Electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication

Abstract

The invention discloses an electric vertical take-off and landing telex bus control system and method based on RS485 communication. The system is used for establishing a telex communication link between at least one flight control computer and at least one control unit. The fly-by-wire bus control system comprises a plurality of communication nodes in communication connection, and each communication node comprises a bus controller, an asynchronous serial communication controller and an RS485 transmission interface. One end of the bus controller is in bidirectional communication connection with one end of the asynchronous serial communication controller, the other end of the asynchronous serial communication controller is in bidirectional communication connection with the RS485 transmission interface, and the other end of the bus controller is in bidirectional communication connection with the application layer chip; and the RS485 transmission interface is used for physical layer connection. The bus controller, the asynchronous serial controller and the RS485 transmission interface are connected in series, a telex bus control system based on RS485 communication is constructed, and the reliability of flight control message transmission is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft control, and in particular to an electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication. Background Art

[0002] eVTOL (electric vertical take-off and landing) aircraft (such as drones and manned electric rotorcraft) are equipped with a large number of actuators. The controllers for these actuators are typically distributed throughout the aircraft. The actuators are interconnected with the flight control electronics system via a fly-by-wire bus. To meet the safety, reliability, and weight reduction requirements of eVTOL aircraft, the fly-by-wire bus must balance reliability, safety, weight, and cost. Existing fly-by-wire buses suffer from unstable and unreliable transmission during flight control message transmission, resulting in poor flight control performance and impacting aircraft safety. Summary of the Invention

[0003] The embodiment of the present invention provides an electric vertical take-off and landing fly-by-wire bus control system and method based on RS485 communication, aiming to solve the problem of low message transmission reliability existing in the fly-by-wire bus flight control system applied to aircraft in the prior art.

[0004] In a first aspect, embodiments of the present invention disclose an electric vertical takeoff and landing (EVTL) fly-by-wire bus control system based on RS485 communication, wherein the fly-by-wire bus control system is configured to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit; the control unit is a motor control unit or a servo motor control unit; the fly-by-wire bus control system includes a plurality of communication nodes communicatively connected via the fly-by-wire communication link, each communication node including a bus controller, an asynchronous serial communication controller, and an RS485 transmission interface; One end of the bus controller is connected to one end of the asynchronous serial communication controller for bidirectional communication, the other end of the asynchronous serial communication controller is connected to the RS485 transmission interface for bidirectional communication, and the other end of the bus controller is connected to the application layer chip for bidirectional communication; the RS485 transmission interface is used for physical layer connection.

[0005] In a second aspect, an embodiment of the present invention further discloses a method for controlling an electric vertical take-off and landing (EVTL) fly-by-wire bus based on RS485 communication. The method is applied to the electric vertical take-off and landing (EVTL) fly-by-wire bus control system based on RS485 communication as described in the first aspect above. The method includes: Assigning a node type to each communication node in the system, assigning at least one communication node of a master node type and at least one communication node of a slave node type to the system; If the communication node of the master node type is in an activated state, sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system; If the communication node of the slave node type is in an activated state, it receives the broadcast message, receives the request message and feeds back a response message based on a data frame to the communication node of the master node type in the system; If the communication node of the master node type is in an armed state, receiving the broadcast message and the request message; If the communication node of the slave node type is in a silent state, it receives the broadcast message and receives the request message but does not respond.

[0006] The present application discloses an electric vertical take-off and landing (EVTL) fly-by-wire bus control system and method based on RS485 communication. The system is used to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit. The control unit is a motor control unit or a servo motor control unit. The fly-by-wire bus control system includes multiple communication nodes that are communicatively connected via the fly-by-wire communication link. Each communication node includes a bus controller, an asynchronous serial communication controller, and an RS485 transmission interface. One end of the bus controller is bidirectionally connected to one end of the asynchronous serial communication controller, and the other end of the asynchronous serial communication controller is bidirectionally connected to the RS485 transmission interface. The other end of the bus controller is bidirectionally connected to an application layer chip. The RS485 transmission interface is used for physical layer connection. The above-mentioned electric vertical take-off and landing (EVTL) fly-by-wire bus control system based on RS485 communication is configured by connecting the bus controller, the asynchronous serial controller, and the RS485 transmission interface in series to construct a fly-by-wire bus control system based on RS485 communication, which greatly improves the reliability of flight control message transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0008] Figure 1 This is an application effect diagram of the electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication provided by an embodiment of the present invention; Figure 2An internal structural diagram of a communication node in an electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication provided by an embodiment of the present invention; Figure 3 An internal structure diagram of a bus controller provided by an embodiment of the present invention; Figure 4 A method flow chart of an electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication provided by an embodiment of the present invention; Figure numerals: 10, bus controller; 20, asynchronous serial communication controller; 30, RS485 transmission interface; 40, application layer chip; 11, application manager; 12, message sending buffer; 13, message receiving buffer; 14, bus manager; 15, bus frame checker; 16, bus monitor; 17, bus sending manager. DETAILED DESCRIPTION

[0009] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0010] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0011] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0012] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0013] The embodiment of the present invention discloses an electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication, such as Figure 1 and Figure 2 As shown, the system is used to establish a telex communication link between at least one flight control computer and at least one control unit, as shown in the present application Figure 1In the present invention, a fly-by-wire communication link is established between three flight control computers (FCC) and n motor control units (MCU) and m servo motor control units (SCU). The motor control units and servo motor control units are both control units. Each component connected to the fly-by-wire communication link is a communication node in a fly-by-wire bus control system. The communication nodes connected to the fly-by-wire communication link constitute a fly-by-wire bus control system. For example, in this application, the flight control computer is used as the master communication node (Master) and the control unit is used as the slave communication node (Slave).

[0014] like Figure 2 As shown, each communication node includes a bus controller 10, an asynchronous serial communication controller 20 (UART controller), and an RS485 transmission interface 30 (RS485 transceiver). One end of the bus controller 10 is bidirectionally connected to one end of the asynchronous serial communication controller 20, the other end of the asynchronous serial communication controller 20 is bidirectionally connected to the RS485 transmission interface 30, and the other end of the bus controller 10 is bidirectionally connected to the application layer chip 40. The RS485 transmission interface 30 is used for physical layer connection.

[0015] The RS485 transmission interface is the physical layer interface for accessing teletype communication links. This interface standard is RS-485 (TIA / EIA-485-A). Its bus topology supports multipoint communication, including point-to-point polling. The RS485 transmission interface uses differential signaling to enhance anti-interference capabilities. The transmit / receive direction is controlled by the DE / RE pins on the FPGA. To enhance the security and reliability of interface transmission, isolation circuits, TVS protection diodes (for surge protection), and fail-safe settings are also included (to ensure that the system or equipment automatically takes safety measures to prevent accidents or damage in the event of a fault or abnormality).

[0016] The asynchronous serial communication controller serves as the data link layer, using the Universal Asynchronous Receiver / Transmitter (UART) as its basic communication method. Typical transmission parameters are 115200 bps and 8N1. The asynchronous serial communication controller's start and stop bit processing is handled by the UART IP core, while the receive and transmit processes independently implement first-in-first-out data processing. UART frame error and parity error detection are used to detect transmission errors, while byte timeout detection enables time-based framing.

[0017] The bus controller, as the protocol layer, uses an FPGA (Field Programmable Gate Array) or dedicated chip to implement the data link layer or protocol layer. The application layer chip, also known as the application layer, can use a microprocessor or other chip as the application layer.

[0018] Further, such as Figure 3 As shown, the bus controller 10 includes an application manager 11 (App Manager), a message sending buffer 12 (Message TX FIFO), a message receiving buffer 13 (Message RX FIFO), a bus manager 14 (BusManager), a bus frame checker 15 (Bus Frame Check), a bus monitor 16 (Bus Monitor), a bus sending manager 17 (Bus Tx Manager); the bus manager 14 is connected to the message sending buffer 12, the message receiving buffer 13, the bus frame checker 15, the bus monitor 16 and the bus sending manager 17 in a two-way communication manner; an output end of the message receiving buffer 13 is connected to an input end of the application manager 11; two output ends of the application manager 11 are connected to an input end of the bus manager 14 and an input end of the message sending buffer 12 respectively; an output end of the message sending buffer 12 is connected to an input end of the bus sending manager 17; an output end of the bus sending manager 17 is connected to an input end of the bus monitor 16; two output ends of the bus frame checker 15 are connected to an input end of the message receiving buffer 13 and an input end of the bus monitor 16 respectively; an input end of the bus frame checker 15, an input end of the bus monitor 16 and an output end of the bus sending manager 17 are respectively connected to the asynchronous serial communication controller 20; the application manager 11 is connected to the flight control computer in a two-way communication manner.

[0019] The application manager manages input, output, and configuration between the bus controller and the application layer. The message send buffer buffers outgoing messages, while the message receive buffer buffers received messages. The bus manager manages the bus controller, primarily managing bus controller status and conflicts, as well as FIFO (First-In-First-Out) control and association of input and output messages. The bus frame checker verifies the structure of data frames and filters them. The bus monitor monitors the bus controller's status and faults. The bus transmit manager manages the transmission of messages sent out by the bus controller.

[0020] In a more specific embodiment, the message sending buffer is used to cache messages to be sent and follows a first-in, first-out principle; the message receiving buffer is used to cache received messages and follows a first-in, first-out principle. Specifically, the message sending buffer is used to receive messages to be sent, cache them, and process the cached messages according to the first-in, first-out principle; the message receiving buffer is used to cache received messages, and its message processing principles are the same as those of the message sending buffer.

[0021] The present application also discloses an electric vertical take-off and landing (EVTL) fly-by-wire bus control method based on RS485 communication, wherein the fly-by-wire bus control method is applied to the fly-by-wire bus control system described in the above embodiment. Figure 4 As shown, the control method includes steps S110 to S150.

[0022] S110. Allocate a node type to each communication node in the system, and allocate at least one communication node of a master node type and at least one communication node of a slave node type to the system.

[0023] In a more specific embodiment, when starting the aforementioned fly-by-wire bus control system, system initialization must be completed. A node type can be assigned to each communication node in the system. Specifically, the node type can be assigned based on the device type of each communication node. For example, in the embodiment of the present application, the flight control computer (FCC) is configured as a master node type communication node (also known as a master communication node), and the control device is configured as a slave node type communication node (also known as a slave communication node).

[0024] After the node type is fully assigned, the system contains at least one master node type communication node and at least one slave node type communication node. The master node can send broadcast messages and request messages, while the slave node can only send response messages.

[0025] In a more specific embodiment, step S110 also includes the specific step of setting the activation state switching conditions and / or activation state switching time of the communication nodes of each master node type so that there is only one communication node of the master node type in the active state at the same time.

[0026] A master communication node can be in either active or standby state. In a telex bus control system, only one master communication node can be in active state at any given time. This node is responsible for sending broadcast messages and request messages. A master communication node in standby state is a listening node. A master communication node in standby state can only receive messages and cannot send any. To clarify the status of each master communication node and enable state switching when necessary, master communication nodes can be configured with active state switching conditions (e.g., switching another master communication node to active state if a master communication node malfunctions) or active state switching times (e.g., switching a master communication node to active state at a fixed time). If a master communication node meets the active state switching conditions or reaches the active state switching time, it switches to active state.

[0027] In a more specific embodiment, step S110 further includes the specific step of setting priority configuration information of the communication nodes of each master node type.

[0028] Furthermore, priority configuration information of each master communication node may be set so that activation state switching is performed according to the order of the priority configuration information, and a master communication node with a higher priority in the priority configuration information is preferentially switched to an activation state.

[0029] S120. If the communication node of the master node type is in an activated state, a broadcast message based on a data frame is sent to all communication nodes in the system or a request message based on a data frame is sent to any communication node in the system.

[0030] The active master communication node can send broadcast messages and request messages. Both broadcast messages and request messages are based on data frames, and messages are sent and received in the form of data frames. The frame structure of the data frame includes the message header (HEAD), message type field (Transfer Type), message identifier (Msg ID), length field (Length), payload cyclic redundancy check code (Payload CRC), message header cyclic redundancy check code (Head CRC), payload (Payload) and end of frame (EOF). CRC is the cyclic redundancy check. As shown in Table 1, the specific structure of a data frame includes: Table 1

[0031] 1B represents 8 bits. The upper two bits of the message type field are the message type bits (TransferType bits), and the lower six bits are the node identifier bits (Node ID bits). "00" in the upper two bits indicates that the corresponding message in the data frame is a broadcast message, "01" indicates that the message is a request message, and "02" indicates that the message is a reply message. The node identifier in the lower six bits is an integer between 0 and 63. If the message is a broadcast message, the node identifier bits record the broadcast node identifier; if the message is a request message, the node identifier bits record the target node identifier of the request; if the message is a reply message, the node identifier bits record the reply node identifier. Bits 0 to 11 of the message identifier record the message ID, and bits 12 to 15 record the message priority. The N in the payload's NB length is a positive integer greater than 1.

[0032] In a more specific embodiment, step S120 also includes the following steps: determining whether the corresponding response message has not been received within the maximum waiting response time for the request message; if the corresponding response message has not been received within the maximum waiting response time, continuing to send the next broadcast message or the next request message.

[0033] The detailed functions of the master communication node based on the bus controller include: a bus frame checker for data frame parsing, which can perform error detection on the data frame corresponding to the message according to the data frame monitoring format, such as checking the message header cyclic redundancy check (Head CRC) in the data frame and checking the payload cyclic redundancy check code (PayloadCRC) in the data frame; a bus manager for managing the status of the bus controller (such as activation status or pre-position status), managing bus conflicts (normal, abnormal, bus transmission disabled), and setting the bus transmission manager and bus frame checker to enable management; a bus monitor for monitoring various states of the bus controller, including active node survival monitor (Active Nodealive Monitor), response timeout monitor (Response timeout monitor), data frame monitor (Bus FrameMonitor), transmit / receive buffer overflow monitor (Tx / Rx Fifo Overflow The bus transmit manager is used to monitor the bus idle state, control the bus transmit enable, and send status data according to priority. The application manager is used to manage the communication interface with the application layer, including communication node management (setting, reading, etc.), bus status setting management, data frame reading and writing, and status management (Bus Frame Read / Write / Status).

[0034] The active master communication node can monitor the response timeout of the request message through the bus monitor to determine whether the maximum waiting response time of the request message has been reached and the corresponding response message has not been received; if the maximum waiting response time has expired and the corresponding response message has not been received, the next message will be sent.

[0035] S130: If the communication node of the slave node type is in an activated state, it receives the broadcast message, receives the request message and feeds back a response message based on the data frame to the communication node of the master node type in the system.

[0036] A slave node can be in one of two states: Active, receiving broadcast and request messages. It can respond to requests from the master node and send back a response message based on a data frame. Mute, receiving only messages, refuses to respond to requests from the master node.

[0037] The detailed functions of the communication node based on the bus controller include: a bus frame checker, which is used for data frame parsing and can perform error detection on the data frame corresponding to the message according to the data frame monitoring format, such as checking the message header cyclic redundancy check (Head CRC) in the data frame and checking the payload cyclic redundancy check code (Payload CRC) in the data frame; a bus manager is used to manage the status of the bus controller (such as active state or silent state), manage bus conflicts (normal, abnormal, bus transmission disabled), set the bus send manager and bus frame checker to enable management, and receive request messages and deliver the request messages to the bus send manager in a "first in first out" manner; a bus monitor is used to monitor various states of the bus controller, including active node alive monitor, response timeout monitor, data frame monitor, send / receive buffer overflow monitor (Tx / Rx Fifo Overflow The bus transmit manager is used to monitor the bus idle state, enable bus transmit, and send status data according to priority. The application manager is used to manage the communication interface with the application layer, including communication node management (setting, reading, etc.), bus status setting management, data frame read / write and status management (Bus Frame Read / Write / Status). The message transmit buffer uses a "first-in, first-out" processing method to cache and output messages.

[0038] In a more specific embodiment, step S130 also includes the specific steps of: performing data frame format verification on the received message to obtain a verification result of whether it passes; if the verification result is passed, performing type filtering on the message to retain broadcast messages and request messages; if the message is a request message, generating a response message based on the data frame and providing feedback.

[0039] Data frame format verification includes checking the header cyclic redundancy check (CRC) and payload cyclic redundancy check (CRC) within the data frame. Specifically, after the message passes verification, the slave communication node also performs message type filtering. This is achieved through the bus frame checker within the slave communication node. The bus frame checker filters received data frames, allowing only broadcast messages and request messages. Data frames whose target node identifier (Node ID) in the message type field matches that of the owning node are passed through and output to the message receive buffer for processing. If the message is a request message, a corresponding response message is generated and fed back.

[0040] S140. If the communication node of the master node type is in a pre-positioned state, receive the broadcast message and the request message.

[0041] In a more specific embodiment, after step S140, the step of determining the timeout status of the corresponding request message according to the response message (implemented by a bus monitor) is further included. That is, if the communication node of the master node type is in the pre-positioned state, after receiving the broadcast message and the request message, the timeout status of the corresponding request message can be determined according to the response message; the master communication node in the pre-positioned state and the master communication node in the active state can determine the timeout status of the corresponding request message according to the response message. Figure 1 The "interactive connection" in the interactive transmission of data information.

[0042] S150: If the communication node of the slave node type is in a silent state, receive the broadcast message and receive the request message but do not respond.

[0043] If a slave node is in silent state, it only receives messages without responding.

[0044] The present invention discloses an electric vertical take-off and landing (EVTL) fly-by-wire bus control system and method based on RS485 communication. The system is used to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit. The control unit is a motor control unit or a servo motor control unit. The fly-by-wire bus control system includes multiple communication nodes that are communicatively connected via the fly-by-wire communication link. Each communication node includes a bus controller, an asynchronous serial communication controller, and an RS485 transmission interface. One end of the bus controller is bidirectionally connected to one end of the asynchronous serial communication controller, and the other end of the asynchronous serial communication controller is bidirectionally connected to the RS485 transmission interface. The other end of the bus controller is bidirectionally connected to an application layer chip. The RS485 transmission interface is used for physical layer connection. The above-mentioned electric vertical take-off and landing (EVTL) fly-by-wire bus control system based on RS485 communication is constructed by connecting the bus controller, the asynchronous serial controller, and the RS485 transmission interface in series to form a fly-by-wire bus control system based on RS485 communication, significantly improving the reliability of flight control message transmission.

[0045] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication, characterized in that: The fly-by-wire bus control system is used to establish a fly-by-wire communication link between at least one flight control computer and at least one control unit; the control unit is a motor control unit or a servo motor control unit, and the fly-by-wire bus control system includes a plurality of communication nodes that are communicatively connected via the fly-by-wire communication link, each communication node including a bus controller, an asynchronous serial communication controller, and an RS485 transmission interface; One end of the bus controller is connected to one end of the asynchronous serial communication controller for bidirectional communication, the other end of the asynchronous serial communication controller is connected to the RS485 transmission interface for bidirectional communication, and the other end of the bus controller is connected to the application layer chip for bidirectional communication; the RS485 transmission interface is used for physical layer connection.

2. The electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication according to claim 1, characterized in that: The bus controller includes an application manager, a message sending buffer, a message receiving buffer, a bus manager, a bus frame checker, a bus monitor, and a bus sending manager; The bus manager is connected to the message sending buffer, the message receiving buffer, the bus frame checker, the bus monitor and the bus sending manager for bidirectional communication; An output of the message receiving buffer is connected to an input of the application manager; two outputs of the application manager are respectively connected to an input of the bus manager and an input of the message sending buffer; an output of the message sending buffer is connected to an input of the bus sending manager; an output of the bus sending manager is connected to an input of the bus monitor; The two output ends of the bus frame checker are respectively connected to an input end of the message receiving buffer and an input end of the bus monitor; an input end of the bus frame checker, an input end of the bus monitor and an output end of the bus sending manager are respectively connected to the asynchronous serial communication controller; the application manager is connected to the flight control computer for two-way communication.

3. The electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication according to claim 2, characterized in that: The message sending buffer is used to buffer messages to be sent and follows the first-in-first-out principle; the message receiving buffer is used to buffer received messages and follows the first-in-first-out principle.

4. A method for controlling an electric vertical take-off and landing fly-by-wire bus based on RS485 communication, characterized in that: The method is applied to the electric vertical take-off and landing fly-by-wire bus control system based on RS485 communication as described in any one of claims 1 to 3, and the method comprises: Assigning a node type to each communication node in the system, assigning at least one communication node of a master node type and at least one communication node of a slave node type to the system; If the communication node of the master node type is in an activated state, sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system; If the communication node of the slave node type is in an activated state, it receives the broadcast message, receives the request message and feeds back a response message based on a data frame to the communication node of the master node type in the system; If the communication node of the master node type is in an armed state, receiving the broadcast message and the request message; If the communication node of the slave node type is in a silent state, it receives the broadcast message and receives the request message but does not respond.

5. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 4, characterized in that: The assigning of a node type to each communication node in the system comprises: The activation state switching condition and / or activation state switching time of the communication node of each master node type is set so that there is only one communication node of the master node type in the active state at the same time.

6. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 5, characterized in that: The assigning a node type to each communication node in the system further comprises: The priority configuration information of the communication node of each master node type is set.

7. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 4, characterized in that: The method further comprises: If the communication node of the master node type is in the pre-positioned state, the timeout state of the corresponding request message is determined according to the response message.

8. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 4, characterized in that: After sending a broadcast message based on a data frame to all communication nodes in the system or sending a request message based on a data frame to any communication node in the system, the method further includes: Determine whether the maximum waiting time for a response to the request message has expired and no corresponding response message has been received; If no corresponding response message is received within the maximum waiting response time, the next broadcast message or the next request message will be sent.

9. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to claim 4, characterized in that: The receiving of the broadcast message, and the receiving of the request message and feeding back a response message based on a data frame to the communication node of the master node type in the system, comprises: Perform data frame format verification on the received message to obtain a verification result of whether it passes; If the verification result is passed, the message is filtered by type to retain broadcast messages and request messages; If the message is a request message, a response message based on the data frame is generated and fed back.

10. The electric vertical take-off and landing fly-by-wire bus control method based on RS485 communication according to any one of claims 4 to 9, characterized in that: The frame structure of the data frame includes a message header, a message type field, a message identifier, a length field, a payload cyclic redundancy check code, a message header cyclic redundancy check code, a payload and a terminator.

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