Comprehensive control all-in-one machine and aircraft

Abstract

The invention discloses an integrated control all-in-one machine and an aircraft, and the integrated control all-in-one machine comprises a housing which is disposed in the aircraft; the electric control module is used for managing power supply input, monitoring a battery state and distributing a power supply; the main control module is electrically connected with the electric control module and is in communication connection with onboard equipment, and the main control module integrates flight control, electric control, rudder control, integrated navigation, cooperative control and extensible functions and is responsible for communication interaction and signal acquisition and output; and the rudder control module is electrically connected with the electric control module and the main control module, is in communication connection with the main control module, and is used for collecting rudder feedback signals and driving a steering engine to act. Through the design thought of hardware integration and software modularization, high integration of multiple functional modules such as flight control, electric control, rudder control, integrated navigation, cooperative control and extensibility is achieved, multiple task functions can operate at the same time, and the research and development cost and the labor cost are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft control, and more specifically, relates to an integrated control machine and an aircraft. Background Art

[0002] The all-in-one machine is the control core of the short-range air-to-ground aircraft. In the initial autonomous flight phase of the aircraft launch, it controls the flight of the aircraft according to a predetermined program. In the self-guidance phase, it collects the frame angle signal output by the seeker and the target line of sight angular velocity signal, the coordinate attitude information output by the gyro assembly, the rudder feedback and other related signals for comprehensive calculation. According to the preset guidance control law, it forms control instructions and outputs them to the four servos, ultimately controlling the aircraft to guide to the target while maintaining the stability of the aircraft's attitude.

[0003] Currently, research on hardware integration and software modularization for all-in-one aircraft is still underdeveloped, both domestically and internationally. Modules such as flight control, electronic control, rudder control, integrated navigation, and coordinated control are mostly separated, with each computing core essentially utilizing a single processor. This results in insufficient integration and poor performance. All-in-one aircraft face difficulties integrating new modules, upgrading functionality, and iterative updates, and lack reconfiguration and scalability. Furthermore, the inconsistency of multiple models and states leads to duplication of effort, low efficiency, increased costs, and complex management. Clearly, traditional designs can no longer meet the requirements for aircraft system integration, high performance, scalability, miniaturization, universality, and low cost. The unification of all-in-one aircraft is imperative.

[0004] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to propose an integrated control all-in-one machine and aircraft, which solves the difficult problems of low integration and single function of mission computers, realizes high integration of multiple functional modules such as flight control, electronic control, rudder control, combined navigation, collaboration, and scalability, and multiple mission functions can operate simultaneously, breaking through the difficult problems of low integration and single function of domestic mission computers.

[0006] To achieve the above objectives, in a first aspect, the present invention provides an integrated control machine, comprising:

[0007] a housing, wherein the housing is built into the aircraft;

[0008] The housing is provided with:

[0009] Electronic control module, used to manage power input, monitor battery status and distribute power;

[0010] The main control module is electrically connected to the electronic control module and is in communication with the onboard equipment. The main control module integrates flight control, electronic control, rudder control, integrated navigation, coordinated control, and scalable functions, and is responsible for communication interaction and signal acquisition and output;

[0011] The rudder control module is electrically connected to the electronic control module and the main control module respectively, and is in communication connection with the main control module, and is used to collect rudder feedback signals and drive the servo to operate.

[0012] Optionally, the electronic control module includes:

[0013] a power input circuit, electrically connected to the onboard power supply and the thermal battery respectively;

[0014] a thermal battery activation detection circuit, electrically connected to the thermal battery, for detecting whether the thermal battery is successfully activated;

[0015] a thermal battery grid-connected detection circuit, electrically connected to the thermal battery and used to detect the working status of the thermal battery when it is grid-connected;

[0016] a direct power supply output circuit, electrically connected to the power input circuit, the onboard device, the main control module, and the rudder control module, respectively, for distributing the electric energy received by the power input circuit to the onboard device, the main control module, and the rudder control module;

[0017] The power supply control circuit is electrically connected to the power input circuit and the main control module respectively, and is used to use the power provided by the power input circuit to initialize the aircraft under the control of the main control module.

[0018] Optionally, the main control module includes:

[0019] a first secondary power supply circuit, electrically connected to the direct power supply output circuit, for converting the electric energy output by the direct power supply output circuit to supply power to the main control module;

[0020] a switching input circuit, electrically connected to the thermal battery activation detection circuit, the thermal battery grid connection detection circuit, the ground / air mode detection circuit, and the detection circuits corresponding to the initialization actions, respectively, for receiving switching signals from the detection circuits;

[0021] A main control chip is electrically connected to the first and second power supply circuits and has flight control, electric control, rudder control, integrated navigation, coordinated control, and expandable functions;

[0022] RS422 communication interface, connected to the onboard device and the main control chip; used for the main control chip to communicate with the onboard device;

[0023] The switching output circuit is electrically connected to the main control chip and the power supply control circuit respectively, and is used to send a switching control signal to the power supply control circuit under the control of the main control chip.

[0024] Optionally, the rudder control module includes:

[0025] a second secondary power supply circuit, configured to be electrically connected to the direct power supply output circuit, and configured to convert the direct current outputted by the direct power supply output circuit into direct current adapted to the steering control module, thereby supplying power to the steering control module;

[0026] Multiple motor drive circuits, where the input end of each motor drive circuit is electrically connected to the corresponding output end of the main control chip, and the output end of each motor drive circuit is electrically connected to the corresponding servo, for driving the corresponding servo based on the PWM signal sent by the main control chip;

[0027] The multi-channel signal conditioning and ADC acquisition circuit is electrically connected to the corresponding servos, and is used to collect the rudder feedback signals of the corresponding servos, condition the rudder feedback signals, and convert the conditioned rudder feedback signals into digital signals;

[0028] Multiple signal isolation circuits, the input end of each signal isolation circuit is electrically connected to the output end of the corresponding signal conditioning and ADC acquisition circuit, and the output end of each signal isolation circuit is connected to the corresponding input end of the main control chip through SPI communication, which is used to cut off the direct electrical connection between the servo and the main control chip through isolation technology and suppress external interference.

[0029] Optionally, the main control chip adopts ARM+FPGA architecture and has 4 processing cores;

[0030] The first processing core is used for flight control, electronic control, and rudder control;

[0031] The second processing core is used for integrated navigation;

[0032] The third processing core is used for collaborative control;

[0033] The fourth processing core is provided for scalability.

[0034] Optionally, the software of the integrated control machine adopts a two-dimensional design, one dimension is a vertical layered architecture, and the other dimension is a horizontal task module division.

[0035] Optionally, the vertical layered architecture is as follows from top to bottom:

[0036] The application task module layer is used to provide task software module combination integration configuration;

[0037] Real-time operating system / process scheduling middle layer, used to provide inter-module communication, resource management and real-time scheduling;

[0038] Hardware driver abstraction layer, used to encapsulate the underlying hardware driver interface to achieve software and hardware decoupling;

[0039] The application task module layer includes:

[0040] Flight control + electronic control + rudder control module, integrated navigation module, collaborative control module and expandable module.

[0041] Optionally, the shell is in the shape of an arc groove, and its outer arc surface is fixed to the arc inner wall of the aircraft through a plurality of pads. By replacing the pads, the integrated control unit can be adapted to various models of aircraft.

[0042] Optionally, the electronic control module, main control module and rudder control module all use PCB circuit boards, and flexible connections are used between the electronic control module, main control module and rudder control module, wherein the flexible connection material is silver-plated copper foil coated with polyimide.

[0043] In a second aspect, the present invention provides an aircraft, comprising the integrated control machine as described in any one of the first aspects.

[0044] The beneficial effects of the present invention are as follows: the present invention integrates the electronic control module, the main control module and the rudder control module into the shell, and then places it in the aircraft, manages the power input, monitors the battery status and distributes the power through the electronic control module, integrates the flight control, electronic control, rudder control, combined navigation, cooperative control and scalable functions through the main control module, and is responsible for communication interaction and signal acquisition and output, collects the rudder feedback signal through the rudder control module and drives the servo to operate; the integrated all-in-one machine adopts the hardware integration and software modular design ideas based on the original flight control and electronic control functions, and realizes the high integration of multiple functional modules such as flight control, electronic control, rudder control, combined navigation, cooperative control and scalability inside the equipment, and multiple mission functions They can operate simultaneously, breaking through the difficult problem of low integration and single function of domestic mission computers; in terms of appearance and structure, the unified all-in-one machine can be applied to aircraft of various calibers by adding external pads, realizing the universalization of external mechanical interfaces; in terms of electrical definition, it can cover all types of aircraft, realizing the standardization of external electrical interfaces; the internal part of the all-in-one machine adopts a flexible connection method, which is low in cost, light in weight and high in space utilization compared with traditional inter-board connectors; the unified all-in-one machine has the advantages of high performance, integration, scalability, miniaturization, universality and low cost, which greatly reduces the pressure at various stages of scientific research and production, material procurement and product management, and reduces R&D costs and labor costs.

[0045] The system of the present invention has other features and advantages that will be apparent from or will be described in detail in the accompanying drawings and subsequent detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, in which like reference numerals generally represent like components.

[0047] Figure 1 A schematic diagram of an integrated control machine according to embodiment 1 of the present invention is shown.

[0048] Figure 2 A schematic diagram of the hardware architecture of an integrated control machine according to embodiment 1 of the present invention is shown.

[0049] Figure 3 A structural diagram of an integrated control machine according to embodiment 1 of the present invention is shown.

[0050] Figure 4 A schematic diagram of the software architecture of an integrated control machine according to embodiment 1 of the present invention is shown.

[0051] Figure 5 A workflow diagram of an integrated control machine according to embodiment 1 of the present invention is shown.

[0052] Figure 6a and Figure 6b Schematic diagrams respectively show test data of a seeker and a servo in a target test of an integrated control all-in-one machine according to Example 1 of the present invention. DETAILED DESCRIPTION

[0053] The present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention may be implemented in various forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0054] Example

[0055] like Figure 1 As shown, this embodiment provides an integrated control all-in-one machine, including:

[0056] a housing, the housing being built into the aircraft;

[0057] The housing contains:

[0058] Electronic control module, used to manage power input, monitor battery status and distribute power;

[0059] The main control module is electrically connected to the electronic control module and communicates with the onboard equipment. The main control module integrates flight control, electronic control, rudder control, integrated navigation, collaborative control, and scalable functions, and is responsible for communication interaction and signal acquisition and output;

[0060] The rudder control module is electrically connected to the electronic control module and the main control module respectively, and is in communication connection with the main control module, and is used to collect rudder feedback signals and drive the servo to operate.

[0061] The electronic control module includes:

[0062] a power input circuit, electrically connected to the onboard power supply and the thermal battery respectively;

[0063] a thermal battery activation detection circuit, electrically connected to the thermal battery, for detecting whether the thermal battery is successfully activated;

[0064] A thermal battery grid-connected detection circuit is electrically connected to the thermal battery and is used to detect the working status of the thermal battery when it is grid-connected;

[0065] a direct power supply output circuit, electrically connected to the power input circuit, the onboard device, the main control module, and the rudder control module, respectively, for distributing the electric energy received by the power input circuit to the onboard device, the main control module, and the rudder control module;

[0066] The power supply control circuit is electrically connected to the power input circuit and the main control module respectively, and is used to use the power provided by the power input circuit to initialize the aircraft under the control of the main control module.

[0067] The main control module includes:

[0068] The first and second power supply circuits are electrically connected to the direct power supply output circuit and are used to convert the electric energy output by the direct power supply output circuit to supply power to the main control module;

[0069] The switch input circuit is electrically connected to the thermal battery activation detection circuit, the thermal battery grid connection detection circuit, the ground / air mode detection circuit, and the detection circuits corresponding to each initialization action, and is used to receive the switch signal of each detection circuit;

[0070] The main control chip is electrically connected to the primary and secondary power supply circuits and has flight control, electronic control, rudder control, integrated navigation, coordinated control, and scalable functions;

[0071] RS422 communication interface, connected to the onboard equipment and main control chip; used for communication between the main control chip and the onboard equipment;

[0072] The switching output circuit is electrically connected to the main control chip and the power supply control circuit respectively, and is used to send a switching control signal to the power supply control circuit under the control of the main control chip.

[0073] The rudder control module includes:

[0074] a second secondary power supply circuit, configured to be electrically connected to the direct power supply output circuit, and configured to convert the direct current outputted by the direct power supply output circuit into direct current adapted to the steering control module, thereby supplying power to the steering control module;

[0075] Multiple motor drive circuits, where the input end of each motor drive circuit is electrically connected to the corresponding output end of the main control chip, and the output end of each motor drive circuit is electrically connected to the corresponding servo, for driving the corresponding servo based on the PWM signal sent by the main control chip;

[0076] The multi-channel signal conditioning and ADC acquisition circuit is electrically connected to the corresponding servos, and is used to collect the rudder feedback signals of the corresponding servos, condition the rudder feedback signals, and convert the conditioned rudder feedback signals into digital signals;

[0077] Multiple signal isolation circuits, the input end of each signal isolation circuit is electrically connected to the output end of the corresponding signal conditioning and ADC acquisition circuit, and the output end of each signal isolation circuit is connected to the corresponding input end of the main control chip through SPI communication, which is used to cut off the direct electrical connection between the servo and the main control chip through isolation technology and suppress external interference.

[0078] The main control chip adopts ARM+FPGA architecture and has 4 processing cores;

[0079] The first processing core is used for flight control, electronic control, and rudder control;

[0080] The second processing core is used for integrated navigation;

[0081] The third processing core is used for collaborative control;

[0082] The fourth processing core is provided for scalability.

[0083] The software of the integrated control machine adopts a two-dimensional design, one dimension is the vertical layered architecture, and the other dimension is the horizontal task module division.

[0084] The vertical layered architecture from top to bottom is:

[0085] The application task module layer is used to provide task software module combination integration configuration;

[0086] Real-time operating system / process scheduling middle layer, used to provide inter-module communication, resource management and real-time scheduling;

[0087] Hardware driver abstraction layer, used to encapsulate the underlying hardware driver interface to achieve software and hardware decoupling;

[0088] The application task module layer includes:

[0089] Flight control + electronic control + rudder control module, integrated navigation module, collaborative control module and expandable module.

[0090] The shell is in the shape of an arc groove, and its outer arc surface is fixed to the arc inner wall of the aircraft through multiple pads. By replacing the pads, the integrated control machine can be adapted to various models of aircraft.

[0091] The electronic control module, main control module and rudder control module all use PCB circuit boards, and flexible connections are used between the electronic control module, main control module and rudder control module. The flexible connection material is silver-plated copper foil coated with polyimide.

[0092] Specifically, if Figure 2 、 Figure 3 and Figure 4As shown, the shell of the integrated control machine is in the shape of an arc groove, and the outer arc surface is connected to the inner wall of the aircraft through 4 pads. The pads can be replaced to adapt to the full range of aircraft with a caliber of 160mm to 180mm, realizing the universalization of the mechanical interface. The upper and lower end faces of the shell are hollowed out. The shell (device casing) integrates an electronic control module, a main control module, and a rudder control module. The electronic control module, the main control module, and the rudder control module are all designed with PCB circuit boards. In this embodiment, the rudder control module is composed of two rudder control boards, the main control module is composed of two main control boards, and the electronic control module is composed of two electronic control boards. The rudder control boards, the main control boards, and the electronic control boards are all PCB circuit boards. A flexible connection method is adopted between each circuit board. The flexible connection material is silver-plated copper foil. The copper foil has good conductivity, flexibility and oxidation resistance. A layer of polyimide is coated on the outside, which has the characteristics of insulation, high temperature resistance, and corrosion resistance. Compared with inter-board connectors, it can reduce the weight of the equipment, improve the utilization rate of the internal space, and minimize the volume of the all-in-one machine. At the same time, the convenience of module combination is taken into account, thereby realizing the miniaturization design of the all-in-one machine. The rudder control panel, main control panel and electronic control panel are fixedly connected in sequence by multiple groups of fasteners, each group of fasteners contains 5 fasteners, which are arranged between each rudder control panel, main control panel and electronic control panel; through modular integrated design, miniaturized integration of flight control, electronic control, rudder control and other functions is achieved to meet the requirements of the aircraft system for compact layout. The electronic control module is provided with a power input circuit, a thermal battery activation detection circuit, a thermal battery grid connection detection circuit, a direct power supply output circuit and a power supply control circuit. It is electrically connected to the carrier power supply and thermal battery through the power input circuit, receives external power input, and provides stable power for subsequent circuits; in this embodiment, the exposed surface of the bottommost electronic control panel is fixed with a power supply and distribution interface and a battery interface, which is connected to the onboard power supply (the power supply on the aircraft) through the power supply and distribution interface, and is connected to the thermal battery on the aircraft through the battery interface. The thermal battery activation detection circuit monitors the electrical signals during the thermal battery activation process (such as voltage establishment, ignition head ignition status) to determine whether the activation is successful; the thermal battery grid connection detection circuit detects the parameters when the thermal battery output power is connected to the system power supply network (such as voltage matching, current Stability) to avoid power backflow or impact; the electric energy received by the power input circuit is distributed to the onboard equipment, main control module and rudder control module through a direct power supply output circuit. The onboard equipment that needs to be powered in this embodiment includes: a seeker, an IMU (inertial measurement unit), satellite navigation, a DRC (data recording control) and a data link, etc. The power supply control circuit uses the electric energy provided by the power input circuit under the control of the main control module to enable the aircraft to perform initialization actions. The initialization actions of the aircraft in this embodiment include engine ignition, fuse power-on, fuse release and wing deployment. For example, a plurality of relays are provided in the power supply control circuit, which correspond to the initialization actions respectively. When the engine ignition signal sent by the main control module is received, the corresponding relay is closed to output electric energy for engine ignition.The main control module includes primary and secondary power supply circuits, a switching input circuit, a main control chip, an RS422 communication interface, and a switching output circuit. The primary and secondary power supply circuits convert the DC power output from the direct power supply output circuit into compatible DC power and supply it to the corresponding power-consuming devices in the main control module, ensuring stable operation of the core circuits. For example, 28V DC power is converted into 3.3V and 5V DC power and supplied to the main control module. The main control chip utilizes an ARM+FPGA architecture and has four processing cores, each capable of running different tasks simultaneously. The first processing core executes flight control, electronic control, and rudder control algorithms, generating servo control commands. The second processing core runs the integrated navigation algorithm, integrating INS, satellite navigation, and other data to calculate the aircraft's attitude and position. The third processing core implements collaborative control functions, supporting multi-aircraft formation communication and mission coordination. The remaining processing core is reserved for expansion to support future functional upgrades. Through the switch input circuit, it is electrically connected to the thermal battery activation detection circuit, the thermal battery grid connection detection circuit, the ground / air mode detection circuit, and the detection circuits corresponding to each initialization action. The detection circuits corresponding to each initialization action in this embodiment include a disconnection signal detection circuit, a fuze signal detection circuit, a launch permission detection circuit, and a wing deployment detection circuit to collect the switch signals of each detection circuit (such as activation status, mode switching signal) and transmit them to the main control chip for logical judgment; the main control chip is connected to the onboard equipment (such as seeker, IMU, satellite navigation, fire control, DRC, data link, coordination, fuze) through the RS422 communication interface. In this embodiment, two RS422 communication interfaces (guidance, satellite navigation communication interface and communication interface) are fixed on the exposed surface of the top rudder control panel, one of which is used for One is used to connect the seeker and satellite navigation equipment, and the other is connected to other onboard equipment. Based on the RS422 bus protocol, high-speed data interaction between the main control chip and each onboard equipment is realized (such as collecting the seeker frame angle signal); in this embodiment, the main control module is also provided with a 1553B communication interface and a debugging interface. The 1553B communication interface is fixed to the exposed surface of the electric control board at the bottom and is connected to the main control board through a flexible connection. The debugging interface is fixed to the exposed surface of the rudder control board at the top and is connected to the main control board through a flexible connection. The main control chip is connected to the fire control communication through the 1553B communication interface and is connected to the computer through the debugging interface to debug the all-in-one machine; under the instruction of the main control chip, the switch signal (such as ignition trigger, fuse power-on instruction) is sent to the power supply control circuit through the switch output circuit to control the power distribution.The rudder control module includes a second secondary power supply circuit, a 4-way motor drive circuit, a 4-way signal conditioning and ADC acquisition circuit, and a 4-way signal isolation circuit. The second secondary power supply circuit converts the DC power output by the direct power supply output circuit into DC power and provides it to the corresponding circuits in the rudder control module. For example, the 28V output by the direct power supply output circuit is converted into 3.3V and 5V DC power and provided to the motor drive circuit, signal conditioning and ADC acquisition circuit, and signal isolation circuit of the rudder control module; the PWM signal sent by the main control chip is received and amplified by the 4-way motor drive circuit, and the 4-way servos are driven to accurately adjust the rudder angle to achieve aircraft attitude control; the 4-way signal The conditioning and ADC acquisition circuits condition the analog rudder feedback signals (e.g., changes in potentiometer resistance) from the four servos. Signal conditioning involves preprocessing the input rudder feedback signals (e.g., the analog signal of the servo's actual deflection angle), including amplification, filtering, and level adjustment, to eliminate noise and interference in the signal and ensure that the signal quality meets the requirements of subsequent analog-to-digital conversion. These signals are then converted to digital signals via the ADC for computation by the main control chip, enabling precise monitoring and control of the servo status. A four-way signal isolation circuit disconnects the direct electrical connection between the four servo feedback signals and the main control chip, suppressing external interference (e.g., motor electromagnetic noise) and protecting the main control chip. The software architecture is developed along two dimensions: a vertical layered architecture and a horizontal task module division. The vertical layered architecture, from top to bottom, consists of the following: the application task module layer, which provides integrated configuration for task software module combinations; the real-time operating system / process scheduling middle layer, which provides inter-module communication, resource management, and real-time scheduling. It manages inter-module communication protocols, allocates system resources (such as CPU time slices), and schedules tasks in real time; and the hardware driver abstraction layer, which encapsulates underlying hardware interfaces (such as SPI and RS422 drivers), decoupling software from hardware and supporting cross-platform deployment. The application task module layer includes flight control, electronic control, rudder control modules, integrated navigation modules, collaborative control modules, and scalable modules. The application task module layer breaks down functions into independent software units, enabling interaction through standard interfaces to enhance reusability and maintainability. The real-time operating system / process scheduling middle layer and application task module software support continuous upgrade capabilities and can load and unload application task function modules based on configuration. This design significantly shortens the software design and development cycle and improves software module reusability. The modular architecture of aircraft software features broad openness, well-defined hierarchies, scalability, and reusability. Through rational layering and standard interface specifications, it achieves hardware-software decoupling, enabling flexible software deployment on diverse hardware platforms. This layered decoupling allows the software to flexibly adapt to different hardware platforms (e.g., by changing the main control chip model) and supports rapid iteration of functional modules. The real-time operating system ensures priority scheduling for critical tasks such as flight control and navigation, meeting the microsecond-level response requirements of aircraft control.The unified all-in-one machine of this embodiment integrates three modules (electronic control / main control / rudder control) into the same shell, adopts ARM+FPGA multi-core architecture, breaks through the performance bottleneck of traditional separate design, and improves computing efficiency and integration; through layered architecture + task module splitting, it supports dynamic loading, shortens the R&D cycle, improves module reusability, and adapts to rapid function upgrades; through curved shell + replaceable pads, it is adapted to 160-180mm caliber aircraft, reduces repeated design of multiple models, and reduces production and management costs; through flexible connection of copper foil silver plating + polyimide coating to replace traditional inter-board connectors, it achieves weight reduction, space saving, and improves reliability (anti-vibration, high and low temperature resistance); through signal isolation circuit (optical coupler / electromagnetic isolation) and power supply filtering, it ensures signal transmission stability in harsh environments and extends hardware life.

[0093] Figure 5 The working process of the unified integrated machine of this embodiment is shown; the unified integrated machine of this embodiment is used with the whole missile to conduct air-to-ground aircraft target test in the field. The test missile performs a long-range attack on the target, and the aircraft successfully hits the center area of ​​the target. The test data is as follows: Figure 6a and Figure 6b shown.

[0094] Example 2

[0095] This embodiment provides an aircraft, which includes the integrated machine described in Example 1.

[0096] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A comprehensive control all-in-one machine, characterized in that: include: a housing, wherein the housing is built into the aircraft; The housing is provided with: Electronic control module, used to manage power input, monitor battery status and distribute power; The main control module is electrically connected to the electronic control module and is in communication with the onboard equipment. The main control module integrates flight control, electronic control, rudder control, integrated navigation, coordinated control, and scalable functions, and is responsible for communication interaction and signal acquisition and output; The rudder control module is electrically connected to the electronic control module and the main control module respectively, and is in communication connection with the main control module, and is used to collect rudder feedback signals and drive the servo to operate.

2. The integrated control machine according to claim 1, characterized in that: The electronic control module includes: a power input circuit, electrically connected to the onboard power supply and the thermal battery respectively; a thermal battery activation detection circuit, electrically connected to the thermal battery, for detecting whether the thermal battery is successfully activated; a thermal battery grid-connected detection circuit, electrically connected to the thermal battery and used to detect the working status of the thermal battery when it is grid-connected; a direct power supply output circuit, electrically connected to the power input circuit, the onboard device, the main control module, and the rudder control module, respectively, for distributing the electric energy received by the power input circuit to the onboard device, the main control module, and the rudder control module; The power supply control circuit is electrically connected to the power input circuit and the main control module respectively, and is used to use the power provided by the power input circuit to initialize the aircraft under the control of the main control module.

3. The integrated control machine according to claim 2, characterized in that: The main control module includes: a first secondary power supply circuit, electrically connected to the direct power supply output circuit, for converting the electric energy output by the direct power supply output circuit to supply power to the main control module; a switching input circuit, electrically connected to the thermal battery activation detection circuit, the thermal battery grid connection detection circuit, the ground / air mode detection circuit, and the detection circuits corresponding to the initialization actions, respectively, for receiving switching signals from the detection circuits; A main control chip is electrically connected to the first and second power supply circuits and has flight control, electric control, rudder control, integrated navigation, coordinated control, and expandable functions; RS422 communication interface, connected to the onboard device and the main control chip; used for the main control chip to communicate with the onboard device; The switching output circuit is electrically connected to the main control chip and the power supply control circuit respectively, and is used to send a switching control signal to the power supply control circuit under the control of the main control chip.

4. The integrated control machine according to claim 3, characterized in that: The rudder control module includes: a second secondary power supply circuit, configured to be electrically connected to the direct power supply output circuit, and configured to convert the direct current outputted by the direct power supply output circuit into direct current adapted to the steering control module, thereby supplying power to the steering control module; Multiple motor drive circuits, where the input end of each motor drive circuit is electrically connected to the corresponding output end of the main control chip, and the output end of each motor drive circuit is electrically connected to the corresponding servo, for driving the corresponding servo based on the PWM signal sent by the main control chip; The multi-channel signal conditioning and ADC acquisition circuit is electrically connected to the corresponding servos, and is used to collect the rudder feedback signals of the corresponding servos, condition the rudder feedback signals, and convert the conditioned rudder feedback signals into digital signals; Multiple signal isolation circuits, the input end of each signal isolation circuit is electrically connected to the output end of the corresponding signal conditioning and ADC acquisition circuit, and the output end of each signal isolation circuit is connected to the corresponding input end of the main control chip through SPI communication, which is used to cut off the direct electrical connection between the servo and the main control chip through isolation technology and suppress external interference.

5. The integrated control machine according to claim 4, characterized in that: The main control chip adopts ARM+FPGA architecture and has 4 processing cores; The first processing core is used for flight control, electronic control, and rudder control; The second processing core is used for integrated navigation; The third processing core is used for collaborative control; The fourth processing core is provided for scalability.

6. The integrated control machine according to claim 5, characterized in that: The software of the integrated control machine adopts a two-dimensional design, one dimension is a vertical layered architecture, and the other dimension is a horizontal task module division.

7. The integrated control machine according to claim 6, characterized in that: The vertical layered architecture is as follows from top to bottom: The application task module layer is used to provide task software module combination integration configuration; Real-time operating system / process scheduling middle layer, used to provide inter-module communication, resource management and real-time scheduling; Hardware driver abstraction layer, used to encapsulate the underlying hardware driver interface to achieve software and hardware decoupling; The application task module layer includes: Flight control + electronic control + rudder control module, integrated navigation module, collaborative control module and expandable module.

8. The integrated control machine according to claim 7, characterized in that: The shell is in the shape of an arc groove, and its outer arc surface is fixed to the arc inner wall of the aircraft through a plurality of pads. By replacing the pads, the integrated control machine can be adapted to various models of aircraft.

9. The integrated control machine according to claim 1, characterized in that: The electronic control module, main control module and rudder control module all use PCB circuit boards, and flexible connections are used between the electronic control module, main control module and rudder control module. The flexible connection material is silver-plated copper foil coated with polyimide.

10. An aircraft, characterized in that: The aircraft includes the integrated control machine according to any one of claims 1 to 9.

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