Power control system of tilt-rotor aircraft

Abstract

The invention discloses a power control system for a tilt-rotor aircraft, and the system comprises a position controller which is used for generating an overload instruction; the position ring is used for generating an overall attitude angle control instruction and / or a rotor wing overload control quantity of the aircraft according to the overload instruction; the attitude controller is used for generating an overall attitude control demand instruction of the aircraft and / or an overall coordinated turning control instruction of the aircraft according to the overall attitude angle control instruction; and the actuator controller is used for generating an actuator control instruction according to the attitude control demand instruction of the whole aircraft and / or the rotor wing overload control quantity. According to the invention, a series control method is adopted, full-mode control of a rotor wing mode, a transition mode and a fixed wing mode can be completed at the same time through a set of controller architecture, and two sets of controllers do not need to be arranged at the same time, so that the technical problems of complex work task, large workload, many uncertainty during transition and the like in the control law design of the tilting layout aircraft are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design, and in particular to a power control system for a tiltrotor aircraft. Background Art

[0002] The tilt-rotor aircraft involves switching or transforming the rotor mode, transition mode, and fixed-wing mode during flight, which places extremely high demands on the flight control stability and robustness during mode switching.

[0003] At present, the flight dynamics control of tilt-rotor aircraft is mainly implemented based on a multi-rotor controller and a fixed-rotor controller. When the aircraft is in a transition mode, the design weights of the two controllers are adjusted according to the airspeed or experience to achieve transition control. For example, when the aircraft is in rotor mode, the control weight of the multi-rotor controller is 1, and the fixed-rotor controller is not enabled and has a weight of 0; when in a transition mode, the control weight of the multi-rotor controller gradually changes from 1 to 0, and the fixed-rotor control weight gradually changes from 0 to 1; when in a fixed-wing mode, the control weight of the fixed rotor is 1, the multi-rotor controller is not enabled, and has a weight of 0.

[0004] However, the above-mentioned power control scheme makes the control law design task complex and labor-intensive, and is unable to cope with the many uncertainties when the aircraft is in a transitional mode, such as external sudden wind disturbances, aerodynamic interference, internal sensor noise, modeling errors, etc., thus posing a huge hidden danger to flight safety. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a power control system for a tilt-rotor aircraft, which adopts a series control method and can simultaneously complete the full modal control of the rotor mode, transition mode, and fixed-wing mode through a set of controller architecture, without the need to set up two sets of controllers at the same time, so as to solve the technical problems that the control law design task of the tilt-rotor aircraft is complex, the workload is large, and there are many uncertainties during the transition.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A power control system for a tiltrotor aircraft is provided, comprising:

[0008] A position controller for generating an overload command;

[0009] A position loop, which is used to receive the overload instruction and generate an overall attitude angle control instruction of the aircraft and / or a rotor overload control amount according to the overload instruction;

[0010] an attitude controller, which is used to receive the overall attitude angle control instruction and generate an overall attitude control demand instruction of the aircraft and / or an overall coordinated turning control instruction of the aircraft according to the overall attitude angle control instruction;

[0011] And, an actuator controller, which is used to generate actuator control instructions according to the overall attitude control demand instructions of the aircraft and / or the rotor overload control amount.

[0012] Preferably, the overload instruction includes a forward overload instruction Lateral overload command and vertical overload command One or more of the .

[0013] Preferably, the position loop generates an overall attitude angle control instruction of the aircraft according to the overload instruction, comprising the following steps:

[0014] The overall roll angle control instruction φ of the aircraft is obtained according to the following formula cmd :

[0015]

[0016] The overall pitch angle control command θ of the aircraft is obtained according to the following formula cmd :

[0017] θ cmd =θ mc_cmd +θ fw_cmd

[0018] Among them, θ fw_cmd is the pitch angle control command when the flight altitude is controlled by fixing the rotor; θ mc_cmd It is the pitch angle control instruction when the flight altitude is controlled by the rotor.

[0019] Preferably, the rotor overload control amount includes a tilt rotor forward overload control amount Tilt rotor vertical overload control amount Fixed rotor forward g-load control amount And the fixed rotor vertical overload control amount One or more of

[0020] Among them, ratio mc The tilt rotor control weight of the tilt rotor aircraft.

[0021] Preferably, the tilt rotor control weight Among them, V start is the minimum control speed of the tiltrotor aircraft in fixed-wing mode, Vend is the minimum speed for the tilt-rotor aircraft to maintain level flight when it is in fixed-wing mode and flying at a cruising angle of attack; V0 is the fusion speed of ground speed and air speed; β act is the feedback tilt angle; f(β act ) is the mapping relationship between the tilt angle of the tilt mechanism and the rotor control weight.

[0022] Preferably, the pitch angle control command θ when the flight altitude is controlled by fixing the rotor fw_cmd , Pitch angle control command θ when the rotor is used to control the flight altitude mc_cmd They are obtained through the following formulas:

[0023]

[0024]

[0025] in, is the vertical overload increment of the fixed rotor; m is the mass of the tilt-rotor aircraft; g is the acceleration of gravity; ρ is the atmospheric density of the environment in which the tilt-rotor aircraft is located; V is the airspeed; s is the total wing area of ​​the tilt-rotor aircraft; C Lα is the lift coefficient; K is the correction coefficient; θ0 is the current pitch angle obtained by the onboard sensor of the tilt-rotor aircraft.

[0026] Preferably, the attitude controller obtains the coordinated turning control instruction r according to the following formula: fw_cmd :

[0027]

[0028] Preferably, the actuator control instructions include: one or more of a tiltable rotor speed control instruction, a tiltable rotor pitch control instruction, a rudder surface control instruction, and a tilt angle control instruction.

[0029] Preferably, the actuator controller generates the actuator control instruction according to the overall attitude control demand instruction of the aircraft and / or the rotor overload control amount, comprising the following steps:

[0030] The tilt rotor control quantity distribution is completed by the following formula to obtain the tilt rotor speed control instruction:

[0031]

[0032] Among them, RPM cmd is the normalized tilt rotor speed control command; B mc Control allocation matrix for the tilting rotor and the fixed rotor; m x_mc 、m y_mc 、m z_mc分别为A tilt rotor rolling moment control demand instruction, a tilt rotor pitch moment control demand instruction, and a tilt rotor yaw moment control demand instruction;

[0033] And / or, completing the fixed rotor control amount distribution according to the following formula to obtain the control command of the control surface;

[0034]

[0035] Among them, δ_ail, δ_ele, and δ_rud are the aileron control surface control instructions, elevator control surface control instructions, and rudder control surface control instructions, respectively. fw Assignment matrix for fixed rotor control; m x_fw 、m y_fw、 m z_fw They are respectively the fixed rotor roll moment control demand instruction, the fixed rotor pitch moment control demand instruction, and the fixed rotor yaw moment control demand instruction.

[0036] And / or, the tilt angle control amount distribution is completed according to the following formula to obtain the tilt angle control instruction:

[0037]

[0038] Where β is the tilt angle; β tilt_corridor is the tilt angle command feedforward value;

[0039] And / or, obtaining the tilt rotor pitch control instruction by performing an online interpolation operation on the pitch value.

[0040] Preferably, the power control system further includes:

[0041] The trim control parameter management module obtains control parameters according to aircraft modeling, trimming and linearization, and transmits the control parameters to the position controller and / or attitude controller accordingly as inputs of the position controller and / or attitude controller.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention can simultaneously complete the full modal control of the rotor mode, transition mode, and fixed-wing mode through a set of controller architecture. The output of its position loop is simultaneously input into the attitude controller and the actuator controller. There is no need to set up two sets of controllers at the same time to correspondingly control the tiltable rotor and the fixed rotor, so as to solve the technical problems that the control law design task of the tilt-rotor layout aircraft is complex, the workload is large, and there are many uncertainties during the transition. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic structural diagram of the power control system of the tilt-rotor aircraft in the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1:

[0047] like Figure 1 As shown, this embodiment provides a power control system for a tilt-rotor aircraft, wherein the tilt-rotor UAV includes a tiltable rotor and a fixed rotor. On this basis, the power control system includes:

[0048] A position controller 1, which is used to receive a position instruction and / or a speed instruction, and generate an overload instruction according to the position instruction and / or the speed instruction; wherein the position instruction and / or the speed instruction may come from an instruction generating terminal such as a ground station, and the overload instruction is the ratio of the acceleration to which the aircraft is subjected to to the acceleration due to gravity, including a forward overload instruction Lateral overload command and vertical overload command In this embodiment, the position controller 1 can generate a forward overload instruction based on algorithms such as PID, anti-disturbance control, and nonlinear incremental dynamic inversion. Lateral overload command and vertical overload command

[0049] Position loop 2, which is used to receive the overload instruction and generate an overall attitude angle control instruction and / or a rotor overload control value of the aircraft according to the overload instruction; wherein the overall attitude angle control instruction includes one or more of an overall roll angle control instruction, an overall pitch angle control instruction and an overall yaw angle control instruction, and the rotor overload control value includes a tilt rotor forward overload control value Tilt rotor vertical overload control amount Fixed rotor forward g-load control amount And the fixed rotor vertical overload control amount One or more of the following;

[0050] An attitude controller 3, which is used to receive the attitude angle control instruction, and generate an attitude control demand instruction of the entire aircraft and / or a coordinated turning control instruction of the entire aircraft according to the overall attitude angle control instruction;

[0051] And, an actuator controller 4, which is used to generate actuator control instructions according to the overall attitude control demand instructions of the aircraft and the rotor overload control amount, so as to control the corresponding actuator to complete the corresponding action through the actuator control instructions, wherein the actuator control instructions include: one or more of the tiltable rotor speed control instructions, the tiltable rotor pitch control instructions, the rudder control instructions, and the tilt angle control instructions.

[0052] Specifically, the position controller 1 includes:

[0053] An overload instruction generating unit 11 is used to generate a forward overload instruction according to a position instruction and / or a speed instruction. Lateral overload command and vertical overload command

[0054] A speed control unit 12, which is used to generate a flight speed control instruction for the tilt-rotor aircraft according to the position instruction and / or the speed instruction;

[0055] And an overload control unit 13, which is used to control the vertical overload of the fixed rotor according to the overload instruction.

[0056] Furthermore, the position loop 2 generates an overall attitude angle control instruction and / or a rotor overload control value of the aircraft according to the overload instruction, including the following steps:

[0057] According to formula (1), the overall roll angle control instruction φ of the aircraft is obtained cmd , and output:

[0058]

[0059] According to formula (2), the overall pitch angle control instruction θ of the aircraft is obtained: cmd , and output:

[0060]

[0061] Among them, θ fw_cmd is the pitch angle control command when the flight altitude is controlled by fixing the rotor; θ mc_cmd It is the pitch angle control command when the flight altitude is controlled by the rotor;

[0062] According to formulas (3-1)-(3-4), the forward overload control value of the tilt rotor is obtained. Tilt rotor vertical overload control Fixed rotor forward g-load control amount And the fixed rotor vertical overload control amount And output:

[0063]

[0064]

[0065]

[0066]

[0067] Among them, ratio mc is the tilt rotor control weight of the tilt rotor aircraft, and in this embodiment, Among them, V start is the minimum control speed of the tiltrotor aircraft in fixed-wing mode, V end is the minimum speed for the tilt-rotor aircraft to maintain level flight when the aircraft is in fixed-wing mode and flying at a cruising angle of attack (near 0 degrees); V0 is the fusion speed of ground speed and air speed, and its value range is [V start , V end ]; β act To feedback the tilt angle, the tilt angle can be obtained by monitoring the tilt angle of the tilt mechanism that drives the rotor tilt through a sensor; f(β act ) represents the mapping relationship between the tilt angle of the tilt mechanism and the rotor control weight, for example etc.; the fixed rotor control weight of the tilt-rotor aircraft corresponds to 1-ratio mc .

[0068] Specifically, in this embodiment, the pitch angle control instruction θ is obtained when the flight altitude is controlled by the fixed rotor according to formula (4): fw_cmd :

[0069]

[0070] in, is the vertical overload increment of the fixed rotor; m is the mass of the tilt-rotor aircraft; g is the acceleration of gravity; ρ is the atmospheric density of the environment in which the tilt-rotor aircraft is located; V is the airspeed; s is the total wing area of ​​the tilt-rotor aircraft; C Lα is the lift coefficient; K is the correction coefficient; θ0 is the current pitch angle obtained by the onboard sensor of the tilt-rotor aircraft.

[0071] Specifically, in this embodiment, the vertical overload increment of the fixed rotor is in, It is the current fixed rotor vertical overload obtained in real time by the sensor.

[0072] Furthermore, the derivation process of the above formula (4) is as follows:

[0073] Vertical G-load increment for fixed rotor It is defined as the following formula (5):

[0074]

[0075] Among them, Δα is the angle of attack increment, and the meanings of other parameters are the same as those in the above formula (4). It can be seen that the vertical overload increment is proportional to the angle of attack increment Δα, and the control of the vertical overload increment is the control of the angle of attack increment;

[0076] Furthermore, under normal circumstances, the aircraft controls the angle of attack and the sideslip respectively through the angle of attack sensor and the sideslip sensor, but in this embodiment, in order to simplify the calculation, it is assumed that the tilt-rotor aircraft is not provided with the angle of attack sensor and the sideslip sensor. Therefore, when the aircraft is flying, θ=α+γ holds, wherein θ, α, and γ are the pitch angle, the angle of attack, and the angle of climb, respectively. Then, Δθ=Δα+Δγ holds, wherein Δθ, Δα, and Δγ are the pitch angle increment, the angle of attack increment, and the angle of climb increment, respectively. When the control algorithm runs at a fast enough frequency, the interval between each algorithm run is extremely short. Therefore, the angle of climb increment Δγ in an extremely short time can be considered as an internal disturbance, and Δγ=0 is taken, and finally Δθ=Δα holds;

[0077] Therefore, for the current pitch angle θ0, θ0=α0+γ0 is established, where α0 and γ0 are the current angle of attack and the current angle of climb, respectively, which can be obtained in real time by the airborne sensor. Further, after low-pass delay matching, the pitch angle increment θ is established. fw_cmd =α0+γ0+Δθ=θ0+Δα, after substituting the angle of attack increment Δα obtained by formula (5) and adding the correction coefficient, we get formula (4).

[0078] At the same time, the pitch angle control command θ is obtained when the rotor is used to control the flight altitude according to formula (6): mc_cmd :

[0079]

[0080] Further, the attitude controller 3 generates an overall attitude control demand instruction of the aircraft and / or an overall coordinated turning control instruction of the aircraft according to the overall attitude angle control instruction, wherein the overall attitude control demand instruction of the aircraft includes an overall rolling moment control demand instruction m x , overall pitch moment control demand command m y And the overall yaw moment control demand command m z One or more of them can be determined by the attitude angle control command output by the position loop 2 and the aircraft attitude obtained in real time by the onboard sensor, for example, they can be generated based on algorithms such as PID, self-disturbance rejection control, nonlinear incremental dynamic inversion, etc.;

[0081] On this basis, the tilt rotor rolling moment control demand command m can be obtained according to formulas (7-1)-(7-3) respectively: x_mc , tiltrotor pitch moment control demand command m y_mc and the tilt rotor yaw moment control demand command m z_mc :

[0082] m x_mc =m x ratio mc (7-1)

[0083] m y_mc =m y ratio mc (7-2)

[0084] m z_mc =m z ratio mc (7-3)

[0085] And according to formulas (8-1)-(8-3), the fixed rotor rolling moment control demand command m is obtained respectively x_fw , fixed rotor pitch moment control demand command m y_fw and the fixed rotor yaw moment control demand command m z_fw :

[0086] m x_fw =m x (1-ratio mc ) (8-1)

[0087] m y_fw =m y (1-ratio mc ) (8-2)

[0088] m z_fw =m y (1-ratio mc )(8-3).

[0089] At the same time, the attitude controller 3 obtains the coordinated turning control instruction r according to formula (9): fw_cmd :

[0090]

[0091] Where V is the airspeed and g is the acceleration due to gravity.

[0092] Furthermore, the actuator controller 4 generates an actuator control instruction according to the overall attitude control demand instruction of the aircraft and / or the rotor overload control amount, including the following steps:

[0093] The tilt rotor control quantity distribution is completed by formula (10) to obtain the tilt rotor speed control instruction:

[0094]

[0095] Among them, RPM cmd is the normalized tilt rotor speed control command; B mc Control distribution matrix for tilt rotor and fixed rotor;

[0096] And / or, completing the fixed rotor control amount distribution according to formula (11) to obtain the control command of the control surface;

[0097]

[0098] Among them, δ_ail, δ_ele, and δ_rud are the aileron control surface control instructions, elevator control surface control instructions, and rudder control surface control instructions, respectively. fw Assign matrices for fixed rotor control;

[0099] And / or, the tilt angle control amount distribution is completed according to formula (12) to obtain the tilt angle control instruction:

[0100]

[0101] Where β is the tilt angle; β tilt_corridor is the tilt angle command feedforward value, which can be determined by the tilt corridor data;

[0102] And / or, the pitch control instruction of the tiltable rotor is obtained by performing online interpolation operation on the pitch value, wherein the pitch value can be determined after simulation calculation under different tilt angles and incoming flow speeds through simulation software such as CFD.

[0103] Furthermore, after the corresponding signals are input to the position controller 1, the position loop 2, the attitude control 3 and the actuator control 4, they need to be smoothed first, and the smoothing process includes but is not limited to first-order or second-order low-pass filtering.

[0104] Therefore, this embodiment adopts a series control method, and a controller architecture composed of a position controller, a position loop, an attitude controller and an actuator controller can simultaneously complete the full modal control of the rotor mode, the transition mode and the fixed-wing mode. The output of the position loop is simultaneously input into the attitude controller and the actuator controller, and the actuator controller is further combined with the output of the attitude controller to complete the generation of the final control instruction. There is no need to set up two sets of controllers at the same time to control the tiltable rotor and the fixed rotor accordingly, so as to solve the technical problems such as the complex task and large workload of the control law design of the tilt-rotor aircraft, and the many uncertainties during the transition.

[0105] Embodiment 2:

[0106] The difference between this embodiment and embodiment 1 is that the power control system further includes:

[0107] The trim control parameter management module 4 obtains control parameters according to aircraft modeling, trimming and linearization, and transmits the control parameters to the position controller 1 and / or attitude controller 3 accordingly as inputs of the position controller 1 and / or attitude controller 3, so that the position controller 1 and / or attitude controller 3 perform aircraft position control and / or flight attitude control according to the corresponding control parameters.

[0108] For example, the control parameters include P, I, and D parameters of the PID control algorithm, bandwidth parameters, maximum gain parameters, and minimum gain parameters of the observer of the anti-disturbance algorithm, delay matching parameters and filter parameters of the nonlinear incremental dynamic inversion algorithm, etc.

[0109] Embodiment 3:

[0110] The difference between this embodiment and embodiment 1 or 2 is that the posture controller 3 includes:

[0111] An angular velocity control unit 31 is used to generate and output an angular velocity control signal according to the overall attitude angle control instruction output by the position loop 2 and the actual attitude angle fed back by the sensor, wherein the angular velocity control signal includes one or more of a roll angular velocity control signal, a pitch angular velocity control signal, and a yaw angular velocity control signal;

[0112] an angular acceleration control unit 32, which is used to generate an angular acceleration control signal according to the angular velocity control signal and the actual attitude angular velocity fed back by the sensor, wherein the angular acceleration control signal includes one or more of a roll angular acceleration control signal, a pitch angular acceleration control signal, and a yaw angular acceleration control signal;

[0113] And, a three-axis control amount generating unit 33 is used to generate and output the three-axis control amount according to the angular acceleration control signal and the actual attitude angular acceleration fed back by the sensor.

[0114] Among them, the angular velocity control unit 31, the angular acceleration control unit 32, and the three-axis control quantity generation unit 33 can all generate corresponding control signals and control quantities through one or more of the PID control algorithm, the anti-disturbance control algorithm, and the dynamic inverse algorithm.

[0115] To sum up, the present invention adopts a series control method, which can simultaneously complete the full modal control of the rotor mode, transition mode, and fixed-wing mode through a set of controller architecture. The output of its position loop is simultaneously input into the attitude controller and the actuator controller. There is no need to set up two sets of controllers at the same time to correspondingly control the tiltable rotor and the fixed rotor, so as to solve the technical problems that the control law design task of the tilt-rotor layout aircraft is complex, the workload is large, and there are many uncertainties during the transition.

[0116] It should be noted that the technical features in the above-mentioned embodiments 1-3 can be combined arbitrarily, and the combined technical solutions all belong to the protection scope of the present application. In this article, terms such as "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0117] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A power control system for a tiltrotor aircraft, characterized in that: include: A position controller for generating an overload command; A position loop, which is used to receive the overload instruction and generate an overall attitude angle control instruction of the aircraft and / or a rotor overload control amount according to the overload instruction; an attitude controller, which is used to receive the overall attitude angle control instruction and generate an overall attitude control demand instruction of the aircraft and / or an overall coordinated turning control instruction of the aircraft according to the overall attitude angle control instruction; And, an actuator controller, which is used to generate actuator control instructions according to the overall attitude control demand instructions of the aircraft and / or the rotor overload control amount.

2. The power control system according to claim 1, characterized in that: The overload instruction includes a forward overload instruction Lateral overload command and vertical overload command One or more of the .

3. The power control system according to claim 2, characterized in that: The position loop generates an overall attitude angle control instruction of the aircraft according to the overload instruction, comprising the following steps: The overall roll angle control instruction φ of the aircraft is obtained according to the following formula cmd : The overall pitch angle control command θ of the aircraft is obtained according to the following formula cmd : i cmd =θ mc_cmd +θ fw_cmd Among them, θ fw_cmd is the pitch angle control command when the flight altitude is controlled by fixing the rotor; θ mc_cmd It is the pitch angle control instruction when the flight altitude is controlled by the rotor.

4. The power control system according to claim 2, characterized in that: The rotor overload control amount includes a tilt rotor forward overload control amount Tilt rotor vertical overload control Fixed rotor forward g-load control amount And fixed rotor vertical overload control One or more of the following, and Among them, ratio mc The tilt rotor control weight of the tilt rotor aircraft.

5. The power control system according to claim 4, characterized in that: The tilt rotor control weight Among them, V start is the minimum control speed of the tiltrotor aircraft in fixed-wing mode, V end is the minimum speed for the tilt-rotor aircraft to maintain level flight when it is in fixed-wing mode and flying at a cruising angle of attack; V0 is the fusion speed of ground speed and air speed; β act is the feedback tilt angle; f(β act ) is the mapping relationship between the tilt angle of the tilt mechanism and the rotor control weight.

6. The power control system according to claim 3, characterized in that: Pitch angle control command θ when the flight altitude is controlled by fixing the rotor fw_cmd , Pitch angle control command θ when the rotor is used to control the flight altitude mc_cmd They are obtained through the following formulas: in, is the vertical overload increment of the fixed rotor; m is the mass of the tilt-rotor aircraft; g is the acceleration of gravity; ρ is the atmospheric density of the environment in which the tilt-rotor aircraft is located; V is the airspeed; s is the total wing area of ​​the tilt-rotor aircraft; C Lα is the lift coefficient; K is the correction coefficient; θ0 is the current pitch angle obtained by the onboard sensor of the tilt-rotor aircraft.

7. The power control system according to claim 3, characterized in that: The attitude controller obtains the coordinated turning control instruction r according to the following formula fw_cmd :

8. The power control system according to claim 4, characterized in that: The actuator control instructions include: one or more of a tiltable rotor speed control instruction, a tiltable rotor pitch control instruction, a rudder surface control instruction, and a tilt angle control instruction.

9. The power control system according to claim 8, characterized in that: The actuator controller generates an actuator control instruction according to the overall attitude control demand instruction of the aircraft and / or the rotor overload control amount, comprising the following steps: The tilt rotor control quantity distribution is completed by the following formula to obtain the tilt rotor speed control instruction: Among them, RPM cmd is the normalized tilt rotor speed control command; B mc Control allocation matrix for the tilting rotor and the fixed rotor; m x_mc 、m y_mc 、m z_mc分别为 A tilt rotor rolling moment control demand instruction, a tilt rotor pitch moment control demand instruction, and a tilt rotor yaw moment control demand instruction; And / or, completing the fixed rotor control amount distribution according to the following formula to obtain the control command of the control surface; Among them, δ_ail, δ_ele, and δ_rud are the aileron control surface control instructions, elevator control surface control instructions, and rudder control surface control instructions, respectively. fw Assignment matrix for fixed rotor control; m x_fw 、m y_fw、 m z_fw They are respectively the fixed rotor roll moment control demand instruction, the fixed rotor pitch moment control demand instruction, and the fixed rotor yaw moment control demand instruction. And / or, the tilt angle control amount distribution is completed according to the following formula to obtain the tilt angle control instruction: Where β is the tilt angle; β tilt_corridor is the tilt angle command feedforward value; And / or, obtaining the tilt rotor pitch control instruction by performing an online interpolation operation on the pitch value.

10. The power control system according to claim 1, characterized in that: The power control system further includes: The trim control parameter management module obtains control parameters according to aircraft modeling, trimming and linearization, and transmits the control parameters to the position controller and / or attitude controller accordingly as inputs of the position controller and / or attitude controller.

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