Aircraft climbing control method and device, electronic equipment and storage medium
By optimizing the climbing path of the eVTOL aircraft and determining the optimal flight state point of each energy altitude layer, the problem of shorter range and time of the eVTOL aircraft is solved, and more efficient power utilization and longer battery life are achieved.
Patent Information
- Application Number
- CN202311471018.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-06
- Publication Date
- 2025-06-06
AI Technical Summary
Due to the limited energy density of the power battery, the eVTOL aircraft has short range and time, which cannot meet the needs of low-altitude travel in cities in the future.
By optimizing the aircraft climb path, the optimal flight state point for each energy altitude layer is determined to minimize power consumption and generate the aircraft climb path.
The power utilization of eVTOL aircraft has been effectively optimized, the battery life time and flight distance have been extended, and the reliability and safety of flight are improved.
Smart Images
Figure CN120103852A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of aircraft technology, and specifically to an aircraft climb control method and device, electronic equipment, and a computer-readable storage medium. Background Art
[0002] eVTOL aircraft have the ability to take off and land vertically and fly horizontally. They do not require long runways or dedicated take-off and landing sites, and can take off and land in a small space, which makes them more flexible and available. In addition, eVTOL aircraft use batteries or other renewable energy sources as energy sources, which reduces the negative impact on the environment, and the use of electric drive devices also greatly improves energy conversion efficiency. However, due to the energy density of power batteries, the energy that eVTOL aircraft can carry is very limited. Therefore, current eVTOL aircraft generally have the problem of short range and flight time, which cannot well meet the needs of future low-altitude urban travel. Summary of the invention
[0003] The purpose of this application is to propose an aircraft climb control method and device, and a computer-readable storage medium, so as to improve the energy utilization efficiency of the eVTOL aircraft by optimizing the aircraft climb path.
[0004] To achieve the above object, an embodiment of the present application provides an aircraft climb control method, the method comprising:
[0005] Acquire the starting state point and the target state point of the aircraft, and determine the starting energy altitude layer where the starting state point is located and the target energy altitude layer where the target state point is located;
[0006] Acquire the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generate an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer, and the target state point;
[0007] Among them, the optimal flight state point of any energy altitude layer refers to the point at which the aircraft consumes the least amount of electrical energy when it flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer; the starting state point, the optimal flight state point of each energy altitude layer and the target state point are all points in the Vh coordinate system, and the Vh coordinate system is a coordinate system with the airspeed V as the horizontal coordinate and the altitude h as the vertical coordinate.
[0008] An embodiment of the present application further provides an aircraft climb control device, the device comprising:
[0009] An information acquisition module, used to acquire a starting state point and a target state point of the aircraft, and determine a starting energy altitude layer where the starting state point is located and a target energy altitude layer where the target state point is located;
[0010] a path planning module, used to obtain the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generate an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer and the target state point;
[0011] Among them, the optimal flight state point of any energy altitude layer refers to the point at which the aircraft consumes the least amount of electrical energy when it flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer; the starting state point, the optimal flight state point of each energy altitude layer and the target state point are all points in the Vh coordinate system, and the Vh coordinate system is a coordinate system with the airspeed V as the horizontal coordinate and the altitude h as the vertical coordinate.
[0012] An embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aircraft climb control method as described above when executing the computer program.
[0013] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aircraft climb control method as described above is implemented.
[0014] The embodiments of the present application provide an aircraft climb control method and device, an electronic device, and a computer-readable storage medium. The power consumption of the eVTOL aircraft during the climb process is minimized by determining the optimal flight state point for each energy altitude layer during the climb process of the eVTOL aircraft. The optimal flight state point for each energy altitude layer is the most energy-efficient flight state point, which can effectively optimize the power utilization of the eVTOL aircraft, so that the eVTOL aircraft can use power with higher efficiency, extend the flight time and flight distance of the eVTOL aircraft, thereby avoiding flight problems caused by insufficient or unstable energy, and ensuring the reliability and safety of the flight. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 This is a flow chart of an aircraft climb control method in one embodiment of the present application.
[0017] Figure 2 This is an example diagram of the aircraft climbing path in the Vh coordinate system in one embodiment of the present application.
[0018] Figure 3 This is a structural framework diagram of an aircraft climb control device in another embodiment of the present application. DETAILED DESCRIPTION
[0019] The detailed description of the drawings is intended as an illustration of some current embodiments of the present application, and is not intended to represent the only form in which the present application can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included within the scope of the present application.
[0020] See also Figure 1 An embodiment of the present application provides an aircraft climb control method, comprising the following steps:
[0021] Step S1, obtaining a starting state point and a target state point of the aircraft, and determining a starting energy altitude layer where the starting state point is located and a target energy altitude layer where the target state point is located.
[0022] Specifically, the method of this embodiment is implemented based on a Vh coordinate system, which is a coordinate system with airspeed V as the horizontal coordinate and height h as the vertical coordinate. When performing path planning for the eVTOL aircraft, it is necessary to first determine the starting state point and target state point of the eVTOL aircraft in the Vh coordinate system, that is, determine the starting speed, starting height, target speed and target height of the eVTOL aircraft;
[0023] in, h e is the energy height, h is the height, V is the speed, g is the gravitational acceleration, therefore, based on The corresponding starting energy altitude layer can be determined according to the starting speed and the starting altitude, and the corresponding target energy altitude layer can be determined according to the target speed and the target altitude.
[0024] Step S2, obtaining the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generating an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer and the target state point.
[0025] Specifically, after determining the starting energy altitude layer and the target energy altitude layer, the optimal flight state point of each energy altitude layer between the starting energy altitude layer and the target energy altitude layer is further determined, and the optimal flight state point is a point in the Vh coordinate system, wherein the optimal flight state point of any energy altitude layer means that when the aircraft flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer, the electrical energy consumption required for the aircraft to fly from the previous energy altitude layer to the any energy altitude layer is the least.
[0026] The method of this embodiment minimizes the power consumption of the eVTOL aircraft during the climb process by determining the optimal flight state point for each energy altitude layer during the climb process of the eVTOL aircraft. The optimal flight state point for each energy altitude layer is the most energy-efficient flight state point, which can effectively optimize the power utilization of the eVTOL aircraft, so that the eVTOL aircraft can use power with higher efficiency, extend the flight time and flight distance of the eVTOL aircraft, thereby avoiding flight problems caused by insufficient or unstable energy, and ensuring the reliability and safety of the flight.
[0027] In some embodiments, the step S2 obtains the optimal flight state point of each energy altitude layer of the aircraft between the starting energy altitude layer and the target energy altitude layer, specifically including:
[0028] Get any energy level curve, and compare any energy altitude layer with the The point where the curve is tangent is determined as the optimal state point of any energy altitude layer, where h e is the energy height of any energy height layer, E el The power consumption of the aircraft.
[0029] Specifically, if Figure 2 As shown, h is calculated at each airspeed and altitude e and And cross-plotting in the form of contour lines gives Figure 2 The curve shown, Figure 2 shows an eVTOL aircraft climbing trajectory based on optimal energy. Figure 2 The starting point in the equation is the starting state point, path point 1 is the optimal flight state point of the starting energy altitude layer, path point 2 is the optimal flight state point of the target energy altitude layer, and the target point is the target state point. The connecting line between path point 1 and path point 2 represents the maximum flight state point at each energy altitude layer. The value corresponds to the airspeed and altitude of the aircraft, that is, the coordinate information of the optimal flight state point.
[0030] In some embodiments, the The expression of the curve is as follows:
[0031]
[0032]
[0033] Among them, P el is the electric power of the aircraft's propulsion device, V is the airspeed, g is the gravity acceleration, h is the altitude, P S is the unit surplus power, dh w / dt is the value of h e Take the derivative, dE el / dt is the value of E el To conduct derivation, To find the derivative of h, To find the derivative of V;
[0034] Specifically, according to the above expression, the energy height can be obtained from h e1 Change to h e2 When , the corresponding power consumption is:
[0035]
[0036] Based on the above formula, we can know that when When each energy altitude level is maximized, the total power consumption is the minimum, which also means that the minimum energy climb trajectory is composed of each energy altitude level h e With each energy level The points where the curves are tangent.
[0037] In some embodiments, the method further comprises:
[0038] Step S3, controlling the aircraft to climb according to the aircraft climbing path, wherein the aircraft is first controlled to fly from the starting state point to the optimal flight state point corresponding to the starting energy altitude layer, and then the aircraft is controlled to fly along the optimal flight state points of each energy altitude layer in sequence until the optimal flight state point corresponding to the target energy altitude layer is reached, and finally the aircraft is controlled to fly from the optimal flight state point corresponding to the target energy altitude layer to the target state point.
[0039] Specifically, for example Figure 2The aircraft climb path shown in FIG. 1 shows an aircraft climb path. When the aircraft climb is controlled according to the aircraft climb path, the eVTOL aircraft starts from the starting state point, and shallowly dives and accelerates along its starting energy altitude layer to path point 1 (the optimal flight state point of the starting energy altitude layer), and then climbs according to the airspeed and altitude corresponding to the connecting line in step 2. After reaching path point 2 (the optimal flight state point of the target energy altitude layer), it shallowly dives and accelerates along its target energy altitude layer to the target state point, thereby completing the climb of the eVTOL aircraft.
[0040] The method of this embodiment has the following advantages:
[0041] (1) Energy saving: eVTOL aircraft can use electrical energy more efficiently, reducing energy consumption. It also helps to extend battery life, increase flight range, and reduce operating costs.
[0042] (2) Improve performance and safety: The time span that the eVTOL aircraft operates at a high efficiency point can be maximized, thereby improving its flight performance and control safety margin.
[0043] (3) Environmentally friendly: It can reduce energy usage and carbon emissions, thus having a smaller impact on the environment.
[0044] See also Figure 3 Another embodiment of the present application is an aircraft climb control device, which can be used to execute the aircraft climb control method described in the above embodiment, including:
[0045] The information acquisition module 1 is used to acquire the starting state point and the target state point of the aircraft, and determine the starting energy altitude layer where the starting state point is located and the target energy altitude layer where the target state point is located;
[0046] A path planning module 2 is used to obtain the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generate an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer and the target state point;
[0047] Among them, the optimal flight state point of any energy altitude layer refers to the point at which the aircraft consumes the least amount of electrical energy when it flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer; the starting state point, the optimal flight state point of each energy altitude layer and the target state point are all points in the Vh coordinate system, and the Vh coordinate system is a coordinate system with the airspeed V as the horizontal coordinate and the altitude h as the vertical coordinate.
[0048] In some embodiments, the path planning module is specifically used to:
[0049] Get any energy level curve, and compare any energy altitude layer with the The point where the curve is tangent is determined as the optimal state point of any energy altitude layer, where h e is the energy height of any energy height layer, E el The power consumption of the aircraft.
[0050] In some embodiments, the The expression of the curve is as follows:
[0051]
[0052]
[0053] Among them, P el is the electric power of the aircraft's propulsion device, V is the airspeed, g is the gravity acceleration, h is the altitude, P S is the unit surplus power, dh e / dt is the value of h e Take the derivative, dE el / dt is the value of E el To conduct derivation, To derive h, To find the derivative of V.
[0054] In some embodiments, the apparatus further comprises:
[0055] The flight control module 3 is used to control the aircraft to climb according to the aircraft climbing path, wherein the aircraft is first controlled to fly from the starting state point to the optimal flight state point corresponding to the starting energy altitude layer, and then the aircraft is controlled to fly along the optimal flight state points of each energy altitude layer in sequence until the optimal flight state point corresponding to the target energy altitude layer is reached, and finally the aircraft is controlled to fly from the optimal flight state point corresponding to the target energy altitude layer to the target state point.
[0056] The aircraft climb control device of the embodiment described above is only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the aircraft climb control device of the embodiment.
[0057] It should be noted that the aircraft climb control device of the above embodiment corresponds to the aircraft climb control method of the above embodiment. Therefore, the undescribed parts of the aircraft climb control device of the above embodiment can be obtained by referring to the contents of the aircraft climb control method of the above embodiment, and will not be repeated here.
[0058] Furthermore, if the aircraft climb control device of the above-mentioned embodiment is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium.
[0059] Another embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aircraft climb control method described in the above embodiment when executing the program.
[0060] Wherein, the electronic device may also include a bus connecting different components (including memory and processor). The memory may include a computer-readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The memory may also include at least one program product, which has a set of (e.g., at least one) program modules, which are configured to perform the functions of the various embodiments of the present application. The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, displays, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device, and / or communicate with any device (e.g., a network card) that enables the electronic device to communicate with one or more other computing devices, such communication may be performed through an input / output (I / O) interface, and the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs) and / or public networks, such as the Internet) through a network adapter.
[0061] Another embodiment of the present application further proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aircraft climb control method as described in the above embodiment is implemented.
[0062] Specifically, the computer-readable storage medium may include: any entity or recording medium that can carry the computer program instructions, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.
[0063] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A method for controlling aircraft climb, It is characterized in that The method comprises: Acquire the starting state point and the target state point of the aircraft, and determine the starting energy altitude layer where the starting state point is located and the target energy altitude layer where the target state point is located; Acquire the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generate an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer, and the target state point; Among them, the optimal flight state point of any energy altitude layer refers to the point at which the aircraft consumes the least amount of electrical energy when it flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer; the starting state point, the optimal flight state point of each energy altitude layer and the target state point are all points in the Vh coordinate system, and the Vh coordinate system is a coordinate system with the airspeed V as the horizontal coordinate and the altitude h as the vertical coordinate.
2. The method according to claim 1, It is characterized in that The step of obtaining the optimal flight state point of the aircraft at each energy altitude layer between the initial energy altitude layer and the target energy altitude layer specifically includes: Get any energy level curve, and compare any energy altitude layer with the The point where the curve is tangent is determined as the optimal state point of any energy altitude layer, where h e is the energy height of any energy height layer, E el The power consumption of the aircraft.
3. The method according to claim 1, It is characterized in that Said The expression of the curve is as follows: Among them, P el is the electric power of the aircraft's propulsion device, V is the airspeed, g is the gravity acceleration, h is the altitude, P S is the unit surplus power, dh e / dt is the value of h e Take the derivative, dE el / dt is the value of E el To conduct derivation, To derive h, To find the derivative of V.
4. The method according to claim 1, It is characterized in that The method further comprises: The aircraft is controlled to climb according to the aircraft climb path, wherein the aircraft is first controlled to fly from the starting state point to the optimal flight state point corresponding to the starting energy altitude layer, and then the aircraft is controlled to fly along the optimal flight state points of each energy altitude layer in sequence until the optimal flight state point corresponding to the target energy altitude layer is reached, and finally the aircraft is controlled to fly from the optimal flight state point corresponding to the target energy altitude layer to the target state point.
5. An aircraft climb control device, It is characterized in that The device comprises: An information acquisition module, used to acquire a starting state point and a target state point of the aircraft, and determine a starting energy altitude layer where the starting state point is located and a target energy altitude layer where the target state point is located; a path planning module, used to obtain the optimal flight state point of the aircraft at each energy altitude layer between the starting energy altitude layer and the target energy altitude layer, and generate an aircraft climbing path according to the starting state point, the optimal flight state point of each energy altitude layer and the target state point; Among them, the optimal flight state point of any energy altitude layer refers to the point at which the aircraft consumes the least amount of electrical energy when it flies from the previous energy altitude layer to the optimal aircraft state point of any energy altitude layer; the starting state point, the optimal flight state point of each energy altitude layer and the target state point are all points in the Vh coordinate system, and the Vh coordinate system is a coordinate system with the airspeed V as the horizontal coordinate and the altitude h as the vertical coordinate.
6. The device according to claim 5, It is characterized in that The path planning module is specifically used for: Get any energy level curve, and compare any energy altitude layer with the The point where the curve is tangent is determined as the optimal state point of any energy altitude layer, where h e is the energy height of any energy height layer, E el The power consumption of the aircraft.
7. The device according to claim 6, It is characterized in that Said The expression of the curve is as follows: Among them, P el is the electric power of the aircraft's propulsion device, V is the airspeed, g is the gravity acceleration, h is the altitude, P S is the unit surplus power, dh e / dt is the value of h e Take the derivative, dE el / dt is the value of E el To conduct derivation, To derive h, To find the derivative of V.
8. The device according to claim 5, It is characterized in that The device also includes: A flight control module is used to control the aircraft to climb according to the aircraft climbing path, wherein the aircraft is first controlled to fly from the starting state point to the optimal flight state point corresponding to the starting energy altitude layer, and then the aircraft is controlled to fly along the optimal flight state points of each energy altitude layer in sequence until the optimal flight state point corresponding to the target energy altitude layer is reached, and finally the aircraft is controlled to fly from the optimal flight state point corresponding to the target energy altitude layer to the target state point.
9. An electronic device, It is characterized in that The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor implements the aircraft climb control method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aircraft climb control method according to any one of claims 1 to 4 is implemented.