Hybrid control methods, devices, equipment, storage media, and products for unmanned aerial vehicles (UAVs) control surfaces

Abstract

This application discloses a hybrid control method, apparatus, device, storage medium, and product for unmanned aerial vehicles (UAVs), relating to the field of UAV technology. The UAV hybrid control method includes: responding to a received flight control command, acquiring the flight speed of the UAV; determining the control weights of the ailerons, flaps, and V-shaped tail rudder based on the flight speed; controlling the ailerons, flaps, and V-shaped tail rudder during the low-speed flight phase of the UAV, thereby enabling rapid combination to form the target control surface and improving the maneuverability of the UAV during the low-speed phase; and reducing the sensitivity of the control system and improving the stability of the UAV during the high-speed flight phase by assigning corresponding control weights to the ailerons, flaps, and V-shaped tail rudder during the high-speed flight phase. Therefore, this application enables the UAV to simultaneously possess stability and maneuverability across the entire speed range.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to UAV control methods, apparatus, devices, storage media, and products involving hybrid control of control surfaces. Background Technology

[0002] Current fixed-wing UAVs typically use independent channels to control control surfaces with fixed functions. In this control method, each control surface has a relatively simple function. At low speeds where aerodynamic forces are weak, larger control surfaces are needed to change the control surface and achieve rapid attitude control. At high speeds where aerodynamic forces are strong, only smaller control surfaces are needed to achieve attitude control.

[0003] Current methods often only allow for a compromise between low and high speeds, resulting in weaker control at low speeds, requiring more time to adjust the control surfaces and reducing the drone's maneuverability at low speeds. At high speeds, the control is too strong, making the system overly sensitive and reducing the drone's stability. As a result, current methods cannot simultaneously provide stability and maneuverability across the entire speed range for drones. Summary of the Invention

[0004] The main objective of this application is to provide a hybrid control method, apparatus, device, storage medium, and product for unmanned aerial vehicles (UAVs), aiming to solve the technical problem that UAVs cannot simultaneously possess stability and maneuverability across the entire speed range.

[0005] To achieve the above objectives, this application proposes a hybrid control method for unmanned aerial vehicle (UAV) control surfaces, the method comprising:

[0006] In response to received flight control commands, the flight speed of the UAV is acquired, wherein the UAV has ailerons, flaps and V-shaped tail rudder;

[0007] Based on the flight speed and the flight control commands, the control weights of the aileron, the flaps and the V-shaped tail rudder are determined respectively;

[0008] Based on the control weights and the flight control commands, the ailerons, flaps, and V-shaped tail rudders are controlled to combine to form the target control surfaces corresponding to the flight control commands, thereby achieving UAV flight control.

[0009] In one embodiment, the types of flight control commands include roll control commands and pitch control commands, and the step of determining the control weights of the aileron, the flaps, and the V-shaped tail rudder based on the flight speed and the flight control commands includes:

[0010] If the flight control command is a roll control command, then the control weight of the V-shaped tail rudder is determined to be zero, and the control weights of the aileron and the flap are determined based on the flight speed and the roll control command.

[0011] If the flight control command is a pitch control command, then the control weights of the aileron, the flap, and the V-shaped tail rudder are determined based on the flight speed and the pitch control command.

[0012] In one embodiment, the step of determining the control weights of the aileron and the flap based on the flight speed and the roll control command includes:

[0013] If the flight speed is not higher than a preset first speed threshold, then the control weight of the aileron and the flap is determined to be 1;

[0014] If the flight speed is higher than a preset second speed threshold, then the control weight of the aileron is determined to be 1 and the control weight of the flap is zero, wherein the second speed threshold is higher than the first speed threshold;

[0015] If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, the control weights of the ailerons and the flaps are adjusted based on the flight speed and the roll control command.

[0016] In one embodiment, the step of adjusting the control weights of the aileron and the flap based on the flight speed and the roll control command includes:

[0017] If the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, the control weight of the aileron is adjusted based on the flight speed and the roll control command. The third speed threshold is higher than the first speed threshold and lower than the second speed threshold. The control weight of the aileron decreases as the flight speed increases and decreases to zero when the flight speed reaches the third speed threshold.

[0018] If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, the control weights of the ailerons and the flaps are adjusted based on the flight speed and the roll control command. As the flight speed increases, the control weight of the ailerons increases and the control weight of the flaps decreases. When the flight speed reaches the second speed threshold, the control weight of the ailerons increases to 1 and the control weight of the flaps decreases to zero.

[0019] In one embodiment, the step of determining the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the pitch control command includes:

[0020] If the flight speed is not higher than a preset first speed threshold, then the control weight of the aileron, the flap, and the V-shaped tail rudder is determined to be 1;

[0021] If the flight speed is higher than the preset second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, and the control weight of the aileron and the flap is zero.

[0022] If the flight speed is higher than the first speed threshold and not higher than the second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, and the control weights of the aileron and the flap are adjusted based on the flight speed and the pitch control command.

[0023] In one embodiment, the step of determining the control weight of the V-shaped tail rudder to be 1, and adjusting the control weights of the aileron and the flap based on the flight speed and the pitch control command, includes:

[0024] If the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, then the control weight of the flap and the V-shaped tail rudder is determined to be 1, and the control weight of the aileron is adjusted based on the flight speed and the pitch control command. As the flight speed increases, the control weight of the aileron decreases, and decreases to zero when the flight speed reaches the third speed threshold.

[0025] If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, the control weight of the aileron is determined to be zero, and the control weight of the flap is adjusted based on the flight speed and the pitch control command. As the flight speed increases, the control weight of the flap decreases, and decreases to zero when the flight speed reaches the second speed threshold.

[0026] Furthermore, to achieve the above objectives, this application also proposes a hybrid control device for unmanned aerial vehicle (UAV) control surfaces, the UAV control surface hybrid control device comprising:

[0027] A speed acquisition module is used to acquire the flight speed of the UAV in response to received flight control commands, wherein the UAV has ailerons, flaps and V-shaped tail rudder;

[0028] The weight determination module is used to determine the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the flight control command, respectively.

[0029] The control surface combination module is used to control the aileron, the flap and the V-shaped tail rudder to form the target control surface corresponding to the flight control command based on the control weight and the flight control command, so as to realize the flight control of the UAV.

[0030] In addition, to achieve the above objectives, this application also proposes a hybrid control device for unmanned aerial vehicles (UAVs), the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the hybrid control method for UAVs as described above.

[0031] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the UAV control surface hybrid control method described above.

[0032] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the UAV control surface hybrid control method described above.

[0033] One or more technical solutions proposed in this application have at least the following technical effects:

[0034] In response to received flight control commands, this application acquires the flight speed of the UAV. Based on the flight speed, it determines the control weights of the ailerons, flaps, and V-shaped tail rudder. During the low-speed flight phase of the UAV, this application controls the ailerons, flaps, and V-shaped tail rudder based on the control weights and the flight control commands, thereby enabling rapid combination to form target control surfaces and improving the maneuverability of the UAV in the low-speed phase. During the high-speed flight phase of the UAV, this application can assign corresponding control weights to the ailerons, flaps, and V-shaped tail rudder, and control the UAV based on these control weights, thereby reducing the sensitivity of the control system and improving the stability of the UAV in the high-speed flight phase. Therefore, this application enables the UAV to possess both stability and maneuverability across the entire speed range. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating an embodiment of the hybrid control method for unmanned aerial vehicle control surfaces provided in this application.

[0038] Figure 2 This is a structural schematic diagram of Embodiment 1 of the UAV control surface hybrid control method of this application;

[0039] Figure 3 This is a flowchart illustrating Embodiment 2 of the UAV control surface hybrid control method of this application.

[0040] Figure 4 This is a flowchart illustrating Embodiment 3 of the UAV control surface hybrid control method of this application;

[0041] Figure 5 This is a schematic diagram of the first scenario provided for Embodiment 3 of the UAV control surface hybrid control method of this application;

[0042] Figure 6 This is a schematic diagram of the second scenario provided in Embodiment 3 of the UAV control surface hybrid control method of this application;

[0043] Figure 7 This is a schematic diagram of the module structure of the UAV control surface hybrid control device according to an embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the UAV control surface hybrid control method in the embodiments of this application.

[0045] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0047] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0048] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a UAV control surface hybrid control device. The following description uses a UAV control surface hybrid control device as an example to illustrate this embodiment and the subsequent embodiments.

[0049] Based on this, embodiments of this application provide a hybrid control method for unmanned aerial vehicle (UAV) control surfaces, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the UAV control surface hybrid control method of this application.

[0050] In this embodiment, the UAV control surface hybrid control method includes steps S10~S30:

[0051] Step S10: In response to the received flight control command, the flight speed of the UAV is obtained, wherein the UAV has ailerons, flaps and V-shaped tail rudder;

[0052] Understandably, current fixed-wing UAVs typically use independent channels to control the control surfaces with fixed functions. That is, in the control system, three independent channels control the pitch, roll, and yaw of the UAV. The commonly used control methods are: pitch control is fixed by the elevator, roll control is fixed by the aileron, and yaw control is fixed by the rudder.

[0053] The control torque requirements of UAVs differ significantly between low and high speeds. At low speeds, aerodynamic forces are weak, necessitating larger control surfaces for rapid attitude control. At high speeds, the aerodynamic forces are stronger, requiring only smaller control surfaces for attitude control. Therefore, conventional technologies often compromise between low and high speeds. However, this approach results in weaker control at low speeds, requiring more time for control surface adjustments and reducing the UAV's maneuverability at low speeds. Conversely, overly strong control at high speeds makes the system overly sensitive, reducing the UAV's stability at high speeds. Consequently, current methods cannot simultaneously achieve stability and maneuverability across the entire speed range for UAVs.

[0054] Furthermore, in traditional control surface methods, the function of the control surfaces is singular and fixed. Therefore, if a single servo fails, the entire aircraft is highly likely to experience an accident. This results in limited redundancy and insufficient safety and reliability in traditional control surface methods. Additionally, the servos corresponding to the control surfaces need to simultaneously meet the control forces required at both low and high speeds, often necessitating the installation of high-power servos. This increases the weight of the UAV, affects its aerodynamic characteristics, and ultimately increases the cost of the UAV.

[0055] Therefore, to solve the above problems, this embodiment adds ailerons, flaps, and a V-shaped tail rudder to the fixed-wing UAV, and in response to the received flight control commands, obtains the UAV's flight speed. Based on the flight control commands and flight speed, the ailerons, flaps, and V-shaped tail rudder of the UAV are controlled. The positions of the ailerons, flaps, and V-shaped tail rudder in the UAV are referenced. Figure 2 .

[0056] Step S20: Based on the flight speed and the flight control command, determine the control weights of the aileron, the flap, and the V-shaped tail rudder, respectively;

[0057] It should be noted that the ailerons, flaps, and V-shaped tail rudders in this embodiment are all control surfaces capable of performing multiple control functions. The control weight is the amount of angle change of the ailerons, flaps, and V-shaped tail rudders based on the control command. For example, if the control weight of the aileron is 0.3, the control weight of the flaps is 0.7, and the control weight of the V-shaped tail rudder is 0, then when the flight control command requires the ailerons, flaps, and V-shaped tail rudders to change their angles by 10 degrees, the aileron angle will change by 3 degrees, the flap angle will change by 7 degrees, while the V-shaped tail rudder angle will not change.

[0058] Understandably, the optimal control method for a drone will change depending on different flight control commands and flight speeds. Therefore, controlling the fixed-function control surfaces of a fixed-wing drone solely through an independent channel will result in a suboptimal control method, affecting the drone's maneuverability and stability.

[0059] Therefore, this embodiment determines the control weights of the aileron, flaps, and V-shaped tail rudder based on the flight speed and the flight control command. By assigning different control weights to the aileron, flaps, and V-shaped tail rudder under different flight speeds and flight control commands, the UAV can be controlled in the best way.

[0060] Step S30: Based on the control weights and the flight control commands, control the combination of the ailerons, flaps, and V-shaped tail rudders to form the target control surface corresponding to the flight control commands, so as to realize the flight control of the UAV.

[0061] It should be noted that the target control surface is the control surface that the UAV needs to form to execute the current flight control commands.

[0062] It is understandable that different flight attitudes of a drone require different target control surfaces combined with aerodynamic forces to achieve. During flight, different flight speeds result in different aerodynamic forces. When a drone flies at low speeds, the aerodynamic forces are smaller, requiring larger control surfaces for flight control. To make the drone's control surfaces become the target control surfaces, each control surface of the drone needs to be controlled.

[0063] Controlling a single control surface via an independent channel requires a significant amount of time to modify that single control surface, which reduces the UAV's maneuverability. Therefore, this embodiment controls multiple control surfaces simultaneously, including the ailerons, flaps, and V-shaped tail rudder, based on the control weights and flight control commands. By combining these multiple control surfaces, the target control surface corresponding to the flight control command is formed, thereby achieving flight control of the UAV.

[0064] During the low-speed flight phase of the UAV, compared to the single control method of the traditional method, this embodiment enables the UAV to form the target control surface corresponding to the flight control command more quickly by controlling the ailerons, flaps and V-shaped tail rudder together, thereby achieving flight control and improving the maneuverability of the UAV during the low-speed flight phase.

[0065] During the high-speed flight phase of the UAV, this embodiment allocates control weights for the ailerons, flaps, and V-tail in real time based on flight control commands and flight speed. By influencing the angle changes of the ailerons, flaps, and V-tail based on flight control commands through control weights, the control system is prevented from being overly sensitive, achieving more precise flight control and improving the stability of the UAV during high-speed flight.

[0066] Therefore, based on the control weights and the flight control commands, this embodiment controls the combination of the ailerons, flaps, and V-shaped tail rudder to form the target control surface corresponding to the flight control commands, so as to enable the UAV flight control to have both stability and maneuverability in the full speed range.

[0067] Furthermore, since each control surface of the UAV in this embodiment has multiple control functions and multiple control surfaces are redundant with each other, even if the servo fails in the air, the control method of this embodiment can automatically complete the servo degradation by reducing the flight speed. Each control surface cooperates with each other to complete roll and pitch control, preventing the problem of the entire aircraft crashing due to the failure of one control surface, thus improving the safety and reliability of the UAV.

[0068] Furthermore, during the flight of the UAV, the combined control method in this embodiment only requires a small change in the control surfaces to control the aircraft's attitude, which reduces the aerodynamic force required to change the control surfaces. Therefore, control can be completed with a low-power servo motor, thereby reducing the weight of the UAV and its cost.

[0069] In summary, this embodiment responds to received flight control commands, acquires the UAV's flight speed, and determines the control weights of the ailerons, flaps, and V-shaped tail rudder based on the flight speed. During the UAV's low-speed flight phase, this application controls the ailerons, flaps, and V-shaped tail rudder based on the control weights and the flight control commands, thereby quickly combining them to form target control surfaces and improving the UAV's maneuverability at low speeds. During the UAV's high-speed flight phase, this application can assign corresponding control weights to the ailerons, flaps, and V-shaped tail rudder, and control the UAV based on these control weights, thereby reducing the sensitivity of the control system and improving the UAV's stability during high-speed flight. Therefore, this application enables the UAV to possess both stability and maneuverability across the entire speed range.

[0070] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 The types of flight control commands include roll control commands and pitch control commands. Step S20 also includes steps S21-S22:

[0071] Step S21: If the flight control command is a roll control command, then the control weight of the V-shaped tail rudder is determined to be zero. Based on the flight speed and the roll control command, the control weights of the aileron and the flap are determined.

[0072] It should be noted that if the flight control command is a roll control command, the V-shaped tail rudder will not participate in the flight control of the UAV.

[0073] Understandably, the control surfaces of a fixed-wing UAV are located at different positions on the UAV, primarily to meet the different flight control requirements of the UAV. When a target control surface needs to be formed, the required adjustment angle will also be different because the main functions of different control surfaces are different.

[0074] In this embodiment, since the V-shaped tail rudder is mainly used for turning the UAV left and right, and the goal of the roll control command is to make the UAV tilt left and right, the V-shaped tail rudder is not needed when executing the roll control command. Therefore, its control weight is set to zero to avoid unnecessary interference and energy consumption.

[0075] The ailerons, located on the trailing edge of the wing, are used to directly control the roll maneuver of the UAV. During flight, the flaps can also assist in roll control by adjusting them. Therefore, this embodiment determines the control weights of the ailerons and flaps based on the flight speed and the roll control command, thereby forming corresponding target control surfaces to achieve flight control of the UAV and improve the stability and maneuverability of the UAV's roll flight.

[0076] In one embodiment, the specific implementation of determining the control weights of the aileron and the flap based on the flight speed and the roll control command can be:

[0077] Based on historical flight data of the UAV, a linear aerodynamic model of the UAV is established to obtain the aerodynamic derivatives under different flight conditions. According to the current flight speed of the UAV and the required roll rate, the total roll torque is calculated, and the control weights are allocated based on the efficiency of each control surface.

[0078] It should be noted that the efficiency of each control surface can be obtained based on wind tunnel experiments, fluid dynamics simulations, or flight tests.

[0079] In one embodiment, the step of allocating control weights based on the efficiency of each control surface may further allocate control weights based on the synergistic effect of each control surface.

[0080] It should be noted that the synergistic effect of the various control surfaces can be obtained based on wind tunnel experiments, fluid dynamics simulations, or flight tests.

[0081] Specifically, during roll control, the ailerons and flaps can generate additional roll torque through synergistic effects. The allocation of control weights based on these synergistic effects can improve the control efficiency of the UAV based on these additional roll torques.

[0082] In one feasible implementation, the specific implementation of determining the control weights of the aileron and the flap based on the flight speed and the roll control command can also be:

[0083] If the flight speed is not higher than a preset first speed threshold, the control weight of the aileron and the flap is determined to be 1. If the flight speed is higher than a preset second speed threshold, the control weight of the aileron is determined to be 1 and the control weight of the flap is zero. The second speed threshold is higher than the first speed threshold. If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, the control weight of the aileron and the flap is adjusted based on the flight speed and the roll control command.

[0084] It should be noted that the first speed threshold and the second speed threshold are thresholds that cause the weights of the ailerons, flaps, and V-shaped tail rudder to change to zero or 1. The first speed threshold and the second speed threshold can be set based on the UAV and flight conditions. In this embodiment, the first speed threshold is 100 m / s, and the second speed threshold is 300 m / s.

[0085] Understandably, if the flight speed is not higher than the first speed threshold, it indicates that the UAV is in a low-speed flight phase. At this time, the aerodynamic forces are relatively small, requiring significant changes in the control surfaces to complete the UAV's flight control. Therefore, by setting the control weights of the ailerons and flaps to 1, the ailerons and flaps are controlled together quickly, thereby rapidly forming the target control surfaces and improving the maneuverability of the UAV during low-speed roll flight.

[0086] If the flight speed is higher than the second speed threshold, it indicates that the UAV is in a high-speed flight phase. At this time, the aerodynamic force is large, and only a small change in the control surface is needed to complete the flight control of the UAV. Therefore, by setting the control weight of the flaps to zero, the roll control of the UAV is carried out only through the ailerons, thereby improving the stability of the UAV when rolling at high speed.

[0087] If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, it indicates that the UAV is between low-speed and high-speed flight. Therefore, by controlling the UAV through the combined use of ailerons and flaps, and adjusting the control weights of the ailerons and flaps based on the current flight speed, the UAV can be controlled through the optimal control method, thereby improving the maneuverability of the UAV during roll flight.

[0088] Step S22: If the flight control command is a pitch control command, then based on the flight speed and the pitch control command, determine the control weights of the aileron, the flap, and the V-shaped tail rudder.

[0089] It should be noted that the V-shaped tail rudder consists of two surfaces that are tilted outward and upward at a certain angle, which allows the pitch and yaw operations of the UAV to be affected by adjusting the angle of the V-shaped tail rudder.

[0090] Understandably, since ailerons can affect the tilt angle of the UAV, thus indirectly affecting its pitch angle, and flaps can affect the lift distribution of the UAV, thus affecting its pitch attitude, and adjusting the angle of the V-shaped tail rudder can also affect the pitch attitude of the UAV to some extent. Therefore, when the flight control command is a pitch control command, this embodiment determines the control weights of the ailerons, flaps, and V-shaped tail rudder, thereby controlling the ailerons, flaps, and V-shaped tail rudder together to achieve pitch control of the UAV.

[0091] In one feasible implementation, the specific implementation of determining the control weights of the aileron, the flap, and the tail rudder based on the flight speed and the pitch control command can also be:

[0092] If the flight speed is not higher than a preset first speed threshold, the control weight of the aileron, the flap, and the tail rudder is determined to be 1. If the flight speed is higher than a preset second speed threshold, the control weight of the tail rudder is determined to be 1, and the control weight of the aileron and the flap is zero. If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, the control weight of the tail rudder is determined to be 1, and the control weights of the aileron and the flap are adjusted based on the flight speed and the pitch control command.

[0093] Understandably, if the flight speed is not higher than the first speed threshold, it indicates that the UAV is in a low-speed flight phase. At this time, the aerodynamic forces are relatively small, requiring significant changes in control surfaces to complete the UAV's flight control. Therefore, by setting the control weights of the ailerons, flaps, and V-tail rudder to 1, the strongest control force is achieved for the ailerons, flaps, and V-tail rudder, thereby enabling rapid changes in control surfaces and combining them to form the required target control surfaces, thus improving the UAV's pitch maneuverability at low speeds.

[0094] If the flight speed exceeds the second speed threshold, it indicates that the UAV is in a high-speed flight phase. At this time, the aerodynamic forces are greater, and only minor changes in the control surfaces are needed to control the UAV's flight. Therefore, by setting the control weights of the ailerons and flaps to zero, pitch control is performed solely through the V-shaped tail rudder. Furthermore, since the angle change of the V-shaped tail rudder has a relatively small impact on the UAV's pitch attitude, using only the V-shaped tail rudder for pitch control during high-speed flight reduces the sensitivity of the flight control system, thereby improving the UAV's pitch stability at high speeds.

[0095] If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, it indicates that the UAV is between low-speed and high-speed flight. Therefore, by setting the control weight of the V-shaped tail rudder to 1 to ensure the stability of the UAV, and by controlling the UAV through the ailerons and flaps, adjusting the control weights of the ailerons and flaps based on the current flight speed, the UAV can be controlled through the optimal control method, thereby improving the control accuracy of the UAV during pitch flight.

[0096] In summary, this embodiment determines the control weight of the V-shaped tail rudder to be zero when the flight control command is a roll control command, and determines the control weights of the ailerons and flaps based on the flight speed and the roll control command. When the flight control command is a pitch control command, the control weights of the ailerons, flaps, and V-shaped tail rudder are determined based on the flight speed and the pitch control command. By adjusting the control weights of the ailerons, flaps, and V-shaped tail rudder according to different control command types and flight speeds, the optimal control surface configuration is automatically adapted to the actual flight conditions, ensuring efficient and stable UAV control in various flight scenarios from low to high speeds, thus improving the safety and flexibility of UAV flight.

[0097] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 Adjusting the control weights of the ailerons and flaps based on the flight speed and the roll control command further includes steps S100~S200:

[0098] Step S100: If the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, then the control weight of the aileron is adjusted based on the flight speed and the roll control command. The third speed threshold is higher than the first speed threshold and lower than the second speed threshold. The control weight of the aileron decreases as the flight speed increases and decreases to zero when the flight speed reaches the third speed threshold.

[0099] It should be noted that the third speed threshold is the threshold at which the weights of the ailerons, flaps, and V-shaped tail rudder change to zero or 1. The third speed threshold can be set based on the UAV in flight and flight conditions. In this embodiment, the third speed threshold is 200 m / s.

[0100] It is understood that if the flight speed is higher than the first speed threshold but not higher than a preset third speed threshold, it indicates that the UAV is in a lower speed range. Therefore, when the speed is close to the first speed threshold, the aerodynamic force is relatively small, requiring a larger aileron weight to perform the UAV's roll control. As the flight speed increases, the aerodynamic force gradually increases, and the deflection angle required by the aileron gradually decreases to achieve the same roll effect. Therefore, the control weight of the aileron decreases as the flight speed increases.

[0101] This embodiment dynamically adjusts the weights of the ailerons and flaps based on the current flight speed and flight control commands, thereby ensuring optimal flight control of the UAV and improving its flight performance.

[0102] Step S200: If the flight speed is higher than the third speed threshold and not higher than the second speed threshold, then the control weights of the aileron and the flap are adjusted based on the flight speed and the roll control command. As the flight speed increases, the control weight of the aileron increases and the control weight of the flap decreases. When the flight speed reaches the second speed threshold, the control weight of the aileron increases to 1 and the control weight of the flap decreases to zero.

[0103] It is understood that if the flight speed is higher than the third speed threshold but not higher than the second speed threshold, it indicates that the UAV is flying at a higher speed. At this speed, the aerodynamic forces are relatively large, and a small change in the aileron angle is sufficient to form the required target control surface. Therefore, appropriately increasing the control weight of the ailerons can more accurately achieve the required roll maneuver. Since flaps are mainly used to provide additional lift and improve low-speed performance, their primary role weakens in high-speed flight. Therefore, in this embodiment, as the flight speed increases, the control weight of the ailerons increases, and the control weight of the flaps decreases, thereby improving the accuracy of the UAV's roll maneuver and reducing the additional air resistance caused by the flaps, thus improving flight efficiency. The weight allocation process for roll control in this embodiment can be referred to... Figure 5 .

[0104] In one feasible implementation, the specific implementation of determining the control weight of the tail rudder to be 1 and adjusting the control weights of the aileron and the flap based on the flight speed and the pitch control command can also be:

[0105] If the flight speed is higher than the first speed threshold but not higher than a preset third speed threshold, then the control weights of the flaps and the tail rudder are determined to be 1, and the control weights of the ailerons are adjusted based on the flight speed and the pitch control command. The control weights of the ailerons decrease as the flight speed increases, and decrease to zero when the flight speed reaches the third speed threshold. If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, then the control weights of the tail rudder and the ailerons are determined to be 1, and the control weights of the ailerons are determined to be zero. The control weights of the flaps are adjusted based on the flight speed and the pitch control command. The control weights of the flaps decrease as the flight speed increases, and decrease to zero when the flight speed reaches the second speed threshold.

[0106] It is understood that if the flight speed is higher than the first speed threshold but not higher than the preset third speed threshold, it indicates that the UAV has relatively low aerodynamic forces at lower speeds. Therefore, by setting the weights of the flaps and V-shaped tail rudders to 1, the lift force required for pitch changes is provided, and pitch control is assisted by the ailerons. As the flight speed increases, the aerodynamic forces increase accordingly, and pitch control can be completed with a smaller change in the aileron angle. Therefore, this embodiment improves the accuracy of UAV pitch control by reducing the weight of the ailerons.

[0107] If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, it indicates that the UAV is operating at a higher speed and experiencing greater aerodynamic forces. Therefore, changes in the aileron angle will have a significant impact. This embodiment uses a V-shaped tail rudder and flaps for pitch control of the UAV. As the flight speed increases, changes in the V-shaped tail rudder angle provide the necessary control surface changes for pitch manipulation. Therefore, this embodiment reduces the weight of the flaps as the flight speed increases, thereby improving the control accuracy of the UAV during high-speed flight. The weight allocation process for UAV pitch control can be referred to... Figure 6 .

[0108] In summary, this embodiment adjusts the control weights of the ailerons, flaps, and V-tail rudder based on the current flight speed and flight control commands when performing pitch and roll maneuvers on the UAV. This allows for the determination of the optimal target control surface combination and the best flight control method based on actual flight conditions. Controlling the UAV using the optimal flight control method improves the accuracy and stability of UAV control, thereby enhancing its flight performance.

[0109] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the UAV control surface hybrid control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0110] This application also provides a hybrid control device for unmanned aerial vehicle (UAV) control surfaces; please refer to... Figure 7 The UAV control surface hybrid control device includes:

[0111] The speed acquisition module 10 is used to acquire the flight speed of the UAV in response to the received flight control command, wherein the UAV has ailerons, flaps and V-shaped tail rudder;

[0112] The weight determination module 20 is used to determine the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the flight control command, respectively.

[0113] The control surface combination module 30 is used to control the aileron, the flap and the V-shaped tail rudder to form the target control surface corresponding to the flight control command based on the control weight and the flight control command, so as to realize the flight control of the UAV.

[0114] In one embodiment, the weight determination module further includes:

[0115] The roll weight submodule is used to determine that the control weight of the V-shaped tail rudder is zero if the flight control command is a roll control command, and to determine the control weight of the aileron and the flap based on the flight speed and the roll control command.

[0116] The pitch weight submodule is used to determine the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the pitch control command if the flight control command is a pitch control command.

[0117] In one embodiment, the roll weighting submodule further includes:

[0118] The first roll weighting unit is used to determine that the control weight of the aileron and the flap is 1 if the flight speed is not higher than a preset first speed threshold.

[0119] The second roll weighting unit is used to determine that if the flight speed is higher than a preset second speed threshold, the control weight of the aileron is 1 and the control weight of the flap is zero, wherein the second speed threshold is higher than the first speed threshold.

[0120] The third roll weighting unit is used to adjust the control weights of the ailerons and the flaps based on the flight speed and the roll control command if the flight speed is higher than the first speed threshold and not higher than the second speed threshold.

[0121] In one embodiment, the third rolling weight unit further includes:

[0122] The first roll weight subunit is used to adjust the control weight of the aileron based on the flight speed and the roll control command if the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold. The third speed threshold is higher than the first speed threshold and lower than the second speed threshold. The control weight of the aileron decreases as the flight speed increases and decreases to zero when the flight speed reaches the third speed threshold.

[0123] The second roll weight subunit is used to adjust the control weights of the ailerons and the flaps based on the flight speed and the roll control command if the flight speed is higher than the third speed threshold and not higher than the second speed threshold. The control weight of the ailerons increases and the control weight of the flaps decreases as the flight speed increases. When the flight speed reaches the second speed threshold, the control weight of the ailerons increases to 1 and the control weight of the flaps decreases to zero.

[0124] In one embodiment, the pitch weighting submodule further includes:

[0125] The first pitch weighting unit is used to determine the control weight of the aileron, the flap, and the V-shaped tail rudder to be 1 if the flight speed is not higher than a preset first speed threshold.

[0126] The second pitch weighting unit is used to determine that if the flight speed is higher than a preset second speed threshold, the control weight of the V-shaped tail rudder is 1, and the control weight of the aileron and the flap is zero.

[0127] The third pitch weighting unit is used to determine the control weight of the V-shaped tail rudder to be 1 if the flight speed is higher than the first speed threshold and not higher than the second speed threshold, and to adjust the control weights of the aileron and the flap based on the flight speed and the pitch control command.

[0128] In one embodiment, the third pitch weighting unit further includes:

[0129] The first pitch weight subunit is used to determine the control weight of the flaps and the V-shaped tail rudder to be 1 if the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, and to adjust the control weight of the aileron based on the flight speed and the pitch control command. The control weight of the aileron decreases as the flight speed increases, and decreases to zero when the flight speed reaches the third speed threshold.

[0130] The second pitch weight subunit is used to determine that the control weight of the V-shaped tail rudder is 1 and the control weight of the aileron is zero if the flight speed is higher than the third speed threshold but not higher than the second speed threshold, and to adjust the control weight of the flap based on the flight speed and the pitch control command. The control weight of the flap decreases as the flight speed increases, and decreases to zero when the flight speed reaches the second speed threshold.

[0131] The UAV control surface hybrid control device provided in this application, employing the UAV control surface hybrid control method in the above embodiments, can solve the technical problem that UAVs cannot simultaneously possess stability and maneuverability across the entire speed range. Compared with the prior art, the beneficial effects of the UAV control surface hybrid control device provided in this application are the same as those of the UAV control surface hybrid control method provided in the above embodiments, and other technical features in the UAV control surface hybrid control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0132] This application provides a hybrid control device for unmanned aerial vehicles (UAVs), comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the hybrid control method for UAVs described in Embodiment 1 above.

[0133] The following is for reference. Figure 8 The diagram illustrates a structural schematic suitable for implementing the UAV control surface hybrid control device in the embodiments of this application. The UAV control surface hybrid control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, tablets, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The UAV control surface hybrid control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0134] like Figure 8As shown, the UAV control surface hybrid control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the UAV control surface hybrid control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the UAV control surface hybrid control device to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows a UAV control surface hybrid control device with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0135] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0136] The UAV control surface hybrid control device provided in this application, employing the UAV control surface hybrid control method in the above embodiments, can solve the technical problem that UAVs cannot simultaneously possess stability and maneuverability across the entire speed range. Compared with the prior art, the beneficial effects of the UAV control surface hybrid control device provided in this application are the same as those of the UAV control surface hybrid control method provided in the above embodiments, and other technical features in this UAV control surface hybrid control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0137] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0138] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0139] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the UAV control surface hybrid control method in the above embodiments.

[0140] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0141] The aforementioned computer-readable storage medium may be included in the UAV control surface hybrid control device; or it may exist independently and not assembled into the UAV control surface hybrid control device.

[0142] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the UAV control surface hybrid control device, cause the UAV control surface hybrid control device to execute the aforementioned UAV control surface hybrid control method.

[0143] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0145] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0146] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-described UAV control surface hybrid control method, which can solve the technical problem that UAVs cannot simultaneously possess stability and maneuverability across the entire speed range. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the UAV control surface hybrid control method provided in the above embodiments, and will not be repeated here.

[0147] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described UAV control surface hybrid control method.

[0148] The computer program product provided in this application can solve the technical problem that UAVs cannot simultaneously possess stability and maneuverability across the entire speed range. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the UAV control surface hybrid control method provided in the above embodiments, and will not be repeated here.

[0149] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A hybrid control method for unmanned aerial vehicle (UAV) control surfaces, characterized in that, The method includes: In response to received flight control commands, the flight speed of the UAV is acquired, wherein the UAV has ailerons, flaps and V-shaped tail rudder; Based on the flight speed and the flight control commands, the control weights of the aileron, the flaps and the V-shaped tail rudder are determined respectively, wherein the types of the flight control commands include roll control commands and pitch control commands; The step of determining the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the flight control command includes: If the flight control command is a roll control command, then the control weight of the V-shaped tail rudder is determined to be zero, and the control weights of the aileron and the flap are determined based on the flight speed and the roll control command. If the flight control command is a pitch control command, then the control weights of the aileron, the flap, and the V-shaped tail rudder are determined based on the flight speed and the pitch control command. Based on the control weights and the flight control commands, the ailerons, flaps, and V-shaped tail rudders are controlled to combine to form the target control surfaces corresponding to the flight control commands, thereby achieving UAV flight control.

2. The method as described in claim 1, characterized in that, The step of determining the control weights of the aileron and the flap based on the flight speed and the roll control command includes: If the flight speed is not higher than a preset first speed threshold, then the control weight of the aileron and the flap is determined to be 1; If the flight speed is higher than a preset second speed threshold, then the control weight of the aileron is determined to be 1 and the control weight of the flap is zero, wherein the second speed threshold is higher than the first speed threshold; If the flight speed is higher than the first speed threshold but not higher than the second speed threshold, the control weights of the ailerons and the flaps are adjusted based on the flight speed and the roll control command.

3. The method as described in claim 2, characterized in that, The step of adjusting the control weights of the ailerons and flaps based on the flight speed and the roll control command includes: If the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, the control weight of the aileron is adjusted based on the flight speed and the roll control command. The third speed threshold is higher than the first speed threshold and lower than the second speed threshold. The control weight of the aileron decreases as the flight speed increases and decreases to zero when the flight speed reaches the third speed threshold. If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, the control weights of the ailerons and the flaps are adjusted based on the flight speed and the roll control command. As the flight speed increases, the control weight of the ailerons increases and the control weight of the flaps decreases. When the flight speed reaches the second speed threshold, the control weight of the ailerons increases to 1 and the control weight of the flaps decreases to zero.

4. The method as described in claim 1, characterized in that, The step of determining the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the pitch control command includes: If the flight speed is not higher than a preset first speed threshold, then the control weight of the aileron, the flap, and the V-shaped tail rudder is determined to be 1; If the flight speed is higher than the preset second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, and the control weight of the aileron and the flap is zero. If the flight speed is higher than the first speed threshold and not higher than the second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, and the control weights of the aileron and the flap are adjusted based on the flight speed and the pitch control command.

5. The method as described in claim 4, characterized in that, The step of determining the control weight of the V-shaped tail rudder to be 1, and adjusting the control weights of the aileron and the flap based on the flight speed and the pitch control command, includes: If the flight speed is higher than the first speed threshold and not higher than the preset third speed threshold, then the control weight of the flap and the V-shaped tail rudder is determined to be 1, and the control weight of the aileron is adjusted based on the flight speed and the pitch control command. As the flight speed increases, the control weight of the aileron decreases, and decreases to zero when the flight speed reaches the third speed threshold. If the flight speed is higher than the third speed threshold but not higher than the second speed threshold, then the control weight of the V-shaped tail rudder is determined to be 1, the control weight of the aileron is determined to be zero, and the control weight of the flap is adjusted based on the flight speed and the pitch control command. As the flight speed increases, the control weight of the flap decreases, and decreases to zero when the flight speed reaches the second speed threshold.

6. A hybrid control device for unmanned aerial vehicle (UAV) control surfaces, characterized in that, The device includes: A speed acquisition module is used to acquire the flight speed of the UAV in response to received flight control commands, wherein the UAV has ailerons, flaps and V-shaped tail rudder; The weight determination module is used to determine the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the flight control command, wherein the types of the flight control command include roll control command and pitch control command; The roll weight submodule is used to determine that the control weight of the V-shaped tail rudder is zero if the flight control command is a roll control command, and to determine the control weight of the aileron and the flap based on the flight speed and the roll control command. The pitch weight submodule is used to determine the control weights of the aileron, the flap, and the V-shaped tail rudder based on the flight speed and the pitch control command if the flight control command is a pitch control command. The control surface combination module is used to control the aileron, the flap and the V-shaped tail rudder to form the target control surface corresponding to the flight control command based on the control weight and the flight control command, so as to realize the flight control of the UAV.

7. A hybrid control device for unmanned aerial vehicle (UAV) control surfaces, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the unmanned aerial vehicle control surface hybrid control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the UAV control surface hybrid control method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the UAV control surface hybrid control method as described in any one of claims 1 to 5.

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