Control allocation method for an aircraft, aircraft and storage medium

Abstract

The application discloses a kind of control amount distribution method of aircraft, aircraft and storage medium.Therein, the method includes: obtaining the virtual control amount of aircraft, wherein the virtual control amount contains multiple dimensions of sub-control amount that aircraft expects to achieve, and aircraft is provided with multiple actuators;Determine the pseudo-inverse matrix of control distribution matrix of aircraft, wherein the control distribution matrix is used to represent the mapping relationship between multiple dimensions of sub-control amount and the control amount of multiple actuators;Based on pseudo-inverse matrix, multiple dimensions of distribution weight, and the physical constraint condition of multiple actuators, the virtual control amount is distributed, and the target control amount of multiple actuators is obtained, wherein distribution weight is used to represent the importance degree of multiple dimensions of sub-control amount distribution.This application solves the technical problem that the pseudo-inverse solution obtained when using pseudo-inverse method to distribute the virtual control amount of aircraft in the prior art is prone to saturation.

Description

Technical Field

[0001] This invention relates to the field of aircraft, and more specifically, to a method for allocating control quantities for an aircraft, an aircraft, and a storage medium. Background Technology

[0002] In the field of multi-rotor aircraft control, the pseudo-inverse method is widely used in control allocation modules due to its high computational efficiency and good allocation accuracy. The control allocation module is responsible for allocating the virtual control quantities (such as total thrust and triaxial torque) output by the attitude control module and converting them into specific control quantities for the power unit, so that the power unit obtains the desired force and torque.

[0003] However, in related technologies, the pseudo-inverse solution obtained by using the pseudo-inverse method in the control allocation module is prone to exceeding the capability range of the power unit, causing control saturation, which in turn affects the stability and safety of the aircraft.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method for allocating control quantities for an aircraft, an aircraft, and a storage medium, to at least solve the technical problem that the pseudo-inverse solution obtained when allocating virtual control quantities of an aircraft using the pseudo-inverse method in the prior art is prone to saturation.

[0006] According to one aspect of the present invention, a method for allocating control quantities of an aircraft is provided, comprising: acquiring virtual control quantities of the aircraft, wherein the virtual control quantities include sub-control quantities of multiple dimensions that the aircraft is expected to achieve, and the aircraft is provided with multiple actuators; determining a pseudo-inverse matrix of a control allocation matrix of the aircraft, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the sub-control quantities of multiple dimensions and the control quantities of multiple actuators; allocating the virtual control quantities based on the pseudo-inverse matrix, the allocation weights of multiple dimensions, and the physical constraints of multiple actuators to obtain target control quantities of multiple actuators, wherein the allocation weights are used to characterize the importance of allocating the sub-control quantities of multiple dimensions, and the physical constraints are used to characterize the constraints for the normal operation of the actuators.

[0007] Furthermore, based on the pseudo-inverse matrix, the allocation weights of multiple dimensions, and the physical constraints of multiple actuators, the virtual control quantities are allocated to obtain the target control quantities of multiple actuators. This includes: determining the allocation priority of multiple dimensions based on the allocation weights of multiple dimensions; allocating the sub-control quantities of the target dimensions in descending order of allocation priority based on the pseudo-inverse matrix and the physical constraints of multiple actuators to obtain the control quantities of multiple actuators corresponding to the target dimensions, wherein the target dimension is at least one dimension corresponding to different allocation priorities among the multiple dimensions; and summarizing the control quantities of multiple actuators corresponding to multiple dimensions to obtain the target control quantities of multiple actuators.

[0008] Furthermore, based on the pseudo-inverse matrix and the physical constraints of multiple actuators, the sub-control quantities of the target dimension are allocated to obtain the control quantities of multiple actuators corresponding to the target dimension. This includes: allocating the sub-control quantities of the target dimension based on the pseudo-inverse matrix to obtain the allocation results of multiple actuators; in response to the fact that the allocation results of multiple actuators all satisfy the physical constraints of multiple actuators, determining the allocation results of multiple actuators as the control quantities of multiple actuators corresponding to the target dimension; in response to the fact that the allocation result of any actuator does not satisfy the physical constraints of any actuator, reallocating the sub-control quantities of the target dimension based on the physical constraints of any actuator to obtain the control quantities of multiple actuators corresponding to the target dimension.

[0009] Furthermore, based on the physical constraints of any actuator, the sub-control quantities of the target dimension are redistributed to obtain multiple actuators corresponding to the target dimension. This includes: adjusting the sub-control quantities of the target dimension based on the physical constraints of any actuator to obtain new control quantities of the target dimension; and allocating the new control quantities of the target dimension based on the pseudo-inverse matrix to obtain multiple actuators corresponding to the target dimension.

[0010] Furthermore, the physical constraints of any actuator include: control quantity thresholds of multiple actuators; based on the physical constraints of any actuator, the sub-control quantities of the target dimension are adjusted to obtain new control quantities of the target dimension, including: reducing the control quantity corresponding to any actuator in the sub-control quantities of the target dimension to the control quantity threshold of any actuator to obtain new control quantities of the target dimension.

[0011] Furthermore, the physical constraints of any one actuator include: control quantity thresholds of multiple actuators; the allocation results of multiple actuators all satisfy the physical constraints of multiple actuators, including: the allocation results of multiple actuators are all less than or equal to the control quantity thresholds of multiple actuators; the allocation result of any one actuator does not satisfy the physical constraints of any one actuator, including: the allocation result of any one actuator is greater than the control quantity threshold of any one actuator.

[0012] Furthermore, in response to the fact that the allocation result of any one actuator does not meet the physical constraints of any one actuator, the method further includes: generating a preset flag corresponding to any one actuator, wherein the preset flag is used to characterize that the allocation result of any one actuator does not meet the physical constraints of any one actuator; and labeling the control quantities of multiple actuators corresponding to the target dimension based on the preset flag.

[0013] According to another aspect of the present invention, an aircraft is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0015] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0018] In this embodiment of the invention, virtual control quantities of the aircraft are obtained, wherein the virtual control quantities include multiple dimensions of sub-control quantities that the aircraft expects to achieve, and the aircraft is equipped with multiple actuators; a pseudo-inverse matrix of the control allocation matrix of the aircraft is determined, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the multiple dimensions of sub-control quantities and the control quantities of the multiple actuators; based on the pseudo-inverse matrix, the allocation weights of the multiple dimensions, and the physical constraints of the multiple actuators, the virtual control quantities are allocated to obtain the target control quantities of the multiple actuators, wherein the allocation weights are used to characterize the importance of allocating the multiple dimensions of sub-control quantities, and the physical constraints are used to characterize the constraints for the normal operation of the actuators. It is noteworthy that by determining the pseudo-inverse matrix of the control allocation matrix of the aircraft, the importance of multiple dimensions of the sub-control quantities is introduced. Based on the pseudo-inverse matrix, the allocation weights of multiple dimensions, and the physical constraints of multiple actuators, the allocation of virtual control quantities fully considers the importance of different dimensions and the physical constraints of multiple actuators. On the basis of the pseudo-inverse algorithm, virtual control quantity constraints are added. The target control quantities of multiple actuators are obtained through the pseudo-inverse method. While maintaining the real-time performance and accuracy of the pseudo-inverse method, the saturation and unreachability problem of the control surface quantities is avoided. Thus, the technical problem that the pseudo-inverse solution obtained when using the pseudo-inverse method to allocate virtual control quantities of the aircraft in the existing technology is prone to saturation is solved. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a flowchart of a control quantity allocation method for an aircraft according to an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of an optional control quantity allocation method for an aircraft according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of a control quantity allocation device for an aircraft according to an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] According to an embodiment of the present invention, a method for allocating control quantities of an aircraft is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 This is a flowchart of a control quantity allocation method for an aircraft according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0027] Step S102: Obtain the virtual control quantity of the aircraft, wherein the virtual control quantity includes multiple dimensions of sub-control quantity that the aircraft expects to achieve, and the aircraft is equipped with multiple actuators.

[0028] The virtual control quantities in the above steps are used to characterize the quantities corresponding to the control state that the aircraft should achieve. These can be total thrust, three-axis torque, etc., but are not limited to these. The virtual control quantities are calculated based on the upper-level control logic and have not yet been adjusted by the actuators. The upper-level control logic can be the attitude control module, but is not limited to this.

[0029] The multiple control variables in the above steps can characterize the control requirements of different axes or dimensions in aircraft control, including but not limited to pitch moment, roll moment, yaw moment, and total thrust.

[0030] The actuators in the above steps are components in the aircraft that directly generate physical motion, and can be motors, propellers, servos, etc., but are not limited to these. The actuators can receive signals from the control allocation module and execute specific physical actions to realize the control commands of the aircraft. The control allocation module can execute the method of aircraft control quantity allocation in this embodiment of the invention.

[0031] In one optional embodiment, the virtual control quantities of the aircraft can be calculated and output by the upper-level control module. Taking the attitude control module as an example, the attitude control module calculates the total thrust and three-axis torques that the aircraft needs to achieve based on the aircraft's current attitude state, desired attitude state, and the aircraft's kinematic model. The attitude state can include pitch angle, roll angle, yaw angle, etc., and the three-axis torques can be pitch torque, roll torque, and yaw torque.

[0032] After the attitude control module calculates the total thrust and three-axis torque required by the aircraft, the total thrust and three-axis torque can be used as virtual control quantities of the aircraft. The virtual control quantities of the aircraft can be obtained through the output interface of the attitude control module.

[0033] Step S104: Determine the pseudo-inverse matrix of the control allocation matrix of the aircraft, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the sub-control quantities of multiple dimensions and the control quantities of multiple actuators.

[0034] The control allocation matrix in the above steps describes how virtual control quantities are distributed to various actuators to achieve the desired control effect. For example, for a multi-rotor aircraft, the control allocation matrix can map pitch, roll, yaw moments, and total thrust to the speeds of multiple motors.

[0035] The pseudo-inverse matrix in the above steps is the inverse of the control allocation matrix, used to solve the control equations when the control allocation matrix is ​​not invertible. The pseudo-inverse matrix can convert virtual control quantities into control quantities of the actuators while ensuring that the error in the conversion process is small.

[0036] The control variables mentioned above refer to the control variables that need to be achieved in different dimensions of the aircraft. These different dimensions may include, but are not limited to, pitch moment, roll moment, yaw moment, and total thrust. Specifically, pitch moment is used to control the aircraft's rotation about the horizontal axis; roll moment is used to control the aircraft's rotation about the vertical axis; yaw moment is used to control the aircraft's rotation about the vertical axis, thus completing the aircraft's attitude control; and total thrust and attitude together control the aircraft's three-axis translational motion.

[0037] The control quantities mentioned above refer to the specific control values ​​that each actuator in the aircraft needs to achieve, such as the motor speed and the servo angle. The control quantities of multiple actuators are used to respond to virtual control quantities, thereby achieving the aircraft's control objectives.

[0038] In one alternative embodiment, a control allocation matrix can be constructed based on the layout and dynamic characteristics of the actuators in the aircraft. The columns of the control allocation matrix correspond to the actuators, the rows correspond to the desired control dimensions, and the elements in the control allocation matrix represent the degree of contribution of the actuator's control quantity to the corresponding control dimension. For example, in the case of a multi-rotor aircraft, each column of the control allocation matrix can represent a motor, and each row corresponds to the three-axis torques (pitch torque, roll torque, and yaw torque) and total thrust. The elements in the control allocation matrix reflect the influence of the motor speed on each torque and the total thrust.

[0039] Then, the pseudo-inverse matrix of the control allocation matrix is ​​determined. When determining the pseudo-inverse matrix, the control allocation matrix can be transformed by the Moore-Penrose pseudo-inverse method to obtain the pseudo-inverse matrix of the control allocation matrix.

[0040] Step S106: Based on the pseudo-inverse matrix, the allocation weights of multiple dimensions, and the physical constraints of multiple actuators, the virtual control quantity is allocated to obtain the target control quantity of multiple actuators. The allocation weights are used to characterize the importance of allocating the sub-control quantities of multiple dimensions, and the physical constraints are used to characterize the constraints for the normal operation of the actuators.

[0041] The weighting of multiple dimensions in the above steps is used to quantify the importance of multiple control dimensions, which may include, but are not limited to, pitch moment, roll moment, yaw moment, and total thrust. The weighting of multiple dimensions can represent the priority of multiple dimensions.

[0042] The physical constraints of the multiple actuators in the above steps refer to the maximum and minimum control range that the actuators can achieve in actual operation. For example, the maximum and minimum speed of the motor, the maximum and minimum angle of the servo motor, etc.

[0043] In one optional embodiment, multiple control dimensions can be pre-set with allocation weights based on their importance. The allocation priority of virtual control quantities can be determined based on the allocation weights of the multiple dimensions, and the virtual control quantities can be allocated in order of priority.

[0044] In the process of allocating virtual control quantities, a pseudo-inverse matrix can be used to initially allocate the virtual control quantities to obtain preliminary actuator control quantities. Then, it is checked whether the preliminary actuator control quantities corresponding to the actuators meet their respective physical constraints. If they do, the preliminary actuator control quantities are determined as the target control quantities of the actuators; if they do not, the preliminary actuator control quantities are adjusted to meet the physical constraints of the actuators, thus obtaining the target control quantities of the actuators.

[0045] In this embodiment of the invention, virtual control quantities of the aircraft are obtained, wherein the virtual control quantities include multiple dimensions of sub-control quantities that the aircraft expects to achieve, and the aircraft is equipped with multiple actuators; a pseudo-inverse matrix of the control allocation matrix of the aircraft is determined, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the multiple dimensions of sub-control quantities and the control quantities of the multiple actuators; based on the pseudo-inverse matrix, the allocation weights of the multiple dimensions, and the physical constraints of the multiple actuators, the virtual control quantities are allocated to obtain the target control quantities of the multiple actuators, wherein the allocation weights are used to characterize the importance of allocating the multiple dimensions of sub-control quantities, and the physical constraints are used to characterize the constraints for the normal operation of the actuators. It is noteworthy that by determining the pseudo-inverse matrix of the control allocation matrix of the aircraft, the importance of multiple dimensions of the sub-control quantities is introduced. Based on the pseudo-inverse matrix, the allocation weights of multiple dimensions, and the physical constraints of multiple actuators, the allocation of virtual control quantities fully considers the importance of different dimensions and the physical constraints of multiple actuators. On the basis of the pseudo-inverse algorithm, virtual control quantity constraints are added. The target control quantities of multiple actuators are obtained through the pseudo-inverse method. While maintaining the real-time performance and accuracy of the pseudo-inverse method, the saturation and unreachability problem of the control surface quantities is avoided. Thus, the technical problem that the pseudo-inverse solution obtained when using the pseudo-inverse method to allocate virtual control quantities of the aircraft in the existing technology is prone to saturation is solved.

[0046] In an optional embodiment of this application, virtual control quantities are allocated based on a pseudo-inverse matrix, allocation weights for multiple dimensions, and physical constraints of multiple actuators to obtain target control quantities for multiple actuators. This includes: determining allocation priorities for multiple dimensions based on allocation weights for multiple dimensions; allocating sub-control quantities of the target dimensions sequentially based on the pseudo-inverse matrix and physical constraints of multiple actuators according to allocation priorities from high to low, to obtain control quantities for multiple actuators corresponding to the target dimensions, wherein the target dimension is at least one dimension corresponding to different allocation priorities among the multiple dimensions; and summarizing the control quantities of multiple actuators corresponding to multiple dimensions to obtain the target control quantities for multiple actuators.

[0047] The allocation priority in the above steps can characterize the order in which sub-control quantities such as pitching moment, roll moment, yaw moment and total thrust are allocated.

[0048] In one optional embodiment, the following example illustrates multiple dimensions: pitch moment, roll moment, yaw moment, and total thrust. The importance of each dimension can be determined based on its role in mission execution. Then, weights are pre-defined for each dimension according to their importance; higher weights correspond to higher priority, and lower weights correspond to lower priority. This determines the allocation priority of the multiple dimensions based on their weights.

[0049] Based on the determined allocation priority, control dimensions with higher allocation priority are processed first. Specifically, a pseudo-inverse matrix is ​​used to initially allocate the sub-control quantities of the target dimension, resulting in preliminary control quantities for multiple actuators. These preliminary control quantities are then adjusted based on the physical constraints of the actuators, yielding control quantities for each actuator corresponding to the target dimension. Finally, the control quantities for each actuator across multiple dimensions are aggregated to obtain the target control quantities for all actuators. The aggregated target control quantities can then be output to the aircraft's propulsion system to drive the actuators, thereby achieving the aircraft's control mission.

[0050] In one optional embodiment of this application, the control quantities of the target dimension are allocated based on the pseudo-inverse matrix and the physical constraints of multiple actuators to obtain the control quantities of multiple actuators corresponding to the target dimension. This includes: allocating the control quantities of the target dimension based on the pseudo-inverse matrix to obtain the allocation results of multiple actuators; in response to the allocation results of multiple actuators all satisfying the physical constraints of multiple actuators, determining the allocation results of multiple actuators as the control quantities of multiple actuators corresponding to the target dimension; in response to the allocation result of any actuator not satisfying the physical constraints of any actuator, reallocating the control quantities of the target dimension based on the physical constraints of any actuator to obtain the control quantities of multiple actuators corresponding to the target dimension.

[0051] The allocation results in the above steps are the control quantities of multiple actuators obtained when the control quantities of a certain target dimension are initially allocated using a pseudo-inverse matrix. These allocation results can only be used for actual aircraft control if they satisfy the physical constraints of the actuators.

[0052] In one optional embodiment, after allocating the sub-control quantities of the target dimension according to the pseudo-inverse matrix, the allocation results of multiple actuators are obtained, which can be represented in vector form. Then, it is verified whether the allocation results of the multiple actuators satisfy the physical constraints of the corresponding actuators. If the allocation results of multiple actuators all satisfy the physical constraints of the corresponding actuators, the preliminary allocation results are determined as the control quantities of the multiple actuators corresponding to the target dimension. If there are cases where the allocation results do not satisfy the physical constraints of the corresponding actuators, the sub-control quantities of the target dimension need to be reallocated until the allocation results of multiple actuators all satisfy the physical constraints of the corresponding actuators, thereby obtaining the control quantities of the multiple actuators corresponding to the target dimension.

[0053] In an optional embodiment of this application, the sub-control quantities of the target dimension are redistributed based on the physical constraints of any one actuator to obtain multiple control quantities of the target dimension corresponding to the actuators. This includes: adjusting the sub-control quantities of the target dimension based on the physical constraints of any one actuator to obtain new control quantities of the target dimension; and allocating the new control quantities of the target dimension based on the pseudo-inverse matrix to obtain multiple control quantities of the target dimension corresponding to the actuators.

[0054] The new control quantity in the above steps is obtained by adjusting the sub-control quantity of the target dimension when the allocation result of the actuator does not meet its physical constraints.

[0055] In one optional embodiment, the sub-control quantities of the target dimension can be adjusted according to the physical constraints of the actuators, so that the sub-control quantities of the target dimension are within the range specified by the physical constraints, thus obtaining new control quantities for the target dimension. Then, the new control quantities of the target dimension are allocated using a pseudo-inverse matrix, ensuring that the adjusted control quantities are still allocated through the pseudo-inverse matrix, thereby maintaining the accuracy and real-time performance of control quantity allocation, and obtaining control quantities for multiple actuators corresponding to the target dimension.

[0056] In an optional embodiment of this application, the physical constraints of any one actuator include: control quantity thresholds of multiple actuators; based on the physical constraints of any one actuator, adjusting the sub-control quantities of the target dimension to obtain a new control quantity of the target dimension includes: reducing the control quantity of the sub-control quantities of the target dimension corresponding to any one actuator to the control quantity threshold of any one actuator to obtain a new control quantity of the target dimension.

[0057] The control quantity thresholds in the above steps refer to the minimum and maximum values ​​of the control quantity allowed when the actuator is operating normally. The thresholds can characterize the physical limitations and safe operating range of the actuator.

[0058] In one optional embodiment, control quantities of actuators that do not meet the constraints are obtained from the sub-control quantities of the target dimension. Then, based on the physical constraints of the actuators, the control quantity threshold specified by the physical constraints of the actuators is determined. Subsequently, the control quantities of the actuators are scaled down to the corresponding control quantity threshold to obtain new control quantities in the target dimension.

[0059] In an optional embodiment of this application, the physical constraints of any one actuator include: control quantity thresholds of multiple actuators; the allocation results of multiple actuators all satisfy the physical constraints of multiple actuators, including: the allocation results of multiple actuators are all less than or equal to the control quantity thresholds of multiple actuators; the allocation result of any one actuator does not satisfy the physical constraints of any one actuator, including: the allocation result of any one actuator is greater than the control quantity threshold of any one actuator.

[0060] In one alternative embodiment, the performance of actuators in aircraft control is physically limited. For example, motor speeds have maximum thresholds, and servo angles are limited in degrees. These control quantity thresholds form the physical constraints on the actuators. Ignoring these physical constraints during control quantity allocation risks rendering control commands infeasible, leading to actuator overload or unresponsiveness, thereby affecting the safe and stable operation of the aircraft.

[0061] The control quantity of each actuator falls within its physical constraints, meaning that the control quantity of each actuator should be less than or equal to the control quantity threshold of the actuator to ensure that the aircraft can safely and stably execute the assigned control commands.

[0062] If the control quantity of at least one actuator exceeds its physical constraints—that is, if the allocation result of any actuator exceeds its control quantity threshold—control saturation occurs. For example, the allocated speed of a motor might exceed its maximum speed threshold. Control saturation not only means that current control commands cannot be fully executed, but it can also threaten the stability and safety of the aircraft. Therefore, when control saturation occurs, it is necessary to adjust the control quantity in the target dimension according to the control quantity threshold.

[0063] In an optional embodiment of this application, in response to the fact that the allocation result of any one actuator does not meet the physical constraints of any one actuator, the method further includes: generating a preset flag corresponding to any one actuator, wherein the preset flag is used to characterize that the allocation result of any one actuator does not meet the physical constraints of any one actuator; and labeling the control quantities of multiple actuators corresponding to the target dimension based on the preset flag.

[0064] The preset flag in the above steps is used to indicate that the control quantity of the actuator has reached a saturation state during the control quantity allocation process. The preset flag can be a Boolean value, a numeric code, or other identifiers, but is not limited to these.

[0065] In an optional embodiment, when it is detected that the allocation result of any actuator does not meet its physical constraints, a preset flag can be generated for the actuator. For example, the preset flag can be represented by a saturation flag, which can be a binary value, where 1 indicates that the control quantity has reached saturation, and 0 indicates that it has not reached saturation. Within the control quantity threshold range, when the allocation result of the actuator does not meet its physical constraints, a saturation flag with a binary value of 1 can be generated. Then, based on the preset flag, the control quantities corresponding to the target dimension of multiple actuators are labeled. The preset flag can be used to mark which actuators and virtual control quantities are saturated, facilitating subsequent adjustment of the control strategy and handling of abnormal situations.

[0066] The following description uses a preferred embodiment. Figure 2 This is a flowchart of an optional aircraft control quantity allocation method according to an embodiment of the present invention, such as... Figure 2 As shown:

[0067] Step S201: Set the control allocation matrix and default thrust value.

[0068] Step S202: Distribute commands according to the gradient direction of the pitch and roll assignment matrix.

[0069] Instruction allocation can be characterized by the allocation of virtual control variables.

[0070] Step S203: Determine whether the control surface saturation has been triggered.

[0071] If the control surface saturation is triggered, proceed to step S204; if the control surface saturation is not triggered, proceed to step S205.

[0072] Step S204: Reduce the virtual control quantity according to the control surface limitations and redistribute it.

[0073] Among them, the control surface limit is the control quantity threshold mentioned above.

[0074] Step S205: Distribute thrust control quantities.

[0075] Among them, thrust control quantity is the sub-control quantity of the thrust dimension.

[0076] Step S206: Determine whether the control surface saturation has been triggered.

[0077] If the control surface saturation is triggered, proceed to step S207; if the control surface saturation is not triggered, proceed to step S208.

[0078] Step S207: Reduce the virtual control quantity according to the control surface limitations and redistribute it.

[0079] Step S208: Allocate the yaw axis control quantity.

[0080] Among them, the yaw axis control quantity is the sub-control quantity of the yaw axis dimension.

[0081] Step S209: Determine whether the control surface saturation has been triggered.

[0082] If the control surface saturation is triggered, proceed to step S210; if the control surface saturation is not triggered, proceed to step S211.

[0083] Step S210: Reduce the virtual control quantity according to the control surface limit and redistribute it.

[0084] Step S211: Output control quantity and allocate saturation flag.

[0085] The output control quantity is the target control quantity mentioned above, and the allocation saturation flag is the preset flag mentioned above.

[0086] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0087] According to an embodiment of the present invention, an embodiment of a device for allocating control quantities of an aircraft is provided. It should be noted that the device can be used to execute the above-described method for allocating control quantities of an aircraft. Figure 3 This is a schematic diagram of a control quantity allocation device for an aircraft according to an embodiment of the present invention, such as... Figure 3 As shown, the control quantity distribution device of the aircraft includes:

[0088] The acquisition module 30 acquires the virtual control quantities of the aircraft, wherein the virtual control quantities include the sub-control quantities of multiple dimensions that the aircraft expects to achieve, and the aircraft is equipped with multiple actuators.

[0089] Module 32 determines the pseudo-inverse matrix of the control allocation matrix of the aircraft, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the sub-control quantities of multiple dimensions and the control quantities of multiple actuators;

[0090] The allocation module 34 allocates virtual control quantities based on a pseudo-inverse matrix, allocation weights of multiple dimensions, and physical constraints of multiple actuators to obtain target control quantities of multiple actuators. The allocation weights are used to characterize the importance of allocating the sub-control quantities of multiple dimensions, and the physical constraints are used to characterize the constraints for the normal operation of the actuators.

[0091] The allocation module includes: a determination unit, used to determine the allocation priority of multiple dimensions based on the allocation weights of multiple dimensions; an allocation unit, used to allocate the sub-control quantities of the target dimension in descending order of allocation priority, based on the pseudo-inverse matrix and the physical constraints of multiple actuators, to obtain the control quantities of multiple actuators corresponding to the target dimension, wherein the target dimension is at least one dimension corresponding to different allocation priorities among the multiple dimensions; and a summarization unit, used to summarize the control quantities of multiple actuators corresponding to multiple dimensions to obtain the target control quantities of multiple actuators.

[0092] The allocation unit is also used to allocate the sub-control quantities of the target dimension based on the pseudo-inverse matrix to obtain the allocation results of multiple actuators; in response to the allocation results of multiple actuators satisfying the physical constraints of multiple actuators, the allocation results of multiple actuators are determined as the control quantities of multiple actuators corresponding to the target dimension; in response to the allocation result of any actuator not satisfying the physical constraints of any actuator, the sub-control quantities of the target dimension are redistributed based on the physical constraints of any actuator to obtain the control quantities of multiple actuators corresponding to the target dimension.

[0093] The allocation unit is also used to adjust the sub-control quantities of the target dimension based on the physical constraints of any actuator to obtain new control quantities of the target dimension; and to allocate the new control quantities of the target dimension based on the pseudo-inverse matrix to obtain control quantities of multiple actuators corresponding to the target dimension.

[0094] The physical constraints of any one of the actuators in the allocation unit include: control quantity thresholds of multiple actuators. The allocation unit is also used to reduce the control quantity corresponding to any one actuator in the sub-control quantity of the target dimension to the control quantity threshold of any one actuator, so as to obtain a new control quantity in the target dimension.

[0095] The physical constraints of any one actuator in the allocation unit include: control quantity thresholds of multiple actuators; the allocation results of multiple actuators all satisfy the physical constraints of multiple actuators, including: the allocation results of multiple actuators are all less than or equal to the control quantity thresholds of multiple actuators; the allocation result of any one actuator does not satisfy the physical constraints of any one actuator, including: the allocation result of any one actuator is greater than the control quantity threshold of any one actuator.

[0096] The allocation unit is also used to generate a preset flag corresponding to any one actuator, wherein the preset flag is used to characterize that the allocation result of any one actuator does not meet the physical constraint conditions of any one actuator; and to annotate the control quantities of multiple actuators corresponding to the target dimension based on the preset flag.

[0097] Embodiments of this application also provide an aircraft, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0098] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0099] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0100] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0101] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0102] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0106] If the integrated unit 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, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0107] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for allocating control quantities for an aircraft, characterized in that, include: The virtual control quantities of the aircraft are obtained, wherein the virtual control quantities include sub-control quantities of multiple dimensions that the aircraft is expected to achieve, and the aircraft is equipped with multiple actuators; Determine the pseudo-inverse matrix of the control allocation matrix of the aircraft, wherein the control allocation matrix is ​​used to characterize the mapping relationship between the sub-control quantities of the multiple dimensions and the control quantities of the multiple actuators, different rows in the control allocation matrix represent different control dimensions, different columns in the control allocation matrix represent different actuators, different elements in the control allocation matrix represent the degree of contribution of the actuator to the control dimension, and the pseudo-inverse matrix is ​​used to convert the virtual control quantity into the control quantity of the actuator; According to the allocation weights of the multiple dimensions, the virtual control quantities are allocated sequentially based on the pseudo-inverse matrix and the physical constraints of the multiple actuators to obtain the target control quantities of the multiple actuators. The allocation weights are used to characterize the importance of allocating the sub-control quantities of the multiple dimensions, and the physical constraints are used to characterize the constraints for the normal operation of the actuators.

2. The method according to claim 1, characterized in that, The process of allocating the virtual control quantity according to the weights of the multiple dimensions, based on the pseudo-inverse matrix and the physical constraints of the multiple actuators, to obtain the target control quantity of the multiple actuators, includes: Based on the allocation weights of the multiple dimensions, the allocation priority of the multiple dimensions is determined; According to the allocation priority from high to low, the control quantities of the target dimension are allocated sequentially based on the pseudo-inverse matrix and the physical constraints of the multiple actuators, so as to obtain the control quantities of the multiple actuators corresponding to the target dimension, wherein the target dimension is at least one dimension corresponding to different allocation priorities among the multiple dimensions. The control quantities of the multiple actuators corresponding to the multiple dimensions are summarized to obtain the target control quantities of the multiple actuators.

3. The method according to claim 2, characterized in that, The allocation of control quantities in the target dimension based on the pseudo-inverse matrix and the physical constraints of the plurality of actuators, to obtain the control quantities of the plurality of actuators corresponding to the target dimension, includes: Based on the pseudo-inverse matrix, the control quantities of the target dimension are allocated to obtain the allocation results of the multiple actuators; In response to the fact that the allocation results of the plurality of actuators all satisfy the physical constraints of the plurality of actuators, the allocation results of the plurality of actuators are determined as the control quantities of the plurality of actuators corresponding to the target dimension; In response to the fact that the allocation result of any one actuator does not meet the physical constraints of that actuator, the control quantities of the target dimension are redistributed based on the physical constraints of that actuator, so as to obtain the control quantities of the multiple actuators corresponding to the target dimension.

4. The method according to claim 3, characterized in that, The reallocation of control quantities in the target dimension based on the physical constraints of any one of the actuators, to obtain control quantities for the plurality of actuators corresponding to the target dimension, includes: Based on the physical constraints of any one of the actuators, the sub-control quantities of the target dimension are adjusted to obtain a new control quantity for the target dimension. Based on the pseudo-inverse matrix, new control quantities are allocated to the target dimension to obtain the control quantities of the plurality of actuators corresponding to the target dimension.

5. The method according to claim 4, characterized in that, The physical constraints of any one actuator include: control quantity thresholds of the plurality of actuators; the adjustment of the sub-control quantities of the target dimension based on the physical constraints of any one actuator to obtain a new control quantity of the target dimension includes: The control quantity corresponding to any one of the actuators in the sub-control quantities of the target dimension is reduced to the control quantity threshold of any one actuator to obtain a new control quantity for the target dimension.

6. The method according to claim 3, characterized in that, The physical constraints of any one of the actuators include: the control quantity thresholds of the plurality of actuators; The allocation results of the multiple actuators all satisfy the physical constraints of the multiple actuators, including: the allocation results of the multiple actuators are all less than or equal to the control quantity threshold of the multiple actuators; The allocation result of any one of the actuators does not meet the physical constraints of any one of the actuators, including: the allocation result of any one of the actuators is greater than the control quantity threshold of any one of the actuators.

7. The method according to any one of claims 3 to 6, characterized in that, In response to the fact that the allocation result of any one of the actuators does not satisfy the physical constraints of any one of the actuators, the method further includes: Generate a preset flag corresponding to any one of the actuators, wherein the preset flag is used to indicate that the allocation result of any one actuator does not meet the physical constraint conditions of any one actuator; The control quantities of the plurality of actuators corresponding to the target dimension are labeled based on the preset flags.

8. An aircraft, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 7.

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