Steering engine fault reconstruction method for small and medium-sized reconnaissance unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a small and medium-sized reconnaissance and attack unmanned aerial vehicle steering engine fault reconstruction method, which comprises the following steps: judging elevator faults; performing fault reconstruction according to the elevator fault, wherein the reconstruction process comprises the following steps: judging whether the elevator fault is a circuit fault or not; when it is judged that the steering engine does not have the circuit fault, a mechanical clamping stagnation fault processing flow is entered; and after the mechanical clamping stagnation fault processing flow, the unmanned aerial vehicle returns. The method is wide in application range, can be popularized and applied in different unmanned aerial vehicle systems, and can effectively improve the reliability of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method for reconfiguring the failure of a servo for a medium and small-sized reconnaissance and strike unmanned aerial vehicle. Background Art

[0002] Reconnaissance and strike unmanned aerial vehicles are currently more and more widely used in the world, and their figures can be seen in almost all conflicts. The common reconnaissance and strike unmanned aerial vehicles are mainly large unmanned aerial vehicles, but this method significantly increases the system scale and is costly. The several regional conflicts in recent years have proved that medium and small-sized reconnaissance and strike unmanned aerial vehicles (the total weight of the whole aircraft is less than 600 kg) have attracted more and more attention due to their advantages of "low cost" and "high cost performance ratio".

[0003] The servo is the actuator of the unmanned aerial vehicle and is in motion during the entire flight of the unmanned aerial vehicle, and its failure rate is relatively high; and the existing medium and small-sized takeoff and landing reconnaissance and strike unmanned aerial vehicles usually cannot install a parachute due to their scale and weight limitations; due to their emphasis on "cost performance ratio", they usually cannot install multiple sets of servos and control surface systems like manned aircraft and large unmanned aerial vehicles. When a servo fails, servo failure reconfiguration is performed. If a servo fails, it usually brings catastrophic consequences to medium and small-sized takeoff and landing reconnaissance and strike unmanned aerial vehicles. The longitudinal channel of the unmanned aerial vehicle is usually controlled by an elevator servo, which controls the altitude and pitch angle of the unmanned aerial vehicle and is very important during the takeoff, landing and the entire flight of the unmanned aerial vehicle. Summary of the Invention

[0004] In order to solve the deficiencies in the above background art, the present invention mainly solves the problem that the unmanned aerial vehicle cannot safely return and land after the elevator servo of the medium and small-sized takeoff and landing reconnaissance and strike unmanned aerial vehicle fails. The present invention provides a method for reconfiguring the failure of a servo for a medium and small-sized reconnaissance and strike unmanned aerial vehicle. This method is based on an elevator servo failure discrimination method and an elevator servo failure reconfiguration control strategy, and can solve the fault diagnosis and reconfiguration in the case of electric jamming and mechanical jamming of the elevator servo of the unmanned aerial vehicle.

[0005] The first object of the present invention is to provide a method for reconfiguring the failure of a servo for a medium and small-sized reconnaissance and strike unmanned aerial vehicle, which is used for the reconfiguration after the elevator servo in the medium and small-sized reconnaissance and strike unmanned aerial vehicle fails, and includes: Discriminate elevator servo failures; Perform failure reconfiguration according to the elevator servo failures, and the reconfiguration process includes: Judge whether the elevator servo failure is an electrical circuit failure; When it is judged that the servo is not an electrical circuit failure, enter the mechanical jamming failure handling process; After the mechanical jamming failure handling process, the unmanned aerial vehicle returns.

[0006] Preferably, the elevator of the medium and small-sized reconnaissance and strike unmanned aerial vehicle is composed of two parts, namely a left elevator and a right elevator, each having an independent servo and control surface, and together constitute the elevator of the medium and small-sized takeoff and landing reconnaissance and strike unmanned aerial vehicle.

[0007] Preferably, the down elevator failure is determined according to the following steps: Step 1: Both the left elevator and the right elevator adopt electric analog servo motors. After the UAV flight control computer sends an analog voltage control signal to the elevator servo motor, and it receives the analog voltage control signal and deflects to the specified angle, it outputs a feedback voltage signal to the UAV flight control computer, and this signal represents the angle actually executed by the servo motor; Step 2: After the UAV is powered on, within the time T, the flight control computer collects the control amount and feedback amount of the left and right elevator servo motors with a period of M; Step 3: If the cumulative difference between the angle values converted from the control amounts of the left elevator and the right elevator and the angle values of the feedback amounts is greater than P degrees for N times within the time T after the UAV is powered on, it is determined that the servo motor has a failure; Step 4: If the servo motor has no failure after Step 3 is completed, after the UAV is powered on, the control amounts and feedback amounts of the left and right elevator servo motors are collected at a fixed time with a period of M and converted into angle values. If the difference between the angle values of the control amounts and feedback amounts of the left and right elevator servo motors of the UAV is greater than P degrees continuously for more than Q times, or the cumulative number of times exceeds R times, it is determined that the servo motor has a failure.

[0008] Preferably, determining whether the elevator servo motor failure is a circuit failure includes: The UAV is in the "level flight" mode, and the faulty servo motor is powered off. Before powering off, record the angle value S° at which the faulty servo motor is located according to the feedback value of the faulty servo motor; Increase the control amount of the other elevator servo motor by T times; Observe whether the UAV can fly "level" and "climb" normally at this time; If the UAV can fly "level" and "climb" normally, the fault reconstruction measure is effective, the faulty servo motor is a circuit failure, and the UAV continues to fly after being processed according to this fault handling method; If the UAV cannot fly "level" and "climb" normally, the faulty servo motor is not a circuit failure.

[0009] Preferably, entering the mechanical jamming fault handling process includes: According to the maximum stroke value U° of the elevator servo motor recorded in the flight data during the UAV flight, manually set the other good elevator servo motor to V° to stabilize the aircraft; Manually configure the trim surface of the other good elevator servo motor to balance the faulty elevator. At this time, the elevator control output amount is the output amount calculated by the control law plus the trim surface value.

[0010] Preferably, the value-taking method of the upper-biased trim surface for the faulty control surface is: The faulty control surface is upper-biased and the angle value is greater than U°. The trim surface of the good elevator servo motor is taken as lower-biased by 0.5 U° - 0.7 U°; The failed control surface is deflected upward and the angle value is greater than 10°, and the trim control surface of the good elevator actuator is deflected downward by 5°-7°; The failed control surface is deflected upward and the angle value is greater than 5° and less than 10°, and the trim control surface of the good elevator actuator is deflected downward by 0.3-0.5 times the jamming angle; The failed control surface is deflected upward and the angle value is less than 5°, and the trim control surface of the good elevator actuator is deflected downward by 1.5°-2.5°.

[0011] Preferably, the method for obtaining the value of the trim control surface when the failed control surface is deflected downward is as follows: The failed control surface is deflected downward and the angle value is greater than U°, and the trim control surface of the good elevator actuator is deflected upward by 1.0U°-1.2U°; The failed control surface is deflected downward and the angle value is greater than 10°, and the trim control surface of the good elevator actuator is deflected upward by 11°-13°; The failed control surface is deflected downward and the angle value is greater than 5° and less than 10°, and the trim control surface of the good elevator actuator is deflected upward by 1.2-1.4 times the jamming angle; The failed control surface is deflected downward and the angle value is less than 5°, and the trim control surface of the good elevator actuator is deflected upward by 1.2-1.4 times the jamming angle.

[0012] The second object of the present invention provides a servo failure reconstruction system for a medium and small-sized reconnaissance and strike UAV, including: A failure discrimination module for discriminating elevator failures; A failure reconstruction module for performing failure reconstruction according to the elevator failure, and the reconstruction process includes: judging whether the elevator actuator failure is a circuit failure; when it is judged that the actuator is not a circuit failure, entering the mechanical jamming failure processing flow; after the mechanical jamming failure processing flow, the UAV returns.

[0013] The present invention has at least the following beneficial effects: The present invention provides a method for reconstructing the servo failure of a medium and small-sized reconnaissance and strike UAV. Based on the elevator actuator failure discrimination method and the elevator actuator failure reconstruction control strategy, this method can solve the failure diagnosis and reconstruction in the case of electrical jamming and mechanical jamming of the UAV elevator actuator. Most of the present invention is completed by the UAV software, and the additional hardware cost is small; the strategy of the present invention is simple to implement and has a wide application range, and can be popularized and applied in different UAV systems, and can effectively improve the reliability of the UAV.

[0014] Compared with the conventional taxiing UAV, when the elevator actuator is "jammed", the height and pitch angle of the UAV cannot be controlled, resulting in the UAV being unable to land normally. By adding a small amount of hardware (relays) and related software algorithms, the present invention can enable the UAV to still be able to normally control the height of the UAV and make the UAV taxi and land normally after one elevator actuator is "jammed". Description of the Drawings

[0015] Figure 1 It is a block diagram of the elevator assembly; Figure 2 It is a flow chart for judging the failure of the elevator servo; Figure 3 It is a flow chart for reconstructing the failure of the elevator servo. Specific implementation manners

[0016] In order to illustrate the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following will be described in detail in conjunction with embodiments.

[0017] The purpose of the present invention is to propose a reconstruction control method for elevator servo failures for medium and small-sized taxiing reconnaissance and strike UAVs, to solve the problem that the UAV cannot safely return and land after the elevator servo of the medium and small-sized taxiing reconnaissance and strike UAV fails, so as to improve its safety.

[0018] In order to achieve the above purpose, the present invention provides a method for reconstructing the failure of the servo of a medium and small-sized reconnaissance and strike UAV. The elevator of the medium and small-sized reconnaissance and strike UAV is composed of two parts, namely the left elevator and the right elevator, each with an independent servo and a control surface, which together constitute the elevator of the medium and small-sized taxiing reconnaissance and strike UAV; it is used for the reconstruction after the elevator servo in the medium and small-sized reconnaissance and strike UAV fails, including: S1. Judge the elevator failure; The elevator failure is judged according to the following steps: Step 1: Both the left elevator and the right elevator adopt electric analog servos. The UAV flight control computer sends an analog voltage control signal to the elevator servo. After receiving the analog voltage control signal and executing the deflection to the specified angle, it outputs a feedback voltage signal to the UAV flight control computer, and this signal represents the actual executed angle of the servo; Step 2: After the UAV is powered on, within the time T, the flight control computer of the UAV collects the control amount and feedback amount of the left and right elevator servos at a period of M; Step 3: If the cumulative difference between the angle values of the control amount and the feedback amount of the left and right elevators within the time T after the UAV is powered on is greater than P degrees for N times, it is judged that the servo fails; Step 4: If the servo is fault-free after Step 3 is completed, after the UAV is powered on, the control amount and feedback amount of the left and right elevator servos are collected regularly at a period of M and converted into angle values. If the difference between the angle values of the control amount and the feedback amount of the left and right elevator servos of the UAV is greater than P degrees continuously for more than Q times, or the cumulative number of times exceeds R times, it is judged that the servo fails.

[0019] S2. Perform fault reconstruction according to the elevator failure, and the reconstruction process includes: Judge whether the elevator servo failure is a circuit failure; When it is determined that the servo is not a circuit fault, enter the mechanical jamming fault handling process; After the mechanical jamming fault handling process, the UAV returns.

[0020] Among them, determining whether the elevator servo fault is a circuit fault includes: The UAV is in the "level flight" mode, power off the servo with the determined fault. Before power off, record the angle value S° at which the faulty servo is located according to the feedback value of the faulty servo; Increase the control amount of the other elevator servo by T times; Observe whether the UAV can fly "level" and "climb" normally at this time; If the UAV can fly "level" and "climb" normally, the fault reconstruction measure is effective, the faulty servo is a circuit fault, and the UAV continues to fly after being processed according to this fault handling method; If the UAV cannot fly "level" and "climb" normally, the faulty servo is not a circuit fault.

[0021] Specifically, entering the mechanical jamming fault handling process includes: According to the maximum stroke value U° of the elevator servo during the UAV flight recorded in the flight data, manually set the other good elevator servo to V° to stabilize the aircraft; Manually configure the other good elevator servo to trim the rudder surface to balance the faulty elevator. At this time, the elevator control output amount is the control law calculation output amount superimposed with the trim rudder surface value.

[0022] Among them, the value-taking method for the faulty rudder surface with an upward trim rudder surface is: The faulty rudder surface is upward and the angle value is greater than U°, and the trim rudder surface of the good elevator servo takes a downward deviation of 0.5 U° - 0.7 U°; The faulty rudder surface is upward and the angle value is greater than 10°, and the trim rudder surface of the good elevator servo takes a downward deviation of 5° - 7°; The faulty rudder surface is upward and the angle value is greater than 5° and less than 10°, and the trim rudder surface of the good elevator servo takes a downward deviation of 0.3 - 0.5 times the jamming angle; The faulty rudder surface is upward and the angle value is less than 5°, and the trim rudder surface of the good elevator servo takes a downward deviation of 1.5° - 2.5°; Among them, the value-taking method for the faulty rudder surface with a downward trim rudder surface is: The faulty rudder surface is downward and the angle value is greater than U°, and the trim rudder surface of the good elevator servo takes an upward deviation of 1.0 U° - 1.2 U°; The faulty rudder surface is downward and the angle value is greater than 10°, and the trim rudder surface of the good elevator servo takes an upward deviation of 11° - 13°; The faulty rudder surface is downward and the angle value is greater than 5° and less than 10°, and the trim rudder surface of the good elevator servo takes an upward deviation of 1.2 - 1.4 times the jamming angle; The failed control surface is deflected downward and the angle value is less than 5°. For the well-functioning elevator servo, the trim control surface takes an upward deflection of 1.2 - 1.4 times the jamming angle.

[0023] To further illustrate the servo fault reconstruction control method for small and medium-sized reconnaissance and strike UAVs provided by the present invention, it is described in conjunction with the accompanying drawings.

[0024] The present invention includes two parts: the elevator servo fault discrimination method and the elevator servo fault reconstruction control strategy.

[0025] Servo faults are divided into two phenomena. One is that the servo circuit fails and its output is abnormal. The other is that the servo jams at a certain angle due to mechanical jamming. When reconstructing servo faults, these two types of faults need to be fully covered.

[0026] The elevator of the small and medium-sized takeoff and landing reconnaissance and strike UAV consists of two parts: the left elevator and the right elevator, each with an independent servo and control surface, which together constitute the elevator of the small and medium-sized takeoff and landing reconnaissance and strike UAV, as specifically Figure 1 shown.

[0027] Refer to the elevator servo fault discrimination process Figure 2 shown: The elevator servo fault discrimination method is as follows: Step 1: Both the left and right elevator servos adopt electric analog servos. The UAV flight control computer sends an analog voltage control signal to the elevator servo. After receiving the analog voltage control signal and deflecting to the specified angle, it outputs a feedback voltage signal to the UAV flight control computer, and this signal represents the actual angle executed by the servo. Step 2: After the UAV is powered on, within time T (3 - 5 times the entire cycle time of the UAV power-on completion), the flight control computer collects the control and feedback quantities of the left and right elevator servos at a period of M (0.5 - 1 times the UAV control system cycle). Step 3: If the cumulative difference between the angle values converted from the control quantities of the left and right elevator servos and the angle values of the feedback quantities is greater than P (1 / 8 - 1 / 12 of the total servo travel) degrees for N (>((T / M) / 2)) times within time T after the UAV is powered on, it is determined that the servo has a fault. Step 4: If there is no fault in the servo after Step 3 is completed, after the UAV is powered on, the control and feedback quantities of the left and right elevator servos are collected at regular intervals with a period of M (0.5 - 1 times the UAV control system cycle) and converted into angle values. If the difference between the angle values of the control and feedback quantities of the left and right elevator servos of the UAV is greater than P (1 / 8 - 1 / 12 of the total servo travel) degrees for more than Q (30 - 50) consecutive times, or the cumulative number of times exceeds R (80 - 120) times, it is determined that the servo has a fault.

[0028] Refer to Figure 3As shown in the figure, after the elevator servo fails, fault reconstruction is carried out. The fault reconstruction strategy for the elevator servo is as follows (this fault reconstruction method only targets the situation where one elevator servo fails at a time): Step 1: First, determine whether the elevator servo failure is a circuit failure. The judgment process is as follows: 1) When the UAV is in the "level flight" mode, power off the servo with the detected failure. Before powering off, record the angle value S° at which the faulty servo is located according to the feedback value of the faulty servo; 2) Increase the control amount of the other elevator servo by T (1.5 - 2) times; 3) Observe whether the UAV can fly "level" and "climb" normally at this time; 4) If the UAV can fly "level" and "climb" normally, the fault reconstruction measure is effective, the faulty servo has a circuit failure, and the UAV continues to fly after being processed according to this fault handling method; 5) If the UAV cannot fly "level" and "climb" normally, the faulty servo does not have a circuit failure, and proceed to the following Step 2; Step 2: If it is determined that the servo does not have a circuit failure, enter the mechanical jamming fault handling process: 1) According to the maximum stroke value U° of the elevator servo during the UAV flight recorded in the flight data, manually set the other good elevator servo to V° (the sign of V° is opposite to the sign of the angle value S° at which the faulty servo is located) to stabilize the aircraft; 2) Manually configure the other good elevator servo to trim the rudder surface to balance the faulty elevator. At this time, the elevator control output amount is the output amount calculated by the control law plus the value of the trim rudder surface; 3) The value-taking method for the trim rudder surface when the faulty rudder surface is deflected upward is as follows: when the faulty rudder surface is deflected upward and the angle value is greater than U°, the trim rudder surface of the good elevator servo is deflected downward by 0.5 U° - 0.7 U°; when the faulty rudder surface is deflected upward and the angle value is greater than 10°, the trim rudder surface of the good elevator servo is deflected downward by 5° - 7°; when the faulty rudder surface is deflected upward and the angle value is greater than 5° and less than 10°, the trim rudder surface of the good elevator servo is deflected downward by 0.3 - 0.5 times the jamming angle; when the faulty rudder surface is deflected upward and the angle value is less than 5°, the trim rudder surface of the good elevator servo is deflected downward by 1.5° - 2.5°; 4) The value-taking method for the trim rudder surface when the faulty rudder surface is deflected downward is as follows: when the faulty rudder surface is deflected downward and the angle value is greater than U°, the trim rudder surface of the good elevator servo is deflected upward by 1.0 U° - 1.2 U°; when the faulty rudder surface is deflected downward and the angle value is greater than 10°, the trim rudder surface of the good elevator servo is deflected upward by 11° - 13°; when the faulty rudder surface is deflected downward and the angle value is greater than 5° and less than 10°, the trim rudder surface of the good elevator servo is deflected upward by 1.2 - 1.4 times the jamming angle; when the faulty rudder surface is deflected downward and the angle value is less than 5°, the trim rudder surface of the good elevator servo is deflected upward by 1.2 - 1.4 times the jamming angle; Step 3: The UAV returns.

[0029] In one embodiment, a method for reconfiguring the failure of a servo of a medium and small-sized reconnaissance and strike UAV includes: The method for judging the failure of the elevator servo is as follows: Step 1: Both the left and right elevator servos adopt electric analog servos. The UAV flight control computer sends an analog voltage control signal to the elevator servo. After receiving the analog voltage control signal and deflecting to the specified angle, it outputs a feedback voltage signal to the UAV flight control computer, and this signal represents the actual angle executed by the servo. Step 2: After the UAV is powered on, within 40 s (the entire cycle time for the UAV to power on is 6 s), the flight control computer collects the control amount and feedback amount of the left and right elevator servos at a period of 20 ms (the UAV control system period is 20 ms). Step 3: If within 6 s after the UAV is powered on, the cumulative difference between the angle values converted from the control amounts of the left and right elevator servos and the angle values of the feedback amounts is greater than 5° for more than 1000 times (the total stroke of the servo is 40°), it is judged that the servo has a failure. Step 4: If the servo has no failure after Step 3 is completed, after the UAV is powered on, the control amounts and feedback amounts of the left and right elevator servos are collected at a period of 20 ms (the UAV control system period is 20 ms) and converted into angle values. If the difference between the angle values of the control amounts and feedback amounts of the left and right elevator servos of the UAV is greater than 5° (the total stroke of the servo is 40°) for more than 30 consecutive times, or the cumulative number of times exceeds 100 times, it is judged that the servo has a failure.

[0030] After the failure of the elevator servo is detected, failure reconfiguration is performed. The failure reconfiguration strategy of the elevator servo is as follows (this failure reconfiguration method only targets the situation where one elevator servo fails at a time): Step 1: First, judge whether the failure of the elevator servo is a circuit failure. The judgment process is as follows: 1) The UAV is in the "level flight" mode. The servo with the detected failure is powered off. Before powering off, record the angle value at which the failed servo is located according to the feedback value of the failed servo. For example, it is 5°. 2) Increase the control amount of the other elevator servo by 2 times. 3) Observe whether the UAV can fly "level" and "climb" normally at this time. 4) If the UAV can fly "level" and "climb" normally, the failure reconfiguration measure is effective, the failed servo is a circuit failure, and the UAV continues to fly after being processed according to this failure handling method. 5) If the UAV cannot fly "level" and "climb" normally, the failed servo is not a circuit failure, and go to the following Step 2 for execution; Step 2: If it is judged that the servo is not a circuit failure, enter the mechanical jamming failure handling process: 5) According to the maximum stroke value of 6° of the elevator servo during the flight of the UAV recorded in the flight data, manually set another good elevator servo to -6° to stabilize the aircraft; 6) Manually configure another good elevator servo to trim the control surface to balance the faulty elevator. At this time, the elevator control output is the sum of the output calculated by the control law and the value of the trim control surface; Step 3: The UAV returns.

[0031] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fault reconstruction method for the servo of a medium and small-sized reconnaissance and strike UAV, characterized in that, For the reconstruction after the elevator servo fails in medium and small-sized reconnaissance and strike UAVs, including: Determine the elevator failure; Perform fault reconstruction according to the elevator failure, and the reconstruction process includes: Judge whether the elevator servo failure is a circuit failure; When it is judged that the servo is not a circuit failure, enter the mechanical jamming fault handling process; After the mechanical jamming fault handling process, the UAV returns.

2. The method for reconfiguring the actuator fault of the medium and small-sized reconnaissance and strike UAV according to claim 1, wherein, The elevator of the medium and small-sized reconnaissance and strike UAV is composed of two parts, namely the left elevator and the right elevator, each with an independent servo and a control surface, which together constitute the elevator of the medium and small-sized takeoff and landing reconnaissance and strike UAV.

3. The method for reconfiguring the steering gear failure of the medium and small-sized reconnaissance and strike UAV according to claim 2, wherein, The elevator failure is judged according to the following steps: Step 1: Both the left elevator and the right elevator adopt electric analog servos. The UAV flight control computer sends an analog voltage control signal to the elevator servo. After receiving the analog voltage control signal and executing the deflection to the specified angle, it outputs a feedback voltage signal to the UAV flight control computer, and this signal represents the actual angle executed by the servo. Step 2: After the UAV is powered on, within the time T, the flight control computer collects the control amount and feedback amount of the left and right elevator servos with a period of M. Step 3: If the cumulative difference between the angle values of the control amount and the feedback amount of the left elevator and the right elevator within the time T after the UAV is powered on is greater than P degrees for N times, it is judged that the servo fails. Step 4: If the servo is not faulty after Step 3 is completed, after the UAV is powered on, the control amount and feedback amount of the left and right elevator servos are collected regularly with a period of M and converted into angle values. If the difference between the angle values of the control amount and the feedback amount of the left and right elevator servos of the UAV is greater than P degrees continuously for more than Q times, or the cumulative number of times exceeds R times, it is judged that the servo fails.

4. The method for reconfiguring the steering gear failure of the medium and small-sized reconnaissance and strike UAV according to claim 2, wherein Judge whether the elevator servo failure is a circuit failure, including: When the UAV is in the "level flight" mode, power off the faulty servo. Before power off, record the angle value S° at which the faulty servo is located according to the feedback value of the faulty servo; Increase the control amount of the other elevator servo by T times; Observe whether the UAV can fly "level" and "climb" normally at this time; If the UAV can fly "level" and "climb" normally, the fault reconstruction measure is effective, the faulty servo is a circuit failure, and the UAV continues to fly after being processed according to this fault handling method; If the UAV cannot fly "level" and "climb" normally, the faulty servo is not a circuit failure.

5. The method for reconfiguring the servo failure of the medium and small-sized reconnaissance and strike UAV according to claim 2, wherein, Enter the mechanical jamming fault handling process, including: According to the maximum stroke value U° of the elevator servo during the UAV flight recorded in the flight data, manually set the other good elevator servo to V° to stabilize the aircraft; Manually configure the trim control surface of the other good elevator servo to balance the faulty elevator. At this time, the elevator control output amount is the control law calculation output amount plus the trim control surface value.

6. The method for reconfiguring the steering gear failure of the medium and small-sized reconnaissance and strike UAV according to claim 5, characterized in that, The value-taking method for the faulty control surface to be the upward trim control surface is: When the faulty control surface is upward and the angle value is greater than U°, the trim control surface of the good elevator servo takes a downward deviation of 0.5 U° - 0.7 U°; When the faulty control surface is upward and the angle value is greater than 10°, the trim control surface of the good elevator servo takes a downward deviation of 5° - 7°; When the faulty control surface is upward and the angle value is greater than 5° and less than 10°, the trim control surface of the good elevator servo takes a downward deviation of 0.3 - 0.5 times the jamming angle; The failed control surface is deflected upward and the angle value is less than 5°. The trim control surface of the good elevator actuator is deflected downward by 1.5° - 2.5°.

7. The method for reconfiguring the servo failure of the medium and small-sized reconnaissance and strike UAV according to claim 5, characterized in that, The method for obtaining the value of the trim control surface when the failed control surface is deflected downward is as follows: When the failed control surface is deflected downward and the angle value is greater than U°, the trim control surface of the good elevator actuator is deflected upward by 1.0U° - 1.2U°; When the failed control surface is deflected downward and the angle value is greater than 10°, the trim control surface of the good elevator actuator is deflected upward by 11° - 13°; When the failed control surface is deflected downward and the angle value is greater than 5° and less than 10°, the trim control surface of the good elevator actuator is deflected upward by 1.2 - 1.4 times the jamming angle; When the failed control surface is deflected downward and the angle value is less than 5°, the trim control surface of the good elevator actuator is deflected upward by 1.2 - 1.4 times the jamming angle.

8. A fault reconstruction system for the servo of a medium and small-sized reconnaissance and strike UAV, characterized in that, Including: A fault discrimination module for discriminating elevator faults; A fault reconstruction module for performing fault reconstruction according to elevator faults. The reconstruction process includes: judging whether the elevator actuator fault is a circuit fault; when it is judged that the actuator is not a circuit fault, entering the mechanical jamming fault handling process; after the mechanical jamming fault handling process, the UAV returns.

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