Aircraft, control method thereof and computer readable storage medium

Abstract

The invention discloses an aircraft, a control method thereof and a computer readable storage medium. The method comprises the following steps: acquiring a control instruction vector and a rotor wing control efficiency matrix corresponding to each control channel in the aircraft; performing augmentation operation on the rotor wing control efficiency matrix to obtain a constant rotor wing control efficiency matrix and a tilt angle variable control vector; determining a virtual control quantity based on the constant rotor control efficiency matrix and the control instruction vector; and based on the tilt angle variable control vector and the virtual control quantity, determining a rotor rotating speed and a tilt angle corresponding to each rotor of the aircraft. According to the invention, the augmentation operation is carried out on the rotor control efficiency matrix, so that the pseudo-inverse matrix does not overflow in the pseudo-inverse distribution process, the tilting transition of the semi-tilting-configuration rotorcraft is realized, and the accuracy of the control distribution of the semi-tilting-configuration rotorcraft is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to an aircraft and a control method thereof, and a computer-readable storage medium. Background Art

[0002] At present, the control allocation scheme of aircraft mainly uses the pseudo-inverse method to allocate the control allocation efficiency matrix, and the form of the control allocation efficiency matrix is ​​mainly divided into multi-rotor aircraft and full-tilt configuration rotorcraft. The control allocation efficiency matrix of the multi-rotor is a constant matrix, while the control allocation efficiency matrix of the full-tilt configuration rotorcraft is a variable function matrix of the tilt angle.

[0003] However, for semi-tilt rotorcraft, the constant matrix of the multi-rotor cannot describe the tilt angle of the tilt rotor, and thus the control allocation of the tilt rotor cannot be achieved. The variable function matrix of the full-tilt rotor, since some rotors of the semi-tilt rotor aircraft do not tilt, the pseudo-inverse matrix of the control allocation efficiency matrix has value overflow, which makes the pseudo-inverse matrix ill-conditioned and makes it impossible to achieve control allocation.

[0004] Therefore, how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft is a problem that urgently needs to be solved. Summary of the invention

[0005] The main purpose of the present application is to provide an aircraft and a control method thereof, and a computer-readable storage medium, aiming to solve the technical problem of how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft.

[0006] To achieve the above object, the present application provides an aircraft control method, the aircraft control method comprising the following steps:

[0007] Obtain the control command vector and rotor control efficiency matrix corresponding to each control channel in the aircraft;

[0008] Performing an augmentation operation on the rotor control efficiency matrix, and obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix;

[0009] Determining an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector;

[0010] Based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount, the rotor speed and the tilt angle corresponding to each rotor of the aircraft are determined.

[0011] Furthermore, the step of determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount includes:

[0012] Determine the target virtual control quantities corresponding to the tilt angle variable and the rotational speed variable based on the augmented rotor control efficiency matrix and the control instruction vector;

[0013] Determine the rotational speed of each rotor of the aircraft and the tilt angle based on the intermediate virtual control quantity and the target virtual control quantity.

[0014] Further, the step of determining the rotational speed of each rotor of the aircraft and the tilt angle based on the intermediate virtual control quantity and the target virtual control quantity includes:

[0015] Perform a resolution operation on the target virtual control quantity based on the intermediate virtual control quantity to obtain the rotational speed of each rotor of the aircraft and the tilt angle.

[0016] Further, the step of determining the target virtual control quantities corresponding to the tilt angle variable and the rotational speed variable based on the augmented rotor control efficiency matrix and the control instruction vector includes

[0017] Determine the tilt angle variable control vector based on the tilt angle variable data corresponding to the augmented rotor control efficiency matrix, and obtain the original virtual control quantity based on the rotor control efficiency matrix and the control instruction vector;

[0018] Determine the target virtual control quantity based on the tilt angle variable control vector and the original virtual control quantity.

[0019] Further, the step of augmenting the rotor control efficiency matrix includes:

[0020] Obtain the number of rotors corresponding to the tiltable rotors among the rotors of the aircraft;

[0021] Augment the rotor control efficiency matrix based on the number of rotors to obtain the augmented rotor control efficiency matrix.

[0022] Further, the step of augmenting the rotor control efficiency matrix based on the number of rotors to obtain the augmented rotor control efficiency matrix includes:

[0023] In the rotor control efficiency matrix, determine the columns corresponding to the tiltable rotors with the number of rotors;

[0024] Perform matrix decomposition on each column corresponding to the tiltable rotors based on the tilt angle variable to obtain two columns of elements corresponding to the tiltable rotors;

[0025] Determine the augmented rotor control efficiency matrix based on the two columns of elements corresponding to the tiltable rotors and the columns corresponding to the non-tiltable rotors in the rotor control efficiency matrix.

[0026] Furthermore, the step of obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix includes:

[0027] The augmented rotor control efficiency matrix is ​​subjected to a tilt angle variable extraction operation to transfer the tilt angle variable data to the outside of the augmented rotor control efficiency matrix to obtain the constant rotor control efficiency matrix.

[0028] Furthermore, the step of determining the intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector includes:

[0029] Performing a normalization operation on the constant rotor control efficiency matrix to obtain a normalized constant rotor control efficiency matrix;

[0030] The intermediate virtual control amount is determined based on the normalized constant rotor control efficiency matrix and the control instruction vector.

[0031] Furthermore, the step of determining the intermediate virtual control amount based on the normalized constant rotor control efficiency matrix and the control instruction vector includes:

[0032] Obtain the pseudo-inverse matrix corresponding to the normalized constant rotor control efficiency matrix;

[0033] The intermediate virtual control amount is determined based on the pseudo-inverse matrix and the control instruction vector.

[0034] Further, after the step of determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount, the aircraft control method further includes:

[0035] Based on the rotor speed and the tilt angle corresponding to each rotor, a rotor speed command and a tilt angle command corresponding to each rotor are determined.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides an aircraft, the aircraft comprising:

[0037] An acquisition module is used to acquire the control instruction vector and rotor control efficiency matrix corresponding to each control channel in the aircraft;

[0038] An augmentation module, used for performing an augmentation operation on the rotor control efficiency matrix and obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix;

[0039] A first determination module, configured to determine an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector;

[0040] The second determination module is used to determine the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides an aircraft control device, which includes: a memory, a processor, and an aircraft control program stored in the memory and executable on the processor, and the aircraft control program implements the steps of the aforementioned aircraft control method when executed by the processor.

[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which an aircraft control program is stored, and when the aircraft control program is executed by a processor, the steps of the aforementioned aircraft control method are implemented.

[0043] The present application obtains the control instruction vector and the rotor control efficiency matrix corresponding to each control channel in the aircraft; then performs an augmentation operation on the rotor control efficiency matrix to obtain a constant rotor control efficiency matrix and a tilt angle variable control vector; then determines a virtual control quantity based on the constant rotor control efficiency matrix and the control instruction vector; then determines the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the tilt angle variable control vector and the virtual control quantity, and obtains a virtual control quantity by pseudo-inverse distribution of the constant rotor control efficiency matrix corresponding to the rotor control efficiency matrix. The virtual control quantity is used to solve the tilt angle variable control vector to obtain the corresponding rotor speed and tilt angle. The rotor control efficiency matrix is ​​augmented to transfer the tilt angle variable from the control efficiency matrix to the outside of the matrix to form a new constant control efficiency matrix and tilt angle variable control vector. The pseudo-inverse distribution is performed through the constant control efficiency matrix so that the pseudo-inverse matrix will not overflow during the pseudo-inverse distribution process. The pseudo-inverse distribution is performed through the constant rotor control efficiency matrix to reduce the amount of calculation, realize the tilt transition of the semi-tilt configuration rotorcraft, and improve the accuracy of control distribution of the semi-tilt configuration rotorcraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the aircraft control method of the present application;

[0047] Figure 2 This is a schematic diagram of the module structure of the aircraft according to the embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the module structure of the aircraft control device according to an embodiment of the present application.

[0049] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] The main solution of the present application is: to obtain the control instruction vector and rotor control efficiency matrix corresponding to each control channel in the aircraft; to perform augmentation operation on the rotor control efficiency matrix to obtain a constant rotor control efficiency matrix and a tilt angle variable control vector; to determine a virtual control quantity based on the constant rotor control efficiency matrix and the control instruction vector; to determine the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the tilt angle variable control vector and the virtual control quantity.

[0053] At present, the control allocation scheme of aircraft mainly uses the pseudo-inverse method to allocate the control allocation efficiency matrix, and the form of the control allocation efficiency matrix is ​​mainly divided into multi-rotor aircraft and full-tilt configuration rotorcraft. The control allocation efficiency matrix of the multi-rotor is a constant matrix, while the control allocation efficiency matrix of the full-tilt configuration rotorcraft is a variable function matrix of the tilt angle.

[0054] However, for semi-tilt rotorcraft, the constant matrix of the multi-rotor cannot describe the tilt angle of the tilt rotor, and thus the control allocation of the tilt rotor cannot be achieved. The variable function matrix of the full-tilt rotor, since some rotors of the semi-tilt rotor aircraft do not tilt, the pseudo-inverse matrix of the control allocation efficiency matrix has value overflow, which makes the pseudo-inverse matrix ill-conditioned and makes it impossible to achieve control allocation.

[0055] The control distribution scheme of the semi-tilt rotor aircraft is realized by splitting the control efficiency matrix, that is, by splitting the tilt rotor and lift rotor in the control efficiency matrix into two parts of the control efficiency matrix, and performing pseudo-inverse distribution according to the constant control efficiency matrix of the multi-rotor and the variable function control efficiency matrix of the full tilt, so as to realize the control distribution of the tilt transition section of the semi-tilt rotor aircraft. However, the matrix splitting easily leads to the inability of the rotor to evenly distribute the force and torque, and due to the limitation of the rotor configuration and number, it is easy to have the control coupling problem of the tilt rotor part control efficiency matrix after splitting the matrix.

[0056] Therefore, how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft is a problem that urgently needs to be solved.

[0057] The present application obtains a virtual control quantity by performing pseudo-inverse distribution on a constant rotor control efficiency matrix corresponding to the rotor control efficiency matrix, and solves the tilt angle variable control vector corresponding to the rotor control efficiency matrix through the virtual control quantity to obtain the corresponding rotor speed and tilt angle. By performing an augmentation operation on the rotor control efficiency matrix, the tilt angle variable is transferred from the control efficiency matrix to the outside of the matrix to form a new constant control efficiency matrix and a tilt angle variable control vector. The pseudo-inverse distribution is performed on the constant control efficiency matrix so that the pseudo-inverse matrix no longer overflows during the pseudo-inverse distribution process. The pseudo-inverse distribution is performed on the constant rotor control efficiency matrix to reduce the amount of calculation, thereby realizing the tilt transition of a semi-tilt configuration rotorcraft and improving the accuracy of control distribution for a semi-tilt configuration rotorcraft.

[0058] It should be noted that the execution subject of this embodiment may be an aircraft, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an aircraft control device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the aircraft as the execution subject as an example to illustrate this embodiment and the following embodiments.

[0059] Based on this, the present application proposes a first embodiment of an aircraft control method, please refer to Figure 1 , the aircraft control method comprises steps S101 to S104:

[0060] Step S101, obtaining the control instruction vector and rotor control efficiency matrix corresponding to each control channel in the aircraft;

[0061] It should be noted that the aircraft can be a semi-tilt configuration rotorcraft or a full-tilt configuration rotorcraft. When performing control allocation, the control instructions corresponding to each control channel are obtained by obtaining the external input control instructions and the state quantity of the aircraft model feedback, and the control algorithm of the aircraft is used to obtain the control instructions corresponding to each control channel according to the external input control instructions and the state quantity, and the obtained control instructions are normalized to obtain the control instruction vector corresponding to each control channel in the aircraft. At the same time, the rotor control efficiency matrix corresponding to the aircraft is obtained, where the rotor control efficiency matrix is ​​B m×n Matrix, n is the number of actuators in the aircraft, and m is the number of control channels corresponding to the aircraft.

[0062] Step S102, performing an augmentation operation on the rotor control efficiency matrix, and obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix;

[0063] After obtaining the rotor control efficiency matrix, the rotor control efficiency matrix is ​​augmented to obtain the augmented rotor control efficiency matrix, and the constant rotor control efficiency matrix and the tilt angle variable control vector are determined based on the augmented rotor control efficiency matrix. Specifically, the rotor control efficiency matrix B m×n Augmented to matrix B m×N , N is greater than n, N is determined based on the number of tiltable rotors in the aircraft, for example, the number of tiltable rotors in the rotor of the aircraft is k, N = n + k, and based on the matrix B m×N Determine the constant rotor control efficiency matrix and the tilt angle variable control vector. Specifically, in a feasible implementation, step S102 may include steps S1021 to S1023:

[0064] Step S1021, obtaining the number of rotors corresponding to the tilt rotors in the rotors of the aircraft;

[0065] Step S1022: performing an augmentation operation on the rotor control efficiency matrix based on the number of rotors to obtain an augmented rotor control efficiency matrix.

[0066] After obtaining the rotor control efficiency matrix, the number of rotors l corresponding to the tilt rotors in the rotor of the aircraft is obtained, and the rotor control efficiency matrix is ​​augmented based on the number of rotors to obtain the augmented rotor control efficiency matrix. For example, the rotor control efficiency matrix B m×n Augmented to matrix B m×N , N is greater than n, and N is determined based on the number of rotors of the tiltable rotor. Specifically, in a feasible implementation, step S1022 may include steps S10221 to S10223:

[0067] Step S10221, determining, in the rotor control efficiency matrix, the columns corresponding to the tiltable rotors of the rotor quantity;

[0068] Step S10222, performing matrix decomposition on each column corresponding to the tilt rotor based on the tilt angle variable to obtain two columns of elements corresponding to the tilt rotor;

[0069] Step S10223, determining an augmented rotor control efficiency matrix based on two column elements corresponding to the tiltable rotor and the column corresponding to the non-tilt rotor in the rotor control efficiency matrix.

[0070] It should be noted that in the rotor control efficiency matrix, the elements in each column of the rotor control efficiency matrix correspond to a rotor, and in each column of the rotor control efficiency matrix, the elements in the column corresponding to the tiltable rotor have a tilt angle variable, while the elements in the column corresponding to the non-tilt rotor do not have a tilt angle variable.

[0071] When augmenting the rotor control efficiency matrix, firstly, in the rotor control efficiency matrix, columns corresponding to the tiltable rotors of the rotor quantity are determined, so as to augment the rotor control efficiency matrix through the columns corresponding to the tiltable rotors.

[0072] After obtaining the column corresponding to the tilt rotor, matrix decomposition is performed on each column corresponding to the tilt rotor based on the tilt angle variable to obtain two columns of elements corresponding to the tilt rotor, that is, the tilt angle variable data of each element is divided into two tilt angle variables, and the column corresponding to the tilt rotor is decomposed into two columns based on the two tilt angle variables. Specifically, each element in the column corresponding to the tilt rotor can be decomposed based on a trigonometric function to decompose each column in the column corresponding to the tilt rotor into two columns. For example, for a target column in the column corresponding to the tilt rotor, the cosine parameter of the tilt angle variable is retained in the target column. number, and store the sine parameter of the corresponding tilt angle variable in the newly added column, or retain the sine parameter of the tilt angle variable in the target column, and store the cosine parameter of the corresponding tilt angle variable in the newly added column, so that one of the two columns after decomposition is the sine parameter of the tilt angle variable and the other is the cosine parameter of the tilt angle variable. If there is no sine parameter of the tilt angle variable, the corresponding element can be set to zero or sin(0°); if there is no cosine parameter of the tilt angle variable, the corresponding element can be set to zero or cos(90°). The position of the corresponding newly added column in the augmented rotor control efficiency matrix can be reasonably selected and is not limited here.

[0073] After matrix decomposition of each column corresponding to the tilt rotor in the rotor control efficiency matrix, the augmented rotor control efficiency matrix is ​​determined based on the two column elements corresponding to the tilt rotor and the column corresponding to the non-tilt rotor in the rotor control efficiency matrix, that is, the augmented rotor control efficiency matrix includes the column corresponding to the non-tilt rotor and the two columns corresponding to each tilt rotor, wherein the positions of the two columns corresponding to the tilt rotor and the column corresponding to the tilt rotor in the augmented rotor control efficiency matrix can be reasonably set.

[0074] In a feasible implementation, step S102 may include step S1023:

[0075] Step S1023, performing a tilt angle variable extraction operation on the augmented rotor control efficiency matrix to transfer the tilt angle variable data to the outside of the augmented rotor control efficiency matrix to obtain the constant rotor control efficiency matrix.

[0076] Obtain the augmented rotor control efficiency matrix B m×N Afterwards, based on the augmented rotor control efficiency matrix, the constant rotor control efficiency matrix and the tilt angle variable control vector are determined. For example, the data corresponding to the tilt angle variable of each element in the augmented rotor control efficiency matrix is ​​transferred outside the matrix to obtain the data corresponding to the tilt angle variable and the constant rotor control efficiency matrix. Specifically, the tilt angle variable extraction operation is performed on each column of the augmented rotor control efficiency matrix to transfer the tilt angle variable of each column outside the augmented rotor control efficiency matrix to obtain the tilt angle variable data and the constant rotor control efficiency matrix. The constant rotor control efficiency matrix is ​​the remaining part of the augmented rotor control efficiency matrix after the tilt angle variable data is transferred.

[0077] Step S103, determining an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector;

[0078] After the constant rotor control efficiency matrix is ​​obtained, the intermediate virtual control amount is determined based on the constant rotor control efficiency matrix and the control instruction vector, that is, the virtual control amount is obtained by performing pseudo-inverse distribution through the constant rotor control efficiency matrix and the control instruction vector. Specifically, in a feasible implementation, step S103 may include steps S1031 to S1033:

[0079] Step S1031, performing a normalization operation on the constant rotor control efficiency matrix to obtain a normalized constant rotor control efficiency matrix;

[0080] Step S1032, determining the intermediate virtual control amount based on the normalized constant rotor control efficiency matrix and the control instruction vector.

[0081] After obtaining the constant rotor control efficiency matrix, the constant rotor control efficiency matrix is ​​first normalized to obtain the normalized constant rotor control efficiency matrix.

[0082] After the normalized constant rotor control efficiency matrix is ​​obtained, the intermediate virtual control amount is determined based on the normalized constant rotor control efficiency matrix and the control instruction vector. Specifically, in a feasible implementation, step S1033 may include steps a1 to a2:

[0083] Step a1, obtaining a pseudo-inverse matrix corresponding to the normalized constant rotor control efficiency matrix;

[0084] Step a2: determining the intermediate virtual control amount based on the pseudo-inverse matrix and the control instruction vector.

[0085] It should be noted that after obtaining the normalized constant rotor control efficiency matrix, pseudo-inverse distribution is performed based on the normalized constant rotor control efficiency matrix and the control instruction vector to obtain the intermediate virtual control amount. Specifically, the pseudo-inverse matrix corresponding to the normalized constant rotor control efficiency matrix is ​​calculated, and the intermediate virtual control amount is determined based on the pseudo-inverse matrix and the control instruction vector, where the formula is: U = M + F, where U is the intermediate virtual control quantity U N×1 , M is the constant rotor control efficiency matrix M m×N , M + is the pseudo-inverse matrix M + N×m , F is the control instruction vector F m×1 .

[0086] Pseudo-inverse distribution is performed through the normalized constant rotor control efficiency matrix. Since the elements in the constant rotor control efficiency matrix are constants, the pseudo-inverse matrix only needs to be calculated once during the pseudo-inverse distribution process to realize the entire pseudo-inverse distribution process, so that the pseudo-inverse matrix no longer overflows during the pseudo-inverse distribution process, and the calculation amount of the pseudo-inverse distribution is reduced, thereby improving the accuracy and efficiency of the pseudo-inverse distribution.

[0087] Step S104, determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount.

[0088] After the intermediate virtual control amount is obtained, the (normalized) rotor speed and tilt angle corresponding to each rotor of the aircraft are determined based on the augmented rotor control efficiency matrix, the control instruction vector and the virtual control amount. Specifically, the target virtual control amount corresponding to the tilt angle variable and the speed variable can be first determined based on the augmented rotor control efficiency matrix and the control instruction vector, and the rotor speed and tilt angle corresponding to each rotor of the aircraft are calculated based on the intermediate virtual control amount and the target virtual control amount. In a feasible implementation, step S104 may include steps S1041 to S1042:

[0089] Step S1041, determining a target virtual control amount corresponding to a tilt angle variable and a rotation speed variable based on the augmented rotor control efficiency matrix and the control command vector;

[0090] Step S1042: determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the intermediate virtual control amount and the target virtual control amount.

[0091] After obtaining the intermediate virtual control amount, the target virtual control amount corresponding to the tilt angle variable and the speed variable is determined based on the augmented rotor control efficiency matrix and the control instruction vector. Specifically, in one implementation, the augmented rotor control efficiency matrix can be obtained, and pseudo-inverse distribution can be performed based on the augmented rotor control efficiency matrix and the control instruction vector to obtain the target virtual control amount, and the formula is: U'=M + F, where U' is the target virtual control quantity U' N×1 , B is the augmented rotor control efficiency matrix B m×N , B + is the pseudo-inverse matrix B + N×m , F is the control instruction vector F m×1 In another implementation, the target virtual control amount may be determined according to the tilt angle variable data corresponding to the augmented rotor control efficiency matrix. In a feasible implementation, step S104 may include steps S1041 to S1042:

[0092] Step S1041, determining the tilt angle variable control vector based on the tilt angle variable data corresponding to the augmented rotor control efficiency matrix, and acquiring the original virtual control amount based on the rotor control efficiency matrix and the control instruction vector;

[0093] Step S1042: determining the target virtual control amount based on the tilt angle variable control vector and the original virtual control amount.

[0094] Among them, when the tilt angle variable extraction operation is performed on the augmented rotor control efficiency matrix, the tilt angle variable data in the augmented rotor control efficiency matrix can be obtained, and the tilt angle variable control vector is determined based on the tilt angle variable data. For example, an element in the tilt angle variable control vector is generated based on the data of each column corresponding to the augmented rotor control efficiency matrix in the tilt angle variable data, and the tilt angle variable control vector is obtained. At the same time, the original virtual control quantity is obtained, which is the result of pseudo-inverse distribution through the rotor control efficiency matrix and the control instruction vector.

[0095] Next, based on the tilt angle variable control vector and the original virtual control quantity, the target virtual control quantity is determined. Specifically, the original virtual control quantity is first augmented to obtain the augmented virtual control quantity, wherein the rotor corresponding to each row in the augmented virtual control quantity is the same as the rotor corresponding to each column of the augmented rotor control efficiency matrix. Afterwards, the tilt angle variable control vector and the augmented virtual control quantity are fused to obtain the target virtual control quantity, which includes the tilt angle variable and the rotor speed variable.

[0096] After the target virtual control amount is obtained, the rotor speed and the tilt angle corresponding to each rotor of the aircraft are determined based on the intermediate virtual control amount and the target virtual control amount. Specifically, in a feasible implementation, step S104 may include step S1043:

[0097] Step S1043: performing a calculation operation on the target virtual control amount based on the intermediate virtual control amount to obtain the rotor speed and tilt angle corresponding to each rotor of the aircraft.

[0098] That is to say, after obtaining the virtual control amount, the aircraft performs a solution operation on the target virtual control amount based on the intermediate virtual control amount to obtain the (normalized) rotor speed and tilt angle corresponding to each rotor.

[0099] Furthermore, in a feasible implementation manner, after step S104, the aircraft control method may further include step S105:

[0100] Step S105, determining a rotor speed command and a tilt angle command corresponding to each rotor based on the rotor speed and the tilt angle corresponding to each rotor.

[0101] After obtaining the rotor speed and tilt angle corresponding to each rotor, the aircraft calculates the rotor speed command and tilt angle command corresponding to each rotor based on the rotor speed and tilt angle corresponding to each rotor, that is, the rotor speed command and tilt angle command corresponding to each rotor are calculated using the algorithm in the relevant technology. Then the aircraft performs flight control based on the rotor speed command and tilt angle command, that is, the rotor is controlled and adjusted through the rotor speed command and tilt angle command corresponding to each rotor.

[0102] The aircraft control method proposed in this embodiment obtains the control instruction vector and the rotor control efficiency matrix corresponding to each control channel in the aircraft; then the rotor control efficiency matrix is ​​augmented, and the constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix is ​​obtained; then, based on the constant rotor control efficiency matrix and the control instruction vector, an intermediate virtual control quantity is determined; then, based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control quantity, the rotor speed and the tilt angle corresponding to each rotor of the aircraft are determined, and the constant rotor control efficiency matrix corresponding to the rotor control efficiency matrix is ​​used to obtain the rotor speed and the tilt angle. The virtual control quantity is obtained by pseudo-inverse distribution of the rate matrix, and the tilt angle variable control vector is solved by the virtual control quantity to obtain the corresponding rotor speed and tilt angle. The tilt angle variable is transferred from the control efficiency matrix to the outside of the matrix by augmenting the rotor control efficiency matrix to form a new constant control efficiency matrix and tilt angle variable control vector. The pseudo-inverse distribution is performed by the constant control efficiency matrix, so that the pseudo-inverse matrix will no longer overflow during the pseudo-inverse distribution process. The pseudo-inverse distribution is performed by the constant rotor control efficiency matrix to reduce the amount of calculation, realize the tilt transition of the semi-tilt configuration rotorcraft, and improve the accuracy of control distribution of the semi-tilt configuration rotorcraft.

[0103] The present application also provides an aircraft, please refer to Figure 2 , the aircraft comprises:

[0104] An acquisition module 10 is used to acquire the control instruction vector and the rotor control efficiency matrix corresponding to each control channel in the aircraft;

[0105] An augmentation module 20, configured to perform an augmentation operation on the rotor control efficiency matrix and obtain a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix;

[0106] A first determination module 30, configured to determine an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector;

[0107] The second determination module 40 is used to determine the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount.

[0108] The aircraft provided in the embodiment of the present application adopts the aircraft control method in the above embodiment, which can solve the technical problem of how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft. Compared with the prior art, the beneficial effects of the aircraft provided in the embodiment of the present application are the same as the beneficial effects of the aircraft control method provided in the above embodiment, and other technical features in the aircraft are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0109] The present application provides an aircraft control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the aircraft control method in the above-mentioned embodiment one.

[0110] Reference below Figure 3 , which shows a schematic diagram of the structure of an aircraft control device suitable for implementing the embodiment of the present application. The aircraft control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The aircraft control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 3As shown, the aircraft control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the aircraft control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the aircraft control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an aircraft control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The aircraft control device provided by the present application adopts the aircraft control method in the above embodiment, which can solve the technical problem of how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft. Compared with the prior art, the beneficial effects of the aircraft control device provided by the present application are the same as the beneficial effects of the aircraft control method provided by the above embodiment, and other technical features in the aircraft control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the aircraft control method in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable storage medium may be included in the aircraft control device; or may exist independently without being assembled into the aircraft control device.

[0119] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the aircraft control device, the aircraft control device: obtains the control instruction vector and the rotor control efficiency matrix corresponding to each control channel in the aircraft; performs augmentation operation on the rotor control efficiency matrix to obtain a constant rotor control efficiency matrix and a tilt angle variable control vector; determines a virtual control quantity based on the constant rotor control efficiency matrix and the control instruction vector; determines the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the tilt angle variable control vector and the virtual control quantity.

[0120] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0123] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned aircraft control method, and can solve the technical problem of how to improve the accuracy of control distribution of a semi-tilt configuration rotorcraft. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the aircraft control method provided by the above-mentioned embodiment, and will not be repeated here.

[0124] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned aircraft control method when executed by a processor.

[0125] The computer program product provided by the present application can solve the technical problem of how to improve the accuracy of control allocation of a semi-tilt configuration rotorcraft. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as the beneficial effects of the aircraft control method provided by the above embodiment, and will not be repeated here.

[0126] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling an aircraft, characterized in that: The aircraft control method comprises the following steps: Obtain the control command vector and rotor control efficiency matrix corresponding to each control channel in the aircraft; Performing an augmentation operation on the rotor control efficiency matrix, and obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix; Determining an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector; Based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount, the rotor speed and the tilt angle corresponding to each rotor of the aircraft are determined.

2. The aircraft control method according to claim 1, characterized in that: The step of determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount comprises: Determining target virtual control quantities corresponding to the tilt angle variable and the speed variable based on the augmented rotor control efficiency matrix and the control command vector; Based on the intermediate virtual control amount and the target virtual control amount, the rotor speed and the tilt angle corresponding to each rotor of the aircraft are determined.

3. The aircraft control method according to claim 2, characterized in that: The step of determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the intermediate virtual control amount and the target virtual control amount comprises: The target virtual control amount is solved based on the intermediate virtual control amount to obtain the rotor speed and tilt angle corresponding to each rotor of the aircraft.

4. The aircraft control method according to claim 2, characterized in that: The step of determining the target virtual control amount corresponding to the tilt angle variable and the speed variable based on the augmented rotor control efficiency matrix and the control instruction vector comprises: Based on the tilt angle variable data corresponding to the augmented rotor control efficiency matrix, determining the tilt angle variable control vector, and acquiring the original virtual control amount based on the rotor control efficiency matrix and the control instruction vector; The target virtual control amount is determined based on the tilt angle variable control vector and the original virtual control amount.

5. The aircraft control method according to claim 1, characterized in that: The step of performing an augmentation operation on the rotor control efficiency matrix comprises: Obtain the number of rotors corresponding to the tilt rotors in the rotors of the aircraft; An augmentation operation is performed on the rotor control efficiency matrix based on the number of rotors to obtain an augmented rotor control efficiency matrix.

6. The aircraft control method according to claim 5, characterized in that: The step of performing an augmentation operation on the rotor control efficiency matrix based on the number of rotors to obtain an augmented rotor control efficiency matrix comprises: In the rotor control efficiency matrix, determining the columns corresponding to the tiltable rotors of the rotor quantity; Perform matrix decomposition on each column corresponding to the tilt rotor based on the tilt angle variable to obtain two columns of elements corresponding to the tilt rotor; An augmented rotor control efficiency matrix is ​​determined based on two columns of elements corresponding to the tiltable rotor and a column corresponding to the non-tiltable rotor in the rotor control efficiency matrix.

7. The aircraft control method according to claim 1, characterized in that: The step of obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix comprises: The augmented rotor control efficiency matrix is ​​subjected to a tilt angle variable extraction operation to transfer the tilt angle variable data to the outside of the augmented rotor control efficiency matrix to obtain the constant rotor control efficiency matrix.

8. The aircraft control method according to claim 1, characterized in that: The step of determining the intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector comprises: Performing a normalization operation on the constant rotor control efficiency matrix to obtain a normalized constant rotor control efficiency matrix; The intermediate virtual control amount is determined based on the normalized constant rotor control efficiency matrix and the control instruction vector.

9. The aircraft control method according to claim 8, characterized in that: The step of determining the intermediate virtual control amount based on the normalized constant rotor control efficiency matrix and the control instruction vector comprises: Obtain the pseudo-inverse matrix corresponding to the normalized constant rotor control efficiency matrix; The intermediate virtual control amount is determined based on the pseudo-inverse matrix and the control instruction vector.

10. The aircraft control method according to any one of claims 1 to 9, characterized in that: After the step of determining the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount, the aircraft control method further includes: Based on the rotor speed and the tilt angle corresponding to each rotor, a rotor speed command and a tilt angle command corresponding to each rotor are determined.

11. An aircraft, characterized in that: The aircraft comprises: An acquisition module is used to acquire the control instruction vector and rotor control efficiency matrix corresponding to each control channel in the aircraft; An augmentation module, used for performing an augmentation operation on the rotor control efficiency matrix and obtaining a constant rotor control efficiency matrix corresponding to the augmented rotor control efficiency matrix; A first determination module, configured to determine an intermediate virtual control amount based on the constant rotor control efficiency matrix and the control instruction vector; The second determination module is used to determine the rotor speed and tilt angle corresponding to each rotor of the aircraft based on the augmented rotor control efficiency matrix, the control instruction vector and the intermediate virtual control amount.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an aircraft control program, and when the aircraft control program is executed by a processor, the steps of the aircraft control method according to any one of claims 1 to 10 are implemented.

Images