Aircraft mode transition smooth transition method based on PID control, electronic equipment and medium

Abstract

The invention discloses an aircraft mode transition smooth transition method based on PID control, electronic equipment and a medium. The method comprises the following steps: determining a current flight mode of an aircraft in real time; when the flight mode is changed, calculating the initial rudder deflection angle of the current mode through a PID controller based on the rudder deflection angle of the previous flight mode; and controlling the aircraft according to the initial rudder deflection angle. According to the method, the attitude of the aircraft is stable during mode switching, rudder command jump is reduced, and the multi-task flight requirement of the aircraft is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control, and more particularly, to an aircraft mode conversion smooth transition method based on PID control, an electronic device and a medium. BACKGROUND

[0002] In order to ensure that the aircraft can fly farther and longer, the aircraft is usually designed to have a large lift-drag ratio shape, and the aspect ratio of the aircraft is relatively large. When the attitude of the aircraft is large, the wing strength of the aircraft is challenged. During the flight task of the aircraft, according to the flight requirement, the aircraft needs to fly at a high speed in multiple modes, and then needs to switch the high-speed mode multiple times. Due to the mode switching, the control variable is changed, and the rudder system instruction calculated by the control system will jump, thereby causing large shaking of the aircraft, and bringing irreversible influence such as deformation or even breakage of the aircraft wing. Therefore, smooth transition of the rudder instruction of the aircraft mode switching and ensuring the stable attitude of the aircraft become the key to stable flight. The previous smooth transition method of the aircraft focuses on the smoothness of the control instruction and the smoothness of the rudder system according to time, and cannot fundamentally solve the stable switching of the mode.

[0003] Therefore, it is necessary to develop an aircraft mode conversion smooth transition method based on PID control, an electronic device and a medium.

[0004] The information disclosed in the background section of this application is only intended to deepen the understanding of the general background of the application and should not be regarded as recognition or implicit admission in any form that such information constitutes prior art known to those skilled in the art. SUMMARY

[0005] The present application provides an aircraft mode conversion smooth transition method based on PID control, an electronic device and a medium, so that the attitude of the aircraft is stable during mode switching, the rudder instruction jump is reduced, and the multi-task flight requirement of the aircraft is ensured.

[0006] In a first aspect, the present application provides an aircraft mode conversion smooth transition method based on PID control, comprising:

[0007] determining the current flight mode of the aircraft in real time;

[0008] When the flight mode changes, the initial rudder deflection angle of the current mode is calculated based on the rudder deflection angle of the previous flight mode through a PID controller;

[0009] controlling the aircraft according to the initial rudder deflection angle.

[0010] Preferably, the rudder deflection angle is obtained by subtracting the actual flight angle of the aircraft from the rudder instruction.

[0011] Preferably, calculating the initial rudder deflection angle of the current flight mode by the PID controller based on the rudder deflection angle of the previous flight mode comprises:

[0012] setting a proportional coefficient, an integral coefficient and a differential coefficient of the PID controller;

[0013] calculating a first calculation result based on the rudder deflection angle of the previous flight mode, the proportional coefficient and the integral coefficient;

[0014] calculating the initial rudder deflection angle of the current flight mode according to the first calculation result and the differential coefficient.

[0015] Preferably, calculating the first calculation result based on the rudder deflection angle of the previous flight mode, the proportional coefficient and the integral coefficient comprises:

[0016] operating the rudder deflection angle of the previous flight mode with the integral coefficient to obtain an initial value of an integral term of the current flight mode;

[0017] operating the rudder deflection angle of the previous flight mode with the proportional coefficient to obtain an initial value of a proportional term of the current flight mode;

[0018] adding the initial value of the integral term and the initial value of the proportional term to obtain the first calculation result.

[0019] Preferably, the initial value of the integral term of the current flight mode is:

[0020]

[0021] wherein, δ I0 is the initial value of the integral term of the current flight mode, δ LAST is the rudder deflection angle of the previous flight mode, and K I is the integral coefficient.

[0022] Preferably, multiplying the first calculation result with the differential coefficient to obtain the initial rudder deflection angle of the current flight mode.

[0023] Preferably, the differential coefficient is obtained by a sensitive component of the aircraft.

[0024] In a second aspect, the present disclosure further provides an electronic device, comprising:

[0025] a memory storing executable instructions;

[0026] a processor running the executable instructions in the memory to implement the PID control-based aircraft mode transition smooth transition method.

[0027] In a third aspect, the present disclosure also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method for smooth transition of aircraft modal conversion based on PID control.

[0028] The method and apparatus of the present application has other characteristics and advantages, which will be apparent from or will be set forth in more detail in the accompanying drawings and the following detailed description, which together serve to explain certain principles of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters designate like elements in the several views.

[0030] Figure 1 A flow chart showing steps of a method for smooth transition of aircraft modal conversion based on PID control according to an embodiment of the present application is shown.

[0031] Figure 2 A flow chart showing steps of a method for smooth transition of aircraft modal conversion based on PID control according to an embodiment of the present application is shown.

[0032] Figure 3 A comparison diagram showing flight curves before and after applying the method for smooth transition according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] Preferred embodiments of the present application will be described in more detail below. Although the preferred embodiments of the present application are described below, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0034] In order to understand the schemes and effects of the embodiments of the present application, three specific application examples are given below. It should be understood by those skilled in the art that the examples are only for the convenience of understanding the present application, and any specific details thereof are not intended to limit the present application in any way.

[0035] Example 1

[0036] Figure 1 A flow chart showing steps of a method for smooth transition of aircraft modal conversion based on PID control according to an embodiment of the present application is shown.

[0037] As Figure 1As shown, the aircraft mode transition smooth transition method based on PID control includes:

[0038] Step 101, determining the current flight mode of the aircraft in real time;

[0039] Step 102, when the flight mode changes, calculating the initial rudder angle of the current mode by the PID controller based on the rudder angle of the previous flight mode;

[0040] Step 103, controlling the aircraft according to the initial rudder angle.

[0041] In one example, the rudder angle is obtained by subtracting the actual flight angle of the aircraft from the rudder command.

[0042] In one example, calculating the initial rudder angle of the current mode by the PID controller based on the rudder angle of the previous flight mode includes:

[0043] Setting the proportional coefficient, integral coefficient and differential coefficient of the PID controller;

[0044] Calculating a first calculation result based on the rudder angle of the previous flight mode, the proportional coefficient and the integral coefficient;

[0045] Calculating the initial rudder angle of the current mode according to the first calculation result and the differential coefficient.

[0046] In one example, calculating the first calculation result based on the rudder angle of the previous flight mode, the proportional coefficient and the integral coefficient includes:

[0047] Operating the rudder angle of the previous mode with the integral coefficient to obtain the initial value of the integral term of the current mode;

[0048] Operating the rudder angle of the previous mode with the proportional coefficient to obtain the initial value of the proportional term of the current mode;

[0049] Adding the initial value of the integral term and the initial value of the proportional term to obtain the first calculation result.

[0050] In one example, the initial value of the integral term of the current mode is:

[0051]

[0052] In the formula, δ I0 is the initial value of the integral term of the current mode, δ LAST is the rudder angle of the previous mode, and K I is the integral coefficient.

[0053] In one example, multiplying the first calculation result with the differential coefficient to obtain the initial rudder angle of the current mode.

[0054] In one example, the differential coefficient is obtained by a sensitive element of the aircraft.

[0055] Specifically, the aircraft flight in each mode is basically controlled by a PID control structure, K P , K I and K D are the proportional, integral and differential coefficients of the PID controller respectively, and in the same mode, the angle or height is finally stably tracked, the angle difference or position difference is 0, the rudder command caused by the proportional term of the PID controller is basically 0, the aircraft attitude is stable, the rudder command caused by the damping term of the PID controller is basically 0, and then the rudder command in the steady state is provided by the integral term which can eliminate the steady-state deviation.

[0056] Figure 2 A flowchart of a PID control-based aircraft mode conversion smooth transition method according to an embodiment of the present application is shown.

[0057] As shown in Figure 2 , when the mode switching is performed, the steady-state rudder deflection angle δ LAST of the previous mode is operated with the integral coefficient of the current mode The calculation result is preset to the integral term of the current mode , that is, the previous stable mode is transmitted to the current mode, and the attitude jitter caused by the mode switching is reduced.

[0058] Figure 3 A comparison diagram of flight curves before and after the application of the smooth transition method according to an embodiment of the present application is shown.

[0059] The present application introduces an aircraft mode conversion smooth transition method based on PID control: the calculation result based on the previous mode is preset to the integral term of the current mode, that is, the previous stable mode is transmitted to the current mode, which will make the aircraft attitude stable during mode switching. The flight curve comparison diagram before and after the application of the smooth transition method according to the embodiment of the present application is shown in Figure 3 . After the introduction of the smooth transition, the attitude jitter of the aircraft is obviously improved, which provides safety guarantee for the completion of long-time high-speed flight of the aircraft.

[0060] The present application can be applied to an aircraft, but is not limited to an aircraft, and a servo mechanism adopting a PID controller structure can also apply the present application, which can greatly reduce the negative effects introduced by mode switching.

[0061] Example 2

[0062] The electronic device comprises a memory storing executable instructions, and a processor running the executable instructions in the memory to implement the PID control-based aircraft modal transition smooth transition method.

[0063] The electronic device according to an embodiment of the present disclosure comprises a memory and a processor.

[0064] The memory is configured to store non-transitory computer-readable instructions. Specifically, the memory can comprise one or more computer program products, which can comprise various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like.

[0065] The processor can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions. In an embodiment of the present disclosure, the processor is configured to run the computer-readable instructions stored in the memory.

[0066] Those skilled in the art will understand that, in order to solve the technical problem of how to obtain a good user experience effect, the present embodiment can also include well-known structures such as a communication bus, an interface, and the like, which should also be included in the protection scope of the present disclosure.

[0067] Detailed descriptions of the present embodiment can refer to the corresponding descriptions in the foregoing embodiments, which will not be described here again.

[0068] Example 3

[0069] The present embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement the PID control-based aircraft modal transition smooth transition method.

[0070] The computer-readable storage medium according to an embodiment of the present disclosure stores non-transitory computer-readable instructions. When the non-transitory computer-readable instructions are run by a processor, all or part of the steps of the method according to the embodiments of the present disclosure are performed.

[0071] The above computer readable storage medium includes, but is not limited to, an optical storage medium (for example, a CD-ROM and a DVD), a magneto-optical storage medium (for example, an MO), a magnetic storage medium (for example, a magnetic tape or a magnetic hard disk), a medium having a built-in rewritable nonvolatile memory (for example, a memory card), and a medium having a built-in ROM (for example, a ROM cartridge).

[0072] Those skilled in the art will understand that the above description of the embodiments of the present application is given for the purpose of exemplarily illustrating the advantageous effects of the embodiments of the present application, and is not intended to limit the embodiments of the present application to any of the examples given.

[0073] The above has described the embodiments of the present application, and the above description is exemplary, is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for smooth transition of aircraft mode conversion based on PID control, characterized in that: include: Determine the current flight mode of the aircraft in real time; When the flight mode changes, the initial rudder angle of the current mode is calculated by a PID controller based on the rudder angle of the previous flight mode; The aircraft is controlled according to the initial rudder deflection angle.

2. The method for smooth transition of aircraft mode conversion based on PID control according to claim 1, wherein: The rudder deflection angle is obtained by subtracting the rudder instruction from the actual flight angle of the aircraft.

3. The method for smooth transition of aircraft mode conversion based on PID control according to claim 1, wherein: Based on the rudder deflection angle of the previous flight mode, the initial rudder deflection angle of the current mode is calculated by the PID controller including: Setting the proportional coefficient, integral coefficient and differential coefficient of the PID controller; Calculating a first calculation result based on the rudder deflection angle, proportional coefficient, and integral coefficient of the previous flight mode; An initial rudder deflection angle of the current mode is calculated according to the first calculation result and the differential coefficient.

4. The method for smooth transition of aircraft mode conversion based on PID control according to claim 3, wherein: Calculating the first calculation result based on the rudder deflection angle, proportional coefficient, and integral coefficient of the previous flight mode includes: Calculating the rudder deflection angle of the previous mode and the integral coefficient to obtain the initial value of the integral term of the current mode; Calculating the rudder deflection angle of the previous mode and the proportional coefficient to obtain the initial value of the proportional term of the current mode; The first calculation result is obtained by adding the initial value of the integral term and the initial value of the proportional term.

5. The method for smooth transition of aircraft mode conversion based on PID control according to claim 4, wherein: The initial value of the current modal integral term is: Where, δ I0 is the initial value of the current modal integral term, δ LAST is the rudder deflection angle of the previous mode, K I is the integration coefficient.

6. The method for smooth transition of aircraft mode conversion based on PID control according to claim 4, wherein: The first calculation result is multiplied by the differential coefficient to obtain the initial rudder deflection angle of the current mode.

7. The method for smooth transition of aircraft mode conversion based on PID control according to claim 4, wherein: The differential coefficient is obtained through sensitive components of the aircraft.

8. An electronic device, characterized in that: The electronic device comprises: a memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the aircraft mode conversion smooth transition method based on PID control according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the aircraft mode conversion smooth transition method based on PID control according to any one of claims 1 to 7.

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