Hover control method and device for thrust vectoring short take-off and landing aircraft

Abstract

The application relates to the field of flight control technology, in particular to a thrust vector type short take-off and vertical landing aircraft hovering control method and device, wherein the method comprises the following steps: establishing a hovering dynamics model of the thrust vector type short take-off and vertical landing aircraft based on the nonlinear relationship of aircraft speed, Euler angles, angular velocity, thrust and moment; designing a reconstruction controller of a power system of the thrust vector type short take-off and vertical landing aircraft, and designing a hovering controller of the thrust vector type short take-off and vertical landing aircraft; designing an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model; and feeding back the estimated nonlinear terms and estimated state derivatives of the extended state observer to the hovering controller to perform hovering control on the thrust vector type short take-off and vertical landing aircraft. Thus, the problem that the hovering control method based on dynamic inversion in the related art is difficult to realize efficient decoupling and robust control of multiple actuators in the aircraft system is solved.

Description

Technical Field

[0001] This application relates to the field of flight control technology, and in particular to a hovering control method and device for a thrust vectoring short takeoff and vertical landing aircraft. Background Technology

[0002] Thrust vectoring short takeoff and vertical landing (STOVL) aircraft achieve vertical takeoff and landing and hovering functions through the coordinated control of multiple actuators, including the main engine, three-bearing vector nozzle, lift fan, and roll nozzle, combining the advantages of high-speed cruise of fixed-wing aircraft and flexible takeoff and landing of helicopters.

[0003] In related technologies, hovering control of the aforementioned complex dynamic system mainly adopts a dynamic inverse-based method, which linearizes the nonlinear model at multiple equilibrium points and relies on a precise control allocation matrix to achieve coordinated control of each actuator.

[0004] However, the dynamic inverse-based method has significant limitations: First, the nonlinear model needs to be linearized at a large number of operating points, making the modeling process cumbersome and difficult to meet real-time control requirements; Second, the dynamic characteristics of actuators in actual systems vary significantly (such as the thrust response delay of the main engine and the nonlinear saturation of the lift fan), making it extremely difficult to accurately obtain the control allocation matrix and easily leading to allocation mismatch problems; In addition, the controller designed by the traditional method needs to verify the closed-loop performance through repeated simulations and experiments, resulting in a long development cycle and high cost.

[0005] In summary, hovering control methods based on dynamic inverse in related technologies are difficult to achieve efficient decoupling and robust control of multiple actuators in aircraft systems due to the complexity of model linearization, the dependence of control allocation on precise performance matrices, and the unpredictability of closed-loop performance; therefore, improvements are urgently needed. Summary of the Invention

[0006] This application provides a hovering control method and device for a thrust vectoring short takeoff and vertical landing aircraft, in order to solve the problems of related hovering control methods based on dynamic inverse, which are difficult to achieve efficient decoupling and robust control of multiple actuators in the aircraft system due to the complexity of model linearization, the dependence of control allocation on the precise performance matrix, and the unpredictability of closed-loop performance.

[0007] The first aspect of this application provides a hovering control method for a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft, comprising the following steps: A hovering control method for a thrust-vectoring STOVL aircraft, characterized by comprising the following steps: establishing a hovering dynamics model of the thrust-vectoring STOVL aircraft based on the nonlinear relationships of aircraft speed, Euler angles, angular velocity, thrust, and torque; designing a reconfiguration controller for the power system of the thrust-vectoring STOVL aircraft, and designing a hovering controller for the thrust-vectoring STOVL aircraft; designing an extended state observer for estimating the nonlinear terms and state derivatives in the hovering dynamics model; and feeding back the estimated nonlinear terms and estimated state derivatives of the extended state observer to the hovering controller to perform hovering control of the thrust-vectoring STOVL aircraft.

[0008] Through the above technical solutions, the embodiments of this application can establish a hovering dynamics model of a thrust vectoring short takeoff and landing aircraft based on various state parameters of the aircraft system, and further design a reconfiguration controller, a hovering controller, and an extended state controller. Through the cooperation of the four, closed-loop control and stable control of aircraft hovering can be achieved, which can effectively simplify the model processing flow, realize dynamic decoupling of actuators, and improve control robustness.

[0009] Optionally, in one embodiment of this application, the state of the hovering dynamics model includes at least one of forward velocity, lateral velocity, vertical velocity, roll angle, pitch angle, yaw angle, roll rate, pitch rate, and yaw rate, and the control input includes at least one of main engine thrust, lift fan thrust, thrust difference between left and right roll nozzles, longitudinal deflection angle of the three-bearing vector nozzle, and lateral deflection angle of the three-bearing vector nozzle.

[0010] Through the above technical solutions, the embodiments of this application can construct a hovering dynamics model using multiple types of variables such as forward velocity, vertical velocity, and main engine inference. This enables the hovering dynamics model to accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0011] Optionally, in one embodiment of this application, the reconfiguration controller for the power system of the thrust vectoring short takeoff and vertical landing aircraft includes: establishing a high-order all-drive model based on a defined actuator state vector; defining a tracking error based on the desired control quantity of the power system; and designing the reconfiguration controller based on the high-order all-drive model and the tracking error, according to the closed-loop desired state matrix of the power system.

[0012] Through the above technical solutions, the embodiments of this application can establish a high-order all-drive model of the power system actuator, design and reconstruct the controller based on the all-drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce the dependence on the precise mathematical model, enhance the robustness to nonlinearity, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0013] Optionally, in one embodiment of this application, the expression of the reconfiguration controller is:

[0014]

[0015] Among them, υ s B represents the control input quantity. y Represents the control allocation matrix, g y A represents the coupled nonlinear term. y This represents the desired state matrix of the closed-loop system of the power system actuator. e represents the first derivative of the desired control. y This indicates the control tracking error.

[0016] Through the above technical solution, the embodiments of this application can reconfigure the actuators of the power system by establishing a reconfiguration controller model, so as to overcome the significant differences in the dynamic characteristics of the actuators in the traditional dynamic inverse method (such as the main engine thrust response delay, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily leads to allocation mismatch problems.

[0017] Optionally, in one embodiment of this application, the design of the hover controller for a thrust vectoring short takeoff and vertical landing (STOVL) aircraft includes: converting the hovering dynamics model into a high-order all-drive system model in a preset compact format; defining the state tracking error based on the desired state variables of the thrust vectoring STOVL aircraft; and designing the hover controller based on the high-order all-drive system model and the state tracking error, according to a block diagonal feature matrix.

[0018] Through the above technical solutions, the embodiments of this application can convert the hovering model of a thrust vectoring short takeoff and landing aircraft into a high-order all-drive system model. Based on the high-order all-drive system theory, the hovering model of the thrust vectoring short takeoff and landing aircraft is upgraded and decoupled, thereby reducing the model dimension and simplifying the complex multi-point linearization process in the traditional dynamic inverse method.

[0019] Optionally, in one embodiment of this application, the expression of the hover controller is:

[0020]

[0021] in, Indicates that by A k The block matrix formed, B x Represents the equivalent control allocation matrix, e X f represents the state tracking error. x This represents the total nonlinear term for the corresponding state.

[0022] Through the above technical solution, the embodiments of this application can track hovering state commands and adjust control inputs by modeling a hovering controller, thereby achieving stable hovering of the aircraft.

[0023] Optionally, in one embodiment of this application, the expression for the extended state observer is:

[0024]

[0025] Where, α k,i It is a state The estimated value, α k,i The derivative, It is a nonlinear term f k The estimated value, k，1 Let x represent the observation error for the k-th state. k Let y represent the k-th state. c Indicates expected control, B x (;,k) represents matrix B x The k-th column vector.

[0026] Through the above technical solution, the embodiments of this application can use an extended state observer to estimate missing information, and then replace the corresponding variables of the hover controller based on the estimated information to achieve closed-loop control of hovering.

[0027] A second aspect of this application provides a hovering control device for a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft, comprising: a modeling module for establishing a hovering dynamics model of the STOVL aircraft based on the nonlinear relationships of aircraft speed, Euler angles, angular velocity, thrust, and torque; a first design module for designing a reconfiguration controller for the power system of the STOVL aircraft and a hovering controller for the STOVL aircraft; a second design module for designing an extended state observer for estimating the nonlinear terms and state derivatives in the hovering dynamics model; and a control module for feeding back the estimated nonlinear terms and estimated state derivatives of the extended state observer to the hovering controller to perform hovering control on the STOVL aircraft.

[0028] Through the above technical solutions, the embodiments of this application can establish a hovering dynamics model of a thrust vectoring short takeoff and landing aircraft based on various state parameters of the aircraft system, and further design a reconfiguration controller, a hovering controller, and an extended state controller. Through the cooperation of the four, closed-loop control and stable control of aircraft hovering can be achieved, which can effectively simplify the model processing flow, realize dynamic decoupling of actuators, and improve control robustness.

[0029] Optionally, in one embodiment of this application, the state of the hovering dynamics model includes at least one of forward velocity, lateral velocity, vertical velocity, roll angle, pitch angle, yaw angle, roll rate, pitch rate, and yaw rate, and the control input includes at least one of main engine thrust, lift fan thrust, thrust difference between left and right roll nozzles, longitudinal deflection angle of the three-bearing vector nozzle, and lateral deflection angle of the three-bearing vector nozzle.

[0030] Through the above technical solutions, the embodiments of this application can construct a hovering dynamics model using multiple types of variables such as forward velocity, vertical velocity, and main engine inference. This enables the hovering dynamics model to accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0031] Optionally, in one embodiment of this application, the first design module includes: a modeling unit, configured to establish a high-order all-drive model based on a defined actuator state vector; a tracking unit, configured to define a tracking error based on the desired control quantity of the power system; and a first design unit, configured to design the reconfiguration controller based on the high-order all-drive model and the tracking error, according to the closed-loop desired state matrix of the power system.

[0032] Through the above technical solutions, the embodiments of this application can establish a high-order all-drive model of the power system actuator, design and reconstruct the controller based on the all-drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce the dependence on the precise mathematical model, enhance the robustness to nonlinearity, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0033] Optionally, in one embodiment of this application, the expression of the reconfiguration controller is:

[0034]

[0035] Among them, υ s B represents the control input quantity. y Represents the control allocation matrix, g y A represents the coupled nonlinear term. y This represents the desired state matrix of the closed-loop system of the power system actuator. e represents the first derivative of the desired control. y This indicates the control tracking error.

[0036] Through the above technical solution, the embodiments of this application can reconfigure the actuators of the power system by establishing a reconfiguration controller model, so as to overcome the significant differences in the dynamic characteristics of the actuators in the traditional dynamic inverse method (such as the main engine thrust response delay, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily leads to allocation mismatch problems.

[0037] Optionally, in one embodiment of this application, the first design module further includes: a conversion unit for converting the hovering dynamics model into a high-order all-drive system model in a preset compact format; a definition unit for defining the state tracking error based on the desired state quantities of the thrust vectoring short takeoff and vertical landing aircraft; and a second design unit for designing the hovering controller based on the high-order all-drive system model and the state tracking error, according to a block diagonal feature matrix.

[0038] Through the above technical solution, the embodiments of this application can convert the hovering model of a thrust vectoring short takeoff and landing aircraft into a high-order all-drive system model. By using the high-order all-drive system theory to upgrade and decouple the hovering model of the thrust vectoring short takeoff and landing aircraft, the model dimensionality is reduced, and the complex multi-point linearization process in the traditional dynamic inverse method is simplified.

[0039] Optionally, in one embodiment of this application, the expression of the hover controller is:

[0040]

[0041] in, Indicates that by A k The block matrix formed, B x Represents the equivalent control allocation matrix, e X f represents the state tracking error. x This represents the total nonlinear term for the corresponding state.

[0042] Through the above technical solution, the embodiments of this application can track hovering state commands and adjust control inputs by modeling a hovering controller, thereby achieving stable hovering of the aircraft.

[0043] Optionally, in one embodiment of this application, the expression for the extended state observer is:

[0044]

[0045] Where, α k,i It is a state The estimated value, αk,i The derivative, It is a nonlinear term f k The estimated value, k，1 Let x represent the observation error for the k-th state. k Let y represent the k-th state. c Indicates expected control, B x (;,k) represents matrix B x The k-th column vector.

[0046] Through the above technical solution, the embodiments of this application can use an extended state observer to estimate missing information, and then replace the corresponding variables of the hover controller based on the estimated information to achieve closed-loop control of hovering.

[0047] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the thrust vectoring short takeoff and landing aircraft hovering control method as described in the above embodiments.

[0048] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described thrust vectoring short takeoff and vertical landing aircraft hovering control method.

[0049] A fifth aspect of this application provides a computer program product that stores a computer program that, when executed by a processor, implements the above-described thrust vectoring short takeoff and vertical landing aircraft hovering control method.

[0050] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0051] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0052] Figure 1 This is a flowchart of a hovering control method for a thrust vectoring short takeoff and vertical landing aircraft according to an embodiment of this application;

[0053] Figure 2 This is a schematic diagram of the power system configuration of a thrust vectoring short takeoff and vertical landing aircraft according to a specific embodiment of this application;

[0054] Figure 3 This is a schematic diagram illustrating the variables of the power system of a thrust vectoring short takeoff and vertical landing aircraft according to a specific embodiment of this application;

[0055] Figure 4 This is a schematic diagram of a thrust vectoring short takeoff and vertical landing aircraft hovering control method according to a specific embodiment of this application;

[0056] Figure 5 This is a schematic flowchart of a hovering control method for a thrust vectoring short takeoff and vertical landing aircraft according to a specific embodiment of this application;

[0057] Figure 6 This is a block diagram of a thrust vectoring short takeoff and vertical landing aircraft hovering control device according to an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0060] The following description, with reference to the accompanying drawings, illustrates a hovering control method and apparatus for a thrust-vectoring short takeoff and landing (STOVL) aircraft according to embodiments of this application. Addressing the problems of complex model linearization, control allocation relying on precise performance matrices, and unpredictable closed-loop performance in the aforementioned background art-based hovering control methods, which struggle to achieve efficient decoupling and robust control of multiple actuators in an aircraft system, this application provides a hovering control method for a thrust-vectoring STOVL aircraft. In this method, based on higher-order all-drive system theory, the actuators of the power system are reconfigured for control. The established hovering dynamics model of the thrust-vectoring STOVL aircraft is converted into a higher-order all-drive system model. State tracking error is defined, and a hovering controller is designed. Stable closed-loop control of the aircraft's hovering is achieved through the coordinated action of the reconfiguration controller, the hovering controller, and the extended state controller. In the above scheme, the hovering model of a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft is upgraded and decoupled using higher-order all-drive system theory. This reduces the model dimensionality, simplifies the complex multi-point linearization process in traditional dynamic inverse methods, and eliminates the dependence on precise control allocation matrices, significantly improving controller design efficiency. This solves the problems in related technologies where dynamic inverse-based hovering control methods suffer from complex model linearization, dependence on precise performance matrices for control allocation, and unpredictable closed-loop performance, making it difficult to achieve efficient decoupling and robust control of multiple actuators in an aircraft system.

[0061] Specifically, Figure 1This is a schematic flowchart illustrating a hovering control method for a thrust vectoring short takeoff and landing (STOVL) aircraft provided in an embodiment of this application.

[0062] like Figure 1 As shown, the hovering control method for this thrust vectoring short takeoff and vertical landing aircraft includes the following steps:

[0063] In step S101, a hovering dynamics model of a thrust vectoring short takeoff and landing aircraft is established based on the nonlinear relationship between aircraft speed, Euler angle, angular velocity, thrust and torque.

[0064] As can be understood, a nonlinear relationship refers to a relationship between two or more variables that cannot be represented by a linear function (a straight line), but instead exhibits more complex patterns such as curves, fluctuations, and exponential changes. Simply put, a nonlinear relationship exists when the rate of change between variables is not constant (i.e., not in a fixed proportion).

[0065] Thrust and torque can be calculated from the main engine thrust, lift fan thrust, roll nozzle thrust, and the deflection angle of the three-bearing vector nozzle.

[0066] In one embodiment of this application, a hovering model for a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft is established, as shown in the following equation:

[0067]

[0068] Where u, v, w are the aircraft velocities, φ, θ, ψ are the Euler angles, p, q, r are the angular velocities, and m is the aircraft mass. c5=(I z -I x ) / I y c6 = I xz / I y c7 = 1 / I y , I x ,I y ,I z I represents the moment of inertia of an aircraft along its three axes. xz For the product of inertia, F x ,F y ,F z M represents the thrust acting on the aircraft in the body coordinate system. x M y M z The torque acting on the aircraft is expressed in the body coordinate system, and the specific calculation formula is as follows:

[0069]

[0070] Among them, T LN Main engine thrust, TLF For the lift fan thrust, T LR ,T RR For the thrust of the left and right rolling nozzle, δ LN δ is the longitudinal deflection angle of the three-bearing vector nozzle. LNy x is the lateral deflection angle of the three-bearing vector nozzle. LN ,z LN These represent the forward and vertical distances from the point of application of the main engine thrust to the center of mass, respectively; x LF x is the forward distance from the point of application of the lift fan thrust to the center of mass; R ,y R denoted as the forward distance and lateral distance from the point of application of the rolling nozzle thrust to the center of mass, respectively, and g is the acceleration due to gravity.

[0071] The aforementioned hovering dynamics model can be used to describe the motion of an aircraft in a hovering state. It serves as the theoretical basis for subsequent controller design and the mathematical foundation for simulation verification. This model provides the dynamic characteristics of the controller, and the controller's performance directly depends on the model's accuracy and its ability to analyze nonlinear and coupling effects.

[0072] The embodiments of this application can better describe the nonlinear dynamic characteristics of aircraft speed, attitude angle and angular velocity by establishing a hovering dynamics model of a thrust vectoring short takeoff and vertical landing aircraft, thereby enabling better hovering control of the aircraft.

[0073] In step S102, a reconfiguration controller for the power system of a thrust vectoring short takeoff and vertical landing (STOVL) aircraft is designed, as well as a hovering controller for the STOVL aircraft.

[0074] Among them, such as Figure 2 As shown, the power system of a thrust vectoring short takeoff and vertical landing (STOVL) aircraft may include: a main engine, a lift fan, a three-bearing vector nozzle, and a roll nozzle; the main engine can provide core thrust and the thrust direction can be adjusted through the three-bearing vector nozzle; the lift fan can provide auxiliary lift during the vertical takeoff and landing phase; and the roll nozzle can be used to adjust the aircraft's roll attitude.

[0075] In actual implementation, the embodiments of this application can reconfigure the actuators of the power system based on the theory of high-order all-drive systems, including defining actuator state vectors, establishing a high-order all-drive model, designing control tracking error and reconfiguring control law; the hovering dynamics model of the thrust vector type short take-off and vertical landing aircraft established in step S101 can be converted into a high-order all-drive system model and the state tracking error can be defined to design a hover controller.

[0076] The reconfigurable controller maps virtual control quantities to actual control quantities, translating abstract instructions into actions of concrete actuators. The hover controller maps state control to virtual control quantities, enabling closed-loop control of the state. The two are connected in series to achieve hover control of the aircraft. The hover controller calculates virtual control quantities based on flight state and control objectives, focusing on control effectiveness without concern for actuator details. The reconfigurable controller handles control allocation, focusing on how to achieve control. This design isolates the top-level control from the bottom-level control mechanisms, reducing design complexity.

[0077] The thrust vectoring short takeoff and vertical landing (STOVL) aircraft power system reconfiguration controller of this application embodiment is based on a high-order all-drive system design and can be used to decouple the dynamic response of the main engine, lift fan, and three-bearing vector nozzle; the thrust vectoring STOVL aircraft hover controller is based on a high-order all-drive system design and can be used to track hovering state commands and adjust control inputs.

[0078] In step S103, an extended state observer is designed to estimate the nonlinear terms and state derivatives in the hovering dynamics model.

[0079] Understandably, the extended state observer is a core component of active disturbance rejection control. Its core idea is to treat internal uncertainties and external disturbances as a unified "total disturbance" and estimate and compensate for them in real time through the observer, thereby improving the robustness of the control system.

[0080] In actual implementation, when designing the hover controller, the required nonlinear terms and the derivatives of the aircraft state cannot be directly obtained. Therefore, they can be obtained by introducing an extended state observer.

[0081] The extended state observer designed in this application embodiment can be used to estimate the nonlinear terms and state derivatives in the hovering model in real time. The information estimated by the extended state observer is then fed into the hovering controller to obtain the final thrust vector type vertical short-range aircraft hovering controller.

[0082] In step S104, the estimated nonlinear term and estimated state derivative of the extended state observer are fed back to the hover controller to perform hover control on the thrust vectoring short takeoff and vertical landing aircraft.

[0083] In actual implementation, the embodiments of this application can control the hovering flight behavior of force vector short take-off and vertical landing aircraft through a hover controller. In the process of constructing the hover controller, it is necessary to obtain nonlinear terms and estimate state derivatives. Therefore, the embodiments of this application can introduce an extended state observer to estimate the nonlinear terms in the model in real time, which significantly enhances the robustness of the model.

[0084] The embodiments of this application can obtain hover controller parameter data by introducing an extended state observer, which works in conjunction with the hover controller to better achieve closed-loop control of aircraft hovering.

[0085] Optionally, in one embodiment of this application, the state of the hovering dynamics model includes at least one of forward velocity, lateral velocity, vertical velocity, roll angle, pitch angle, yaw angle, roll rate, pitch rate, and yaw rate, and the control input includes at least one of main engine thrust, lift fan thrust, thrust difference between left and right roll nozzles, longitudinal deflection angle of the three-bearing vector nozzle, and lateral deflection angle of the three-bearing vector nozzle.

[0086] In one embodiment of this application, the hovering dynamics model can be constructed using the state variables and control input variables of the above-mentioned hovering dynamics model. The specific construction method can be referred to step formulas (1)-(2), which will not be elaborated here.

[0087] The embodiments of this application can construct a hovering dynamics model using multiple types of variables such as forward velocity, vertical velocity, and main engine inference. This enables the hovering dynamics model to accurately describe the dynamic behavior of the aircraft in the hovering state and solve key problems in hovering control (such as stability, anti-interference, energy efficiency, etc.).

[0088] Optionally, in one embodiment of this application, designing a reconfiguration controller for the power system of a thrust vectoring short takeoff and vertical landing aircraft includes: establishing a high-order all-drive model based on a defined actuator state vector; defining a tracking error based on the desired control quantity of the power system; and designing a reconfiguration controller based on the high-order all-drive model and the tracking error, according to the closed-loop desired state matrix of the power system.

[0089] like Figure 3 As shown, Figure 3 The variables characterizing the thrust vectoring short takeoff and vertical landing (STOVL) aircraft power system provided in the embodiments of this application include: main engine thrust T. LN Lift fan thrust T LF The thrust T of the left and right rolling nozzle LR ,T RR Longitudinal deflection angle δ of the three-bearing vector nozzle LN Lateral deflection angle δ of the three-bearing vector nozzle LNy The forward and vertical distances x from the point of application of the main engine thrust to the center of mass. LN ,z LN The forward distance x from the point of application of the lift fan thrust to the center of mass LF The forward and lateral distances x from the point of application of the thrust of the rolling nozzle to the center of mass. R ,y R .

[0090] It is understandable that the actual actuators of the thrust vectoring short takeoff and vertical landing (STOVL) aircraft's power system include the main engine's thrust T. LN Lift fan thrust T LF The thrust T of the left and right rolling nozzle LR ,T RR Longitudinal deflection angle δ of the three-bearing vector nozzle LN Lateral deflection angle δ of the three-bearing vector nozzle LNy The control quantity directly related to changes in aircraft state is T. LF ΔT R =T LR -T RR T LN cosδ LN T LN sinδ LN sinδ LNy T LN sinδ LN cosδ LNy Therefore, the actuators in the power system need to be reconfigured first. An actuator is a device in the power system that converts control signals (such as electrical or hydraulic signals) into physical actions or forces to drive changes in the system's state. It is the "actuator" of the control system, directly affecting the system's dynamic response and performance.

[0091] Specifically, embodiments of this application can design a reconfiguration controller for the power system of a thrust vectoring short takeoff and vertical landing aircraft through the following process:

[0092] First, establish a high-order all-wheel drive model of the power system actuators. Define y:=[y1,y2,y3,y4,y5] T , where y1 = T LN cosδ LN y2=T LN sinδ LN sinδ LNy y3=T LN sinδ LN cosδ LNy y4=T LF y5=ΔT R , representing 5 virtual control variables respectively; its dynamic system can be written as:

[0093]

[0094] in,

[0095] For the corresponding control input quantity, This indicates the control input for the main thrust engine. The control input represents the longitudinal deflection angle of the three-bearing vector nozzle. The control input represents the lateral deflection angle of the three-bearing vector nozzle. The control input represents the thrust of the lift fan. The control input represents the difference in roll thrust.

[0096] Then, the tracking error of the actuator control in the power system is defined. Based on the high-order all-drive model of the actuator in the power system, a reconfigurable controller is designed based on all-drive system theory. The desired control is defined as y. c =[y c1 ,y c2 ,y c3 ,y c4 ,y c5 ] T y c1 -y c5 Let the desired commands for the five virtual control variables be represented sequentially. Then the control tracking error is e. y =yy c .

[0097] Finally, the powertrain reconfiguration controller was designed.

[0098] The reconfigurable controller can realize the mapping between virtual control quantities and actual control quantities. The all-drive system method can establish a direct correspondence between actual control quantities and virtual control quantities and eliminate nonlinear coupling terms (which include differences in the dynamic characteristics of the actual actuator system). In the embodiments of this application, the closed-loop expected state matrix and tracking error can be used to directly design the reconfigurable controller. The closed-loop system performance is controllable and can effectively solve the problem of significant differences in actuator dynamic characteristics (such as main engine thrust response delay, lift fan nonlinear saturation, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily leads to allocation mismatch problems.

[0099] The embodiments of this application can establish a high-order all-drive model of the actuator of the power system, design and reconstruct the controller based on the all-drive system theory, and then use it to decouple the actuator dynamics, effectively simplify the controller design process, reduce the dependence on the precise mathematical model, enhance the robustness to nonlinearity, significantly shorten the controller iteration verification time, and effectively improve the dynamic response performance of hovering attitude control.

[0100] Optionally, in one embodiment of this application, the expression for reconstructing the controller is:

[0101]

[0102] Where, ν s B represents the control input quantity. y Represents the control allocation matrix, g y A represents the coupled nonlinear term. yThis represents the desired state matrix of the closed-loop system of the power system actuator. e represents the first derivative of the desired control. y This indicates the control tracking error.

[0103] In actual implementation, the embodiments of this application can reconstruct the controller model based on parameters such as control input and the expected state matrix of the power system actuator closed loop system.

[0104] The embodiments of this application can reconfigure the actuators of the power system by establishing a reconfiguration controller model, so as to overcome the significant differences in the dynamic characteristics of actuators in the traditional dynamic inverse method (such as the main engine thrust response delay, the nonlinear saturation of the lift fan, etc.), which makes it extremely difficult to accurately obtain the control allocation matrix and easily leads to allocation mismatch problems.

[0105] Optionally, in one embodiment of this application, the design of a hover controller for a thrust vectoring short takeoff and vertical landing (STOVL) aircraft includes: converting a hovering dynamics model into a high-order all-drive system model in a preset compact format; defining a state tracking error based on the desired state variables of the thrust vectoring STOVL aircraft; and designing a hover controller based on the high-order all-drive system model and the state tracking error, according to a block diagonal feature matrix.

[0106] Specifically, in the short takeoff / hovering mode, the main state variables of the aircraft, u, v, w, θ, and ψ, are forward velocity, lateral velocity, vertical velocity, pitch angle, and yaw angle, respectively; while the control input is y. c Define the state vector x := [x1,x2,x3,x4,x5] T , where x1:=u, x2:=v, x3:=w, x4:=θ, x5:=ψ.

[0107] First, the hovering model of a thrust vectoring short takeoff and vertical landing aircraft is converted into a high-order all-drive system model, as follows.

[0108] First, differentiate for each state to establish a direct relationship between the state and the control variable:

[0109] First state:

[0110]

[0111] Where f1 is the total nonlinear term for the corresponding state.

[0112] Second state:

[0113]

[0114] in, These are the intermediate transition nonlinear terms and the total nonlinear term for the corresponding state, respectively.

[0115] The third state:

[0116]

[0117] Where f3 is the total nonlinear term for the corresponding state.

[0118] Fourth state:

[0119]

[0120] Where f4 is the total nonlinear term for the corresponding state.

[0121] Fifth state:

[0122]

[0123] Where f5 is the total nonlinear term for the corresponding state.

[0124] Reorganize the equations into a compact format, as follows:

[0125]

[0126] Among them, f x :=[f1,f2,f3,f4,f5] T ,

[0127]

[0128] Then define the hovering tracking error.

[0129] If the desired state command is given, then the state tracking error is e. X =XX c X is an extended state vector composed of state vectors, and Xc is the desired state instruction of X.

[0130] Finally, a thrust vectoring hover controller for short takeoff and vertical landing (STOVL) aircraft was designed.

[0131] In this embodiment, firstly, a high-order all-drive model of the aircraft's hovering dynamics is established using the all-drive system method. This model serves as the connection between the virtual control quantity and the target state quantity and is nonlinear, thus avoiding the linearization problem at the operating point. Then, through the design of a block diagonal matrix, control can be performed separately according to the actual characteristics of each state, thereby achieving decoupled control between states. Furthermore, by eliminating nonlinear coupling terms, the hovering controller is directly designed using the desired closed-loop characteristic matrix and the state tracking error. The closed-loop performance is determined by the desired matrix, eliminating the need for repeated iterations. This effectively solves the technical problem that controllers designed using traditional methods require repeated simulations and experiments to verify their closed-loop performance, resulting in long development cycles and high costs.

[0132] This application embodiment can convert the hovering model of a thrust vectoring short takeoff and landing (STOVL) aircraft into a high-order all-drive system model. By using high-order all-drive system theory to upgrade and decouple the hovering model of the thrust vectoring STOVL aircraft, the model dimensionality is reduced, and the complex multi-point linearization process in the traditional dynamic inverse method is simplified.

[0133] Optionally, in one embodiment of this application, the expression for the hover controller is:

[0134]

[0135] in, Indicates that by A k The block matrix formed, B x Represents the equivalent control allocation matrix, e X f represents the state tracking error. x This represents the total nonlinear term for the corresponding state.

[0136] Furthermore, Let m1 = m3 = 1, m2 = 3, m4 = m5 = 2.

[0137] In actual implementation, the embodiments of this application can model the hovering controller based on state tracking error and nonlinear terms.

[0138] The embodiments of this application can track hovering state commands and adjust control inputs by modeling a hovering controller to achieve stable hovering of the aircraft.

[0139] Optionally, in one embodiment of this application, the expression for the extended state observer is:

[0140]

[0141] Where, α k,i It is a state The estimated value, α k,i The derivative, It is a nonlinear term f k The estimated value, k，1 Let x represent the observation error for the k-th state. k Let y represent the k-th state. c Indicates expected control, B x (;,k) represents matrix B x The k-th column vector, α k,i The derivative, Represents state x k The (i-1)th derivative.

[0142] In actual implementation, the embodiments of this application can model the extended state observer based on parameters such as the estimated value of the nonlinear term.

[0143] The embodiments of this application can utilize an extended state observer to estimate missing information, and then replace the corresponding variables of the hover controller based on the estimated information to achieve closed-loop control.

[0144] like Figure 4 and Figure 5 As shown, in order to enable those skilled in the art to more clearly understand the hovering control method for thrust vectoring short takeoff and landing aircraft of this application, the method will be described in detail below with a specific embodiment.

[0145] Figure 4 This application provides a structural diagram of a hovering control method for a thrust vectoring short takeoff and vertical landing (STOVL) aircraft based on an all-drive system, comprising: a thrust vectoring STOVL aircraft model, a thrust vectoring STOVL aircraft power system reconfiguration controller, a thrust vectoring STOVL aircraft hovering controller, and an extended state observer.

[0146] The thrust-vectoring short takeoff and vertical landing (STOVL) aircraft model describes the aircraft's motion state and nonlinear coupled dynamics, serving as the mathematical model and foundation for controller design. The hover controller, based on the model and tracking errors, generates virtual control variables to achieve stable hovering attitude. The reconfigurable controller converts these control variables into instructions for the actual actuators, addressing redundancy allocation and physical constraints. The extended state observer estimates unmeasurable states (angular acceleration signals) and total external disturbances in real time, inputting the estimated signals into the hover controller for control. These four components each implement closed-loop control, while simultaneously connecting in series to form a large overall closed loop, enabling precise hovering control of the aircraft.

[0147] Reference Figure 5The hovering control method for a thrust vectoring short takeoff and vertical landing aircraft based on an all-drive system provided in this application includes the following steps:

[0148] Step 1: Establish a hovering model for a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft;

[0149] Step 2: Design the reconfiguration controller for the power system of a thrust-vectoring short takeoff and vertical landing (STOVL) aircraft; the specific process is as follows:

[0150] Step 2.1: Establish a high-order all-drive model of the power system actuators;

[0151] Step 2.2: Define the tracking error of the actuator control in the power system;

[0152] Step 2.3: Design the power system reconfiguration controller;

[0153] Step 3: Design a hovering controller for a thrust vectoring short takeoff and vertical landing (STOVL) aircraft; the specific process is as follows:

[0154] Step 3.1: Convert the hovering model of the thrust vectoring short takeoff and vertical landing aircraft into a high-order all-drive system model;

[0155] Step 3.2: Reorganize the equations into a compact format;

[0156] Step 3.3: Define the hovering tracking error;

[0157] Step 3.4: Design a thrust vectoring hover controller for short takeoff and vertical landing aircraft;

[0158] Step 4: Design the extended state sensor;

[0159] Step 5: Replace the corresponding variables of the hover controller with the information estimated by the extended state sensor to form closed-loop control.

[0160] The hovering control method for thrust-vectoring short takeoff and vertical landing (SVTOL) aircraft proposed in this application can reconfigure the actuators of the power system based on higher-order all-drive system theory. It transforms the hovering dynamics model of the thrust-vectoring SVTOL aircraft into a higher-order all-drive system model, defines the state tracking error, and designs a hovering controller. Then, through the coordinated action of the reconfiguration controller, hovering controller, and extended state controller, stable closed-loop control of the aircraft's hovering is achieved. In this scheme, the higher-order all-drive system theory is used to upgrade and decouple the hovering model of the thrust-vectoring SVTOL aircraft, reducing the model dimensionality, simplifying the complex multi-point linearization process in traditional dynamic inverse methods, and eliminating the dependence on precise control allocation matrices, significantly improving controller design efficiency. This solves the problems of related technologies, such as complex model linearization, dependence on precise performance matrices for control allocation, and unpredictable closed-loop performance, which make it difficult to achieve efficient decoupling and robust control of multiple actuators in an aircraft system.

[0161] Next, refer to the appendix. Figure 6 This application describes a thrust vectoring short takeoff and vertical landing (STOVL) aircraft hovering control device according to an embodiment of the present application.

[0162] Figure 6 This is a block diagram of a thrust vectoring short takeoff and vertical landing aircraft hovering control device according to an embodiment of this application.

[0163] like Figure 6 As shown, the thrust vectoring short takeoff and vertical landing aircraft hovering control device 10 includes: a modeling module 100, a first design module 200, a second design module 300, and a control module 400.

[0164] The modeling module 100 is used to establish a hovering dynamics model of a thrust vectoring short takeoff and landing aircraft based on the nonlinear relationship between aircraft speed, Euler angle, angular velocity, thrust and torque.

[0165] The first design module 200 is used to design the reconfiguration controller of the power system of the thrust vectoring short takeoff and vertical landing aircraft, and to design the hovering controller of the thrust vectoring short takeoff and vertical landing aircraft.

[0166] The second design module 300 is used to design an extended state observer for estimating nonlinear terms and state derivatives in a hovering dynamics model.

[0167] The control module 400 is used to feed back the estimated nonlinear term and estimated state derivative of the extended state observer to the hover controller for hover control of the thrust vectoring short takeoff and vertical landing aircraft.

[0168] Optionally, in one embodiment of this application, the state of the hovering dynamics model includes at least one of forward velocity, lateral velocity, vertical velocity, roll angle, pitch angle, yaw angle, roll rate, pitch rate, and yaw rate, and the control input includes at least one of main engine thrust, lift fan thrust, thrust difference between left and right roll nozzles, longitudinal deflection angle of the three-bearing vector nozzle, and lateral deflection angle of the three-bearing vector nozzle.

[0169] Optionally, in one embodiment of this application, the first design module includes a modeling unit, a tracking unit, and a first design unit; wherein, the modeling unit is used to establish a high-order all-drive model based on the defined actuator state vector; the tracking unit is used to define the tracking error based on the desired control quantity of the power system; and the first design unit is used to design a reconfiguration controller based on the high-order all-drive model and the tracking error, according to the closed-loop desired state matrix of the power system.

[0170] Optionally, in one embodiment of this application, the expression for reconstructing the controller is:

[0171]

[0172] Among them, υ s B represents the control input quantity. y Represents the control allocation matrix, g y A represents the coupled nonlinear term. y This represents the desired state matrix of the closed-loop system of the power system actuator. e represents the first derivative of the desired control. y This indicates the control tracking error.

[0173] Optionally, in one embodiment of this application, the first design module further includes a conversion unit, a definition unit, and a second design unit; wherein, the conversion unit is used to convert the hovering dynamics model into a high-order all-drive system model in a preset compact format; the definition unit is used to define the state tracking error according to the expected state quantities of the thrust vectoring short takeoff and vertical landing aircraft; and the second design unit is used to design a hovering controller based on the high-order all-drive system model and the state tracking error, according to the block diagonal feature matrix.

[0174] Optionally, in one embodiment of this application, the expression for the hover controller is:

[0175]

[0176] in, Indicates that by A k The block matrix formed, B x Represents the equivalent control allocation matrix, e X f represents the state tracking error. x This represents the total nonlinear term for the corresponding state.

[0177] Optionally, in one embodiment of this application, the expression for the extended state observer is:

[0178]

[0179] Where, α k,i It is a state The estimated value, α k,i The derivative, It is a nonlinear term f k The estimated value, k，1 Let x represent the observation error for the k-th state. k Let y represent the k-th state. c Indicates expected control, B x (;,k) represents matrix B x The k-th column vector.

[0180] It should be noted that the foregoing explanation of the hovering control method embodiment for thrust vectoring short takeoff and landing aircraft also applies to the hovering control device for thrust vectoring short takeoff and landing aircraft in this embodiment, and will not be repeated here.

[0181] The hovering control device for thrust vectoring short takeoff and vertical landing (STOVL) aircraft proposed in this application can reconfigure the actuators of the power system based on high-order all-drive system theory. It transforms the established hovering dynamics model of the thrust vectoring STOVL aircraft into a high-order all-drive system model, defines the state tracking error, and designs a hovering controller. Then, through the coordinated action of the reconfiguration controller, hovering controller, and extended state controller, stable closed-loop control of the aircraft's hovering is achieved. In the above scheme, the high-order all-drive system theory is used to upgrade and decouple the hovering model of the thrust vectoring STOVL aircraft, reducing the model dimensionality, simplifying the complex multi-point linearization process in traditional dynamic inverse methods, and eliminating the dependence on precise control allocation matrices, significantly improving controller design efficiency. This solves the problems in related technologies where dynamic inverse-based hovering control methods suffer from complex model linearization, dependence on precise performance matrices for control allocation, and unpredictable closed-loop performance, making it difficult to achieve efficient decoupling and robust control of multiple actuators in an aircraft system.

[0182] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0183] The memory 701, the processor 702, and the computer program stored on the memory 701 and capable of running on the processor 702.

[0184] When the processor 702 executes the program, it implements the hovering control method for thrust vectoring short takeoff and vertical landing aircraft provided in the above embodiments.

[0185] Furthermore, electronic devices also include:

[0186] Communication interface 703 is used for communication between memory 701 and processor 702.

[0187] The memory 701 is used to store computer programs that can run on the processor 702.

[0188] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0189] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0190] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0191] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0192] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described thrust vectoring short takeoff and vertical landing aircraft hovering control method.

[0193] This application also provides a computer program product on which a computer program is stored, which, when executed by a processor, implements the above-described thrust vectoring short takeoff and vertical landing aircraft hovering control method.

[0194] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0195] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0196] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0197] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0198] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0199] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0200] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0201] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A hovering control method for a thrust vectoring short takeoff and vertical landing (STOVL) aircraft, characterized in that, Includes the following steps: Based on the nonlinear relationship between aircraft speed, Euler angle, angular velocity, thrust and torque, a hovering dynamics model of a thrust vectoring short takeoff and landing aircraft is established. Design a reconfiguration controller for the power system of the thrust vectoring short takeoff and vertical landing aircraft, and design a hovering controller for the thrust vectoring short takeoff and vertical landing aircraft. Design an extended state observer for estimating nonlinear terms and state derivatives in the hovering dynamics model; The estimated nonlinear term and estimated state derivative of the extended state observer are fed back to the hover controller to perform hover control on the thrust vectoring short takeoff and vertical landing aircraft. The reconfiguration controller for the power system of the thrust vectoring short takeoff and vertical landing aircraft is designed as follows: A high-order all-drive model is established based on the defined actuator state vector; The tracking error is defined based on the desired control quantity of the power system. Based on the high-order all-drive model and the tracking error, the reconfiguration controller is designed according to the closed-loop desired state matrix of the power system.

2. The method according to claim 1, characterized in that, The states of the hovering dynamics model include at least one of forward velocity, lateral velocity, vertical velocity, roll angle, pitch angle, yaw angle, roll rate, pitch rate, and yaw rate, and the control inputs include at least one of the main engine thrust, lift fan thrust, thrust difference between left and right roll nozzles, longitudinal deflection angle of the three-bearing vector nozzle, and lateral deflection angle of the three-bearing vector nozzle.

3. The method according to claim 1, characterized in that, The expression for the reconfiguration controller is: in, Indicates the control input quantity. Represents the control allocation matrix. Indicates the coupled nonlinear terms, This represents the desired state matrix of the closed-loop system of the power system actuator. This represents the first derivative of the desired control. This indicates the control tracking error.

4. The method according to claim 1, characterized in that, The hovering controller for the thrust vectoring short takeoff and vertical landing aircraft includes: The hovering dynamics model is converted into a high-order all-wheel drive system model in a preset compact format; The state tracking error is defined based on the expected state quantities of the thrust vectoring short takeoff and vertical landing aircraft. Based on the high-order all-wheel drive system model and the state tracking error, the hover controller is designed according to the block diagonal feature matrix.

5. The method according to claim 4, characterized in that, The expression for the hover controller is: in, Indicated by The resulting block matrix Represents the equivalent control allocation matrix. Indicates state tracking error. This represents the total nonlinear term for the corresponding state.

6. The method according to any one of claims 1-5, characterized in that, The expression for the extended state observer is: in, It is a state The estimated value, express The derivative, It is a nonlinear term The estimated value, Indicates the first The observation error of each state, Indicates the first k One state, Indicates expected control, Representation matrix The k Column vector.

7. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hovering control method for a thrust vectoring short takeoff and vertical landing aircraft as described in any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the hovering control method for a thrust vectoring short takeoff and vertical landing aircraft as described in any one of claims 1-6.

9. A computer program product, comprising a computer program, characterized in that, The computer program is executed to implement the hovering control method for a thrust vectoring short takeoff and landing aircraft as described in any one of claims 1-6.

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