodiment of the present application, the electronic device 500 includes: at least one processor 501, at least one communication interface 502, at least one memory 503 and at least one communication bus 504. Among them, the communication bus 504 is used to realize the direct connection and communication of these components, the communication interface 502 is used to communicate signaling or data with other node devices, and the memory 503 stores machine-readable instructions executable by the processor 501. When the electronic device 500 is running, the processor 501 communicates with the memory 503 through the communication bus 504, and the machine-readable instructions are called by the processor 501 to execute the above-mentioned method of controlling the turning of the rotorcraft.

[0087] For example, the processor 501 of the embodiment of the present application reads a computer program from the memory 503 through the communication bus 504 and executes the computer program to implement the following method: when receiving a turning command, obtaining the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft; determining the compensation attitude inclination information based on the horizontal speed information and the yaw angular velocity information so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose; and controlling the rotorcraft to turn based on the turning command and the compensation attitude inclination information.

[0088] Among them, the processor 501 includes one or more, which can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 501 can be a general-purpose processor, including a central processing unit (CPU), a micro control unit (MCU), a network processor (NP) or other conventional processors; it can also be a dedicated processor, including a neural network processor (NPU), a graphics processor (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. In addition, when there are multiple processors 501, some of them can be general-purpose processors and the other part can be dedicated processors.

[0089] The memory 503 includes one or more, which may be, but not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0090] Understandably, Figure 5 The structure shown is for illustration only. The electronic device 500 may also include Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown. Figure 5 Each component shown in can be implemented by hardware, software or a combination thereof. In the embodiment of the present application, the electronic device 500 can be, but is not limited to, a physical device such as a desktop computer, a laptop computer, a smart phone, a smart wearable device, a vehicle-mounted device, etc., and can also be a virtual device such as a virtual machine. In addition, the electronic device 500 is not necessarily a single device, but can also be a combination of multiple devices, such as a server cluster, etc.

[0091] The embodiment of the present application also provides a computer program product, including a computer program stored on a computer-readable storage medium, the computer program including computer program instructions, when the computer program instructions are executed by the computer, the computer can execute the steps of the method for controlling the turning of the rotorcraft in the above embodiment, for example including: Step S201: upon receiving a turning instruction, obtaining the horizontal speed information and yaw angular velocity information corresponding to the rotorcraft. Step S201: determining the compensation attitude inclination information according to the horizontal speed information and the yaw angular velocity information, so that the rotation speed in the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose. Step S203: controlling the rotorcraft to turn based on the turning instruction and the compensation attitude inclination information.

[0092] An embodiment of the present application further provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are executed by a computer, the computer executes the method for controlling the turning of a rotorcraft as described in the aforementioned method embodiment.

[0093] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0094] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0096] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM) random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0097] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0098] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a rotorcraft to turn, characterized in that: include: When receiving a turning command, obtaining horizontal speed information and yaw angular speed information corresponding to the rotorcraft; Determining compensation attitude inclination information according to the horizontal speed information and the yaw angular velocity information so that the rotation speed of the horizontal speed direction of the rotorcraft is consistent with the rotation speed of the nose; The rotorcraft is controlled to turn based on the turning instruction and the compensated attitude inclination information.

2. The method for controlling a rotorcraft to turn according to claim 1, characterized in that: The horizontal velocity information includes the magnitude of the horizontal velocity and the direction of the horizontal velocity, the yaw angular velocity information includes the magnitude of the yaw angular velocity and the direction of the yaw angular velocity, and the compensation attitude inclination information includes the magnitude of the compensation attitude inclination and the direction of the compensation attitude inclination; The step of determining the compensation attitude inclination information according to the horizontal velocity information and the yaw angular velocity information comprises: The magnitude of the compensation attitude inclination angle is determined according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity, and the direction of the compensation attitude inclination angle is determined according to the direction of the horizontal velocity and the direction of the yaw angular velocity.

3. The method for controlling a rotorcraft to turn according to claim 2, characterized in that: The step of determining the compensation attitude inclination angle according to the horizontal velocity and the yaw angular velocity comprises: Calculate the centripetal force according to the magnitude of the horizontal velocity and the magnitude of the yaw angular velocity; The compensation attitude inclination angle is determined according to the centripetal force and the vertical pulling force of the rotorcraft.

4. The method for controlling a rotorcraft to turn according to claim 2, characterized in that: The step of determining the compensation attitude tilt direction according to the horizontal velocity direction and the yaw angular velocity direction comprises: When the yaw angular velocity direction is right, a direction perpendicular to the horizontal velocity direction and to the right is determined as the compensation attitude inclination direction; When the yaw angular velocity direction is left, a direction perpendicular to the horizontal velocity direction and toward the left is determined as the compensation attitude inclination direction.

5. The method for controlling a rotorcraft to turn according to any one of claims 1 to 4, characterized in that: The obtaining of horizontal speed information corresponding to the rotorcraft includes: Get the real-time flight speed of the rotorcraft; The horizontal speed information is calculated according to the real-time flight speed.

6. The method for controlling a rotorcraft to turn according to any one of claims 1 to 4, characterized in that: Get the yaw rate information of the rotorcraft, including: The yaw angular velocity information sent by the navigation system is received.

7. A device for controlling a rotorcraft to turn, characterized in that: include: An acquisition module is used to acquire horizontal speed information and yaw angular velocity information corresponding to the rotorcraft when a turning instruction is received; A determination module, configured to determine compensation attitude inclination information according to the horizontal speed information and the yaw angular velocity information, so that the rotation speed of the rotorcraft in the horizontal speed direction is consistent with the rotation speed of the nose; A control module is used to control the rotorcraft to turn based on the turning instruction and the compensation attitude inclination information.

8. A computer program product, characterized in that The method comprises computer program instructions, which, when read and executed by a processor, execute the method for controlling the turning of a rotorcraft as claimed in any one of claims 1 to 6.

9. An electronic device, characterized in that: include: processor, memory, and bus; The processor and the memory communicate with each other via the bus; The memory stores computer program instructions that can be executed by the processor, and the processor calls the computer program instructions to execute the method for controlling the turning of a rotorcraft as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a computer, enable the computer to execute the method for controlling a rotorcraft to turn according to any one of claims 1 to 6.

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