A method and mechanism for stabilizing flight of an aircraft wing during variable forward sweep

Abstract

This application discloses a method and mechanism for stabilizing flight of an aircraft during wing forward sweep. The steps include: acquiring the aircraft's rotation angle and flight speed during wing forward sweep; calculating the real-time position of the aircraft's focus using a linear interpolation algorithm based on the rotation angle, flight speed, and a focus position interpolation table; calculating the target position of the aircraft's center of gravity using the real-time position of the focus and the desired static stability margin value; calculating the target position of the center of gravity adjustment slider based on the aircraft's mass; acquiring the real-time position of the center of gravity adjustment slider; and moving the slider to the target position based on the difference between the target position and the real-time position, thereby achieving stable flight during wing forward sweep. This method avoids the adjustment deviation problems common in traditional control systems, improves the accuracy and responsiveness of center of gravity adjustment, and enables the aircraft's center of gravity to dynamically adapt to changes in wing configuration and flight speed.

Description

Technical Field

[0001] This application relates to the field of aircraft design technology, and in particular to an adjustment method and mechanism for stable flight when the wing of an aircraft is variable forward sweep. Background Technology

[0002] Conventional aircraft have fixed wings throughout their flight envelope. Variable sweep aircraft, on the other hand, change their wing sweep angle during flight. This is achieved by rotating the wing around its root axis to achieve variable forward or backward sweep, adjusting the sweep angle according to different flight conditions to optimize overall aerodynamic performance across the entire flight envelope. When a variable sweep aircraft changes from a straight wing configuration to a swept wing configuration, the center of gravity shifts rearward, and the focal point also shifts rearward. The matching degree between the center of gravity and the focal point remains relatively unchanged, and the static stability margin does not change significantly. Stable flight can be achieved through the flight control system. Conversely, when a variable forward sweep aircraft changes from a straight wing configuration to a forward sweep wing configuration, the center of gravity shifts significantly forward. The focal point position shifts forward first and then backward depending on flight speed and sweep angle. This results in a severe mismatch between the center of gravity and the focal point position, and significant fluctuations in the static stability margin, making stable flight difficult to achieve solely through the control system. Therefore, additional measures are needed to change the aircraft's center of gravity so that the overall center of gravity and the focal point position have a better match, thereby ensuring the aircraft's controllability and stable flight.

[0003] Therefore, it is necessary to propose a solution to improve one or more problems existing in the above-mentioned related technical solutions.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an adjustment method and mechanism for stable flight of an aircraft wing during variable forward sweep, which has the advantages of dynamically matching the center of gravity and focal position, effectively suppressing static stability margin fluctuations, and improving the stability and safety of the aircraft during the wing variable forward sweep process, thereby at least to a certain extent solving one or more problems caused by the limitations and defects of related technologies.

[0006] In a first aspect, embodiments of this application provide a method for adjusting stable flight when the wing of an aircraft undergoes variable forward sweep, comprising the following steps:

[0007] The rotation angle and flight speed of the aircraft when the wings change forward sweep during flight are obtained, and the real-time position of the aircraft's focus is calculated by using a linear interpolation algorithm based on the rotation angle and flight speed and the focus position interpolation table.

[0008] The target position of the aircraft's center of gravity is calculated by using the real-time position of the aircraft's focus and the desired static stability margin value, and the target position of the center of gravity adjustment slider is calculated by combining the total mass of the aircraft.

[0009] The real-time position of the center of gravity adjustment slider is obtained, and the center of gravity adjustment slider is moved to the target position based on the difference between the target position and the real-time position of the center of gravity adjustment slider to achieve stable flight when the aircraft wing is swept forward.

[0010] In an exemplary embodiment of this application, the step of obtaining the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight, and calculating the real-time position of the aircraft's focus using a linear interpolation algorithm based on the rotation angle and flight speed and a focus position interpolation table, includes:

[0011] Two linear interpolations are performed along the direction of the forward sweep angle rotation to obtain the first intermediate value and the second intermediate value;

[0012] Then, perform a linear interpolation along the flight speed direction on the first and second intermediate values ​​to obtain the real-time position of the aircraft's focal point.

[0013] In an exemplary embodiment of this application, the expression for the first intermediate value is:

[0014] ;

[0015] The expression for the second intermediate value is:

[0016] ;

[0017] Then, by performing a linear interpolation along the flight speed direction on the first and second intermediate values, the expression for the real-time position of the aircraft's focus is obtained as follows:

[0018] ;

[0019] in, Indicates the current rotation angle. , These represent the focal position interpolation table and Adjacent rotation angles, , Indicates the current flight speed. , These represent the focal position interpolation table and Adjacent flight speeds, , The first median value, The second intermediate value, This represents the real-time position of the aircraft's focal point. , , , Four adjacent data points , , , The corresponding focal position.

[0020] In an exemplary embodiment of this application, the expression for the target position of the overall aircraft center of gravity is:

[0021] ;

[0022] in, The target position of the aircraft's center of gravity. This represents the real-time position of the aircraft's focal point. The desired static stability margin value, The mean aerodynamic chord of the aircraft.

[0023] In an exemplary embodiment of this application, the target position calculation expression of the center of gravity adjustment slider is:

[0024]

[0025] in, To adjust the target position of the slider for center of gravity, , , These are the fuselage mass, the mass of the center of gravity adjustment slider, and the wing mass, respectively. and These are the fuselage center of gravity position and the wing center of gravity position, respectively; the total mass of the aircraft consists of three parts: fuselage mass, center of gravity adjustment slider mass, and wing mass.

[0026] Secondly, embodiments of this application provide an adjustment mechanism for stable flight when the wing of an aircraft is swept forward, including: a magnetoresistive angle sensor, a laser rangefinder sensor, a center of gravity adjustment slider, a control unit, and a drive execution unit;

[0027] The magnetoresistive angle sensor is fixedly installed at the wing pivot of the aircraft and is used to collect the rotation angle when the wing changes forward sweep.

[0028] The laser rangefinder is fixedly installed inside the fuselage, and its measurement direction is parallel to the longitudinal direction of the fuselage. It is used to measure the real-time position of the center of gravity adjustment slider along the longitudinal direction of the fuselage.

[0029] The control unit is electrically connected to the magnetoresistive angle sensor and the laser rangefinder. It is used to acquire the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight. Based on the rotation angle and flight speed and the focal position interpolation table, it uses a linear interpolation algorithm to calculate the real-time position of the aircraft's focal point. It is also used to calculate the target position of the aircraft's center of gravity by using the real-time position of the aircraft's focal point and the desired static stability margin value. It also calculates the target position of the center of gravity adjustment slider by combining the total mass of the aircraft. Furthermore, it is used to acquire the real-time position of the center of gravity adjustment slider and drive the center of gravity adjustment slider to move to the target position of the center of gravity adjustment slider based on the difference between the target position and the real-time position of the center of gravity adjustment slider.

[0030] The drive execution unit is electrically connected to the control unit and drives the center of gravity adjustment slider.

[0031] In an exemplary embodiment of this application, the drive execution unit includes a servo motor and a ball screw;

[0032] The servo motor is fixedly installed inside the machine body, and the axis of its output shaft is arranged along the longitudinal direction of the machine body.

[0033] The axis of the ball screw is coaxially arranged along the output shaft of the servo motor. One end of the ball screw is connected to the output shaft of the servo motor, and the other end is supported inside the machine body through a bearing seat. The center of gravity adjustment slider is screwed onto the ball screw, and the center of gravity adjustment slider moves linearly along the axis of the ball screw.

[0034] In an exemplary embodiment of this application, a longitudinal guide rail is further included, the length direction of which is parallel to the axis of the ball screw, and is fixedly installed on the side wall inside the machine body.

[0035] One side of the center of gravity adjustment slider is provided with a groove extending along its moving direction. The groove slides in cooperation with the longitudinal guide rail, and the center of gravity adjustment slider moves linearly along the axis of the ball screw.

[0036] In an exemplary embodiment of this application, the control unit is integrated into the control chip of the servo motor, and the control chip stores a focal position interpolation table and a desired static stability margin value.

[0037] In an exemplary embodiment of this application, the control unit is further configured to calculate the motion stroke based on the difference between the target position of the center of gravity adjustment slider and the real-time position of the center of gravity adjustment slider, and calculate the corresponding number of rotations of the servo motor output shaft based on the motion stroke and the lead of the ball screw;

[0038] The output shaft of the servo motor rotates a certain number of revolutions, driving the ball screw to drive the center-of-gravity adjustment slider screwed to the ball screw to move linearly along the axis of the ball screw to the target position.

[0039] The present disclosure discloses a method and mechanism for stabilizing flight of an aircraft wing during variable forward sweep, which can include the following beneficial effects:

[0040] On the one hand, by acquiring the rotation angle and flight speed of the aircraft's wing during forward sweep, and combining the focal position interpolation table with a linear interpolation algorithm, the real-time position of the aircraft's focal point is calculated. Based on this focal point position and the desired static stability margin, the target position for center of gravity adjustment is calculated. This solves the problem of uncontrollable flight caused by severe mismatch between the center of gravity and focal point positions and drastic fluctuations in static stability margin when the wing changes forward sweep during flight. It ensures that the aircraft maintains a reasonable matching relationship between the center of gravity and focal point throughout the entire configuration change phase, providing a core guarantee for stable flight. On the other hand, by acquiring the current position of the center of gravity adjustment slider in real time, and using the difference between the target position and the real-time position of the center of gravity adjustment slider as the control basis, the center of gravity adjustment slider is moved to the target position. This avoids the adjustment deviation problem that is prone to occur in traditional control, improves the accuracy and responsiveness of center of gravity adjustment, and enables the aircraft's center of gravity to dynamically adapt to changes in wing configuration and flight speed, further enhancing the stability and control reliability of the aircraft under complex flight conditions. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0042] Figure 1 The diagram illustrates the steps of a method for stabilizing flight when the wing of an aircraft is variable-sweep, as described in an exemplary embodiment of this application.

[0043] Figure 2 This diagram illustrates the adjustment mechanism in an exemplary embodiment of the present application with a straight wing configuration of the aircraft.

[0044] Figure 3 This diagram illustrates the adjustment mechanism in an exemplary embodiment of the present application with a forward-swept wing configuration of the aircraft.

[0045] Reference numerals: 100, magnetoresistive angle sensor; 200, laser rangefinder sensor; 300, center of gravity adjustment slider; 400, drive execution unit; 401, servo motor; 402, ball screw; 500, wing pivot; 600, fuselage. Detailed Implementation

[0046] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0047] Furthermore, the accompanying drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0048] It is important to understand that in variable-sweep aircraft, when the aircraft changes from a straight-wing configuration to a forward-swept wing configuration, the center of gravity shifts significantly forward. Simultaneously, the focal point position exhibits a dynamic characteristic of shifting first and then later with changes in flight speed and sweep angle. This leads to a mismatch between the center of gravity and focal point position, resulting in significant fluctuations in the static stability margin, which in turn affects the aircraft's controllability and stable flight capability. In particular, the inconsistency between the forward shift of the center of gravity and the trend of the focal point position change makes it impossible to maintain the static stability margin within a reasonable range, making it difficult for the flight control system to achieve stable flight through conventional adjustments. Current center of gravity control in variable-sweep aircraft primarily utilizes the fuel management system, balancing the center of gravity change by transferring fuel between the wings and fuselage. However, this method has a limited range of center of gravity adjustment and struggles to maintain a strong match for the extreme center of gravity and focal point changes of forward-swept wing aircraft.

[0049] This example implementation provides a method for stabilizing flight when the wing of an aircraft is variable-sweep, such as... Figure 1 As shown, it includes the following steps:

[0050] Step S101: Obtain the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight, and calculate the real-time position of the aircraft's focus using a linear interpolation algorithm based on the rotation angle and flight speed combined with the focus position interpolation table.

[0051] Step S102: Calculate the target position of the aircraft's center of gravity using the real-time position of the aircraft's focus and the desired static stability margin value, and calculate the target position of the center of gravity adjustment slider in conjunction with the aircraft's mass.

[0052] Step S103: Obtain the real-time position of the center of gravity adjustment slider. Based on the difference between the target position and the real-time position of the center of gravity adjustment slider, move the center of gravity adjustment slider to the target position to achieve stable flight when the aircraft wing changes forward sweep.

[0053] This application proposes a method and mechanism for stabilizing flight of an aircraft during wing forward sweep. On one hand, by acquiring the rotation angle and flight speed of the aircraft wing during forward sweep, and using a linear interpolation algorithm based on a focal position interpolation table, the real-time position of the aircraft's focal point is calculated. Based on this focal point position and the desired static stability margin, the target position for center of gravity adjustment is calculated. This solves the problem of uncontrollable flight caused by severe mismatch between the center of gravity and focal point positions and drastic fluctuations in static stability margin during wing forward sweep. It ensures that the aircraft maintains a reasonable matching relationship between the center of gravity and focal point throughout the entire configuration change phase, providing a core guarantee for stable flight. On the other hand, by acquiring the current position of the center of gravity adjustment slider in real time, and using the difference between the target position and the real-time position of the center of gravity adjustment slider as the control basis, the center of gravity adjustment slider is moved to the target position. This avoids the adjustment deviation problem that is prone to occur in traditional control, improves the accuracy and responsiveness of center of gravity adjustment, and enables the aircraft's center of gravity to dynamically adapt to changes in wing configuration and flight speed, further enhancing the stability and control reliability of the aircraft under complex flight conditions.

[0054] The following will refer to Figures 1-3 The adjustment method for stable flight when the wing of an aircraft changes forward sweep, as proposed in this example embodiment, will be described in more detail.

[0055] Step S101: Obtain the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight, and calculate the real-time position of the aircraft's focus using a linear interpolation algorithm based on the rotation angle and flight speed combined with the focus position interpolation table.

[0056] Specifically, a magnetoresistive angle sensor is installed at the wing pivot point of the aircraft to acquire the rotation angle when the aircraft changes from a straight wing configuration to a forward-swept wing configuration. Flight speed is collected by conventionally configured speed measurement equipment, such as a pitot tube or inertial measurement unit, allowing for real-time acquisition of the aircraft's flight speed and ensuring time synchronization between flight speed and rotation angle. The data for the focal position interpolation table comes from wind tunnel tests and high-precision CFD simulations, and its data error is far lower than the accuracy requirements for static stability margin control.

[0057] In one embodiment, determining the real-time position of the aircraft's focus using a linear interpolation algorithm based on a focus position interpolation table, combined with the current flight speed and rotation angle, includes:

[0058] Two linear interpolations are performed along the direction of the forward sweep angle rotation to obtain the first and second intermediate values, whose expressions are as follows:

[0059] ;

[0060] ;

[0061] Then, perform a linear interpolation along the flight speed direction on the first and second intermediate values ​​to obtain the real-time position of the aircraft's focal point, which is expressed as:

[0062] ;

[0063] in, Indicates the current rotation angle. , These represent the focal position interpolation table and Adjacent rotation angles, , Indicates the current flight speed. , These represent the focal position interpolation table and Adjacent flight speeds, , The first median value, The second intermediate value, This represents the real-time position of the aircraft's focal point. , , , Four adjacent data points , , , The corresponding focal position.

[0064] It's important to understand that since the rotation angle and flight speed in actual flight are often not exactly equal to the discrete values ​​in the interpolation table, a linear interpolation algorithm is needed to calculate the precise real-time focus position. First, after acquiring the aircraft's current rotation angle and flight speed, the system does not directly perform two-dimensional interpolation, but rather in two stages. In the first stage, two linear interpolations are performed along the forward sweep angle rotation direction. For the current flight speed, two preset speed points adjacent to that speed are found in the focus position interpolation table. Then, in the rotation angle data column corresponding to the first speed point, a linear interpolation is performed based on the relationship between the current rotation angle and the two adjacent preset rotation angles to obtain the first intermediate value. Similarly, a linear interpolation is performed in the rotation angle data column corresponding to the second speed point to obtain the second intermediate value. These two intermediate values ​​effectively capture the influence of rotation angle changes on the focus position at different fixed speeds. Subsequently, a linear interpolation is performed along the flight speed direction on the two calculated first and second intermediate values. That is, under a fixed rotation angle, the two intermediate values ​​are interpolated based on the relationship between the current flight speed and two preset speed points, thereby accurately obtaining the real-time position of the aircraft's focus. This avoids the high computational complexity that may be encountered when directly performing two-dimensional interpolation, transforming a multivariate coupled interpolation into independent single-variable interpolation. Each single-variable interpolation is relatively simple and computationally inexpensive. This improves the computational efficiency and accuracy of obtaining the real-time position of the aircraft's focus. It can accurately reflect the combined influence of the aircraft's dynamic rotation angle and flight speed on the focus position, enabling the provision of accurate focus position data with higher real-time performance during the dynamic process of the aircraft's wing sweep-forward. This provides more reliable and timely basic data for subsequent calculations of the target position of the aircraft's center of gravity using the real-time position of the aircraft's focus and the desired static stability margin value, combined with the total aircraft mass to calculate the target position of the center of gravity adjustment slider, and finally achieving the movement of the center of gravity adjustment slider to the target position, thereby achieving stable flight during the aircraft's wing sweep-forward. This ensures the effectiveness and response speed of the entire flight stability adjustment method, thereby better addressing the problem of severe mismatch between the center of gravity and focal point position during flight of variable forward-swept aircraft.

[0065] Step S102: Calculate the target position of the aircraft's center of gravity using the real-time position of the aircraft's focus and the desired static stability margin value, and calculate the target position of the center of gravity adjustment slider in conjunction with the aircraft's mass.

[0066] It is important to understand that when an aircraft changes from a straight wing configuration to a forward-swept wing configuration, simply considering the focus movement process may not fully cover the aircraft's center of gravity control requirements under complex flight conditions, thus affecting the aircraft's stability and control accuracy. In this case, the real-time position of the aircraft's focus has two phases: forward movement and backward movement. Step S101 obtains the real-time position of the aircraft's focus, including the first real-time position of the aircraft's focus during the forward movement process when the wing changes forward sweep, and the second real-time position of the aircraft's focus during the backward movement process when the wing changes forward sweep.

[0067] The target position of the aircraft's center of gravity is calculated using the first real-time position of the aircraft's focus and the desired static stability margin value, and then combined with the aircraft's total mass to calculate the first target position of the center of gravity adjustment slider. Similarly, the target position of the aircraft's center of gravity is calculated using the second real-time position of the aircraft's focus and the desired static stability margin value, and then combined with the aircraft's total mass to calculate the second target position of the center of gravity adjustment slider. By calculating the real-time position of the aircraft's focus in stages, such as moving the focus forward or backward, precise active control of the aircraft's center of gravity is achieved, ensuring the stability and safety of the aircraft under dynamic flight conditions.

[0068] Specifically, the target position of the aircraft's center of gravity is calculated using the real-time position of the aircraft's focal point and the desired static stability margin value. The expression for this is:

[0069] ;

[0070] in, The target position of the aircraft's center of gravity. This represents the real-time position of the aircraft's focal point. The desired static stability margin value, The mean aerodynamic chord of the aircraft.

[0071] It is important to understand that when an aircraft changes from a straight wing configuration to a forward-swept wing configuration, the expected static stability margin is a fixed value during the forward and backward shifts of the aircraft's focal point, and does not change with the forward and backward shifts.

[0072] Based on the target position of the machine's center of gravity and the target position of the center of gravity adjustment slider calculated using the machine's total mass, the expression is as follows:

[0073] ;

[0074] in, To adjust the target position of the slider for center of gravity, , , These are the fuselage mass, the mass of the center of gravity adjustment slider, and the wing mass, respectively. and These are the fuselage center of gravity position and the wing center of gravity position, respectively; the total mass of the aircraft consists of three parts: fuselage mass, center of gravity adjustment slider mass, and wing mass.

[0075] It is important to understand the position of the fuselage's center of gravity. The value is fixed and can be directly obtained from the aircraft's aerodynamic design parameters; the wing's center of gravity position. The position of the wing's center of gravity changes with the wing's sweep angle. Based on the real-time value of the sweep angle, the real-time position of the wing's center of gravity can be obtained through a wing center of gravity interpolation table. Specifically, the rotation angle of the wing during the sweep angle change is used as input, and the wing's center of gravity position is obtained through a one-dimensional linear interpolation method using the wing center of gravity interpolation table. .

[0076] Step S103: Obtain the real-time position of the center of gravity adjustment slider, and move the center of gravity adjustment slider to the target position based on the difference between the target position and the real-time position of the center of gravity adjustment slider to achieve stable flight when the aircraft wing is swept forward.

[0077] Specifically, the real-time position of the center of gravity adjustment slider can be measured by installing position sensors along its movement path. For example, a laser rangefinder can be used to detect the slider's current position. Precise position information of the slider is provided for comparison with its target position. Based on the difference between the target and real-time positions, the slider is moved to its target position. For example, a DC motor or stepper motor can be controlled to move the slider along a preset track. This drive continuously adjusts the slider's position until it reaches the target position, thus achieving precise adjustment of the aircraft's center of gravity. When the aircraft's wings sweep forward, its center of gravity position dynamically matches changes in the focal point position, ultimately achieving stable flight.

[0078] In one specific embodiment, given a desired static stability margin of 10%, the first step is to obtain the rotation angle and flight speed of the aircraft during wing forward sweep during flight, and then obtain the real-time position of the aircraft's focus using a linear interpolation method based on the rotation angle and flight speed combined with a focus position interpolation table. The second step is to determine the real-time position of the aircraft's focal point. The expected static stability margin of 10% is given by the formula Calculate the target position of the overall center of gravity of the aircraft The target position of the center of gravity adjustment slider is calculated by the relationship between the overall center of gravity of the machine and the centers of gravity of each part. The third step is to obtain the real-time position of the center of gravity adjustment slider. Adjust the target position of the slider according to the center of gravity. The difference between the real-time position of the center of gravity adjustment slider and the center of gravity adjustment slider Move the center of gravity adjustment slider to the target position to achieve stable flight when the aircraft's wings are swept forward.

[0079] This exemplary embodiment, in another aspect, provides an adjustment mechanism for stable flight of an aircraft wing during variable forward sweep. This adjustment mechanism employs the aforementioned adjustment method for stable flight of an aircraft wing during variable forward sweep. Figure 2 and Figure 3 As shown, when the aircraft changes from a straight wing configuration to a forward-swept wing configuration, the adjustment mechanism for stable flight when the aircraft wing changes forward sweep includes: a magnetoresistive angle sensor 100, a laser rangefinder sensor 200, a center of gravity adjustment slider 300, a control unit (not shown) and a drive execution unit 400.

[0080] The magnetoresistive angle sensor 100 is fixedly installed at the wing pivot 500 of the aircraft and is used to collect the rotation angle when the wing changes forward sweep.

[0081] The laser rangefinder 200 is fixedly installed inside the body 600, and its measurement direction is parallel to the longitudinal direction of the body 600. It is used to measure the real-time position of the center of gravity adjustment slider 300 along the longitudinal direction of the body 600.

[0082] The control unit is electrically connected to the magnetoresistive angle sensor 100 and the laser rangefinder 200. It is used to acquire the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight. Based on the rotation angle and flight speed and the focal position interpolation table, it uses a linear interpolation algorithm to calculate the real-time position of the aircraft's focal point. It is also used to calculate the target position of the aircraft's center of gravity by using the real-time position of the aircraft's focal point and the desired static stability margin value. It also calculates the target position of the center of gravity adjustment slider 300 by combining the total mass of the aircraft. Furthermore, it is used to acquire the real-time position of the center of gravity adjustment slider 300 and drive the center of gravity adjustment slider 300 to move to the target position of the center of gravity adjustment slider 300 based on the difference between the target position and the real-time position of the center of gravity adjustment slider 300.

[0083] The drive execution unit 400 is electrically connected to the control unit and drives the center of gravity adjustment slider 300.

[0084] In one embodiment, the drive execution unit 400 includes a servo motor 401 and a ball screw 402;

[0085] The servo motor 401 is fixedly installed inside the body 600, and the axis of its output shaft is arranged longitudinally along the body 600.

[0086] The axis of the ball screw 402 is coaxially arranged along the output shaft of the servo motor 401. One end of the ball screw 402 is connected to the output shaft of the servo motor 401, and the other end is supported inside the machine body 600 through a bearing seat. The center of gravity adjustment slider 300 is screwed onto the ball screw 402, and the center of gravity adjustment slider 300 moves linearly along the axis of the ball screw 402.

[0087] It is important to understand that the combination of servo motor 401 and ball screw 402 enables high-precision and high-reliability driving of the center of gravity adjustment slider 300. Specifically, when the aircraft wing sweeps forward, the control unit calculates the real-time position of the aircraft's focal point based on the rotation angle collected by the magnetoresistive angle sensor 100 and the flight speed collected by the aircraft's speed measurement device, combined with the focal point position interpolation table. It then further calculates the target position of the aircraft's center of gravity and the target position of the center of gravity adjustment slider 300. Subsequently, the control unit obtains the real-time position of the center of gravity adjustment slider 300 measured by the laser rangefinder 200 and sends precise control commands to the servo motor 401 based on the difference between the target position and the real-time position. Upon receiving the command, the output shaft of the servo motor 401 rotates with extremely high precision and response speed. Because the axis of the ball screw 402 is coaxially set and connected to the output shaft of the servo motor 401, the rotational motion of the servo motor 401 is efficiently transmitted to the ball screw 402. The ball screw 402 rotates under the stable support of the bearing housing. Its threaded structure interacts with the center-of-gravity adjusting slider 300 screwed onto it, precisely converting the rotational motion into linear motion of the slider 300 along the longitudinal direction of the fuselage 600. This transmission method features low friction, high rigidity, and high transmission efficiency, ensuring that the center-of-gravity adjusting slider 300 can move accurately to the target position specified by the control unit. Through this precise mechanical transmission chain, the aircraft can adjust its center-of-gravity position in real time and accurately to match the changes in the focal point position during wing forward sweep, thereby maintaining the desired static stability margin and ensuring stable flight.

[0088] In one embodiment, a longitudinal guide rail (not shown) is also included, the length of which is parallel to the axis of the ball screw 402 and is fixedly installed on the side wall inside the machine body 600.

[0089] The center of gravity adjusting slider 300 has a groove extending along its moving direction on one side. The groove slides in cooperation with the longitudinal guide rail, and the center of gravity adjusting slider 300 moves linearly along the axis of the ball screw 402.

[0090] It is important to understand that the longitudinal guide rail is fixedly installed on the side wall inside the fuselage 600, with its length parallel to the axis of the ball screw 402, providing a stable linear motion reference for the center of gravity adjustment slider 300. Simultaneously, one side of the center of gravity adjustment slider 300 has a groove extending along its direction of movement, which slides in conjunction with the longitudinal guide rail. This ensures that the rotational freedom of the center of gravity adjustment slider 300 is constrained by the longitudinal guide rail when the ball screw 402 moves. Therefore, the center of gravity adjustment slider 300 is forced to move only in a straight line along the axis of the ball screw 402, effectively avoiding possible offset, swaying, or instability during movement. This ensures that every displacement of the center of gravity adjustment slider 300 is accurate, thereby precisely adjusting the aircraft's center of gravity position to match the focal point changes during wing forward sweep, maintaining the desired static stability margin, and ultimately achieving stable flight.

[0091] In one embodiment, the control unit is integrated into the control chip of the servo motor 401, and the control chip stores a focal position interpolation table and a desired static stability margin value. It should be understood that the control chip also stores an airfoil center of gravity interpolation table.

[0092] In one embodiment, the control unit is further configured to calculate the motion stroke based on the difference between the target position of the center of gravity adjustment slider 300 and the real-time position of the center of gravity adjustment slider 300, and to calculate the corresponding number of rotations of the output shaft of the servo motor 401 based on the motion stroke and the lead of the ball screw 402.

[0093] The output shaft of the servo motor 401 rotates a certain number of revolutions, driving the ball screw 402 to drive the center of gravity adjustment slider 300, which is screwed onto the ball screw 402, to move linearly along the axis of the ball screw 402 to the target position.

[0094] It is important to understand that the laser rangefinder 200 measures the real-time position of the center-of-gravity adjustment slider 300 and transmits this information to the control unit. The control unit calculates the travel distance of the slider 300 based on the difference between the target position of the center of gravity and the real-time position of the slider 300. Based on this travel distance, the control unit calculates the number of rotations of the servo motor 401's output shaft and drives the ball screw 402 to rotate, causing the slider 300 on the ball screw 402 to move linearly until it reaches the target position. The expression for calculating the number of rotations of the servo motor 401's output shaft based on the travel distance of the slider 300 is as follows:

[0095] ;

[0096] Where N is the number of rotations of the output shaft of the servo motor 401, which is the number of rotations of the ball screw 402; The distance the ball screw 402 advances after one revolution; The distance the center of gravity adjustment slider 300 moves is the difference between the target position and the real-time position of the center of gravity adjustment slider 300. The basic physical properties of the ball screw 402 are: the distance the center of gravity adjusting slider 300 moves forward with one revolution; the magnetoresistive angle sensor 100 measures the wing rotation angle; the laser rangefinder 200 accurately measures the real-time position of the center of gravity adjusting slider 300; the control chip of the servo motor 401 calculates the target position of the center of gravity; and the difference between the target position and the real-time position of the center of gravity adjusting slider 300 drives the output shaft of the servo motor 401 to rotate a fixed number of revolutions, thereby rotating the ball screw 402 and causing the center of gravity adjusting slider 300 on the screw to move back and forth, ultimately achieving precise position control of the center of gravity adjusting slider 300. Its active center of gravity adjustment process is reliable and stable, with high control accuracy and high anti-disturbance characteristics.

[0097] 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0098] 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. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0099] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

Claims

1. A method for stabilizing flight of an aircraft wing during variable forward sweep, characterized in that, Includes the following steps: The rotation angle and flight speed of the aircraft when the wings change forward sweep during flight are obtained, and the real-time position of the aircraft's focus is calculated by using a linear interpolation algorithm based on the rotation angle and flight speed combined with the focus position interpolation table. The target position of the aircraft's center of gravity is calculated by using the real-time position of the aircraft's focus and the desired static stability margin value, and the target position of the center of gravity adjustment slider is calculated by combining the total mass of the aircraft. The real-time position of the center of gravity adjustment slider is obtained. Based on the difference between the target position and the real-time position of the center of gravity adjustment slider, the center of gravity adjustment slider is moved to the target position to achieve stable flight when the aircraft wing is swept forward.

2. The method for stabilizing flight when the wing of an aircraft is swept forward according to claim 1, characterized in that, The step of obtaining the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight, and calculating the real-time position of the aircraft's focus using a linear interpolation algorithm based on the rotation angle and flight speed and a focus position interpolation table, includes: Two linear interpolations are performed along the direction of the forward sweep angle rotation to obtain the first intermediate value and the second intermediate value; Then, perform a linear interpolation along the flight speed direction on the first and second intermediate values ​​to obtain the real-time position of the aircraft's focal point.

3. The method for stabilizing flight when the wing of an aircraft is swept forward according to claim 2, characterized in that, The expression for the first intermediate value is: ； The expression for the second intermediate value is: ； Then, by performing a linear interpolation along the flight speed direction on the first and second intermediate values, the expression for the real-time position of the aircraft's focus is obtained as follows: ； in, Indicates the current rotation angle. , These represent the focal position interpolation table and Adjacent rotation angles, , Indicates the current flight speed. , These represent the focal position interpolation table and Adjacent flight speeds, , The first median value, The second intermediate value, This represents the real-time position of the aircraft's focal point. , , , Four adjacent data points , , , The corresponding focal position.

4. The method for stabilizing flight when the wing of an aircraft is swept forward according to claim 1, characterized in that, The expression for the target position of the aircraft's center of gravity is: ； in, The target position of the aircraft's center of gravity. This represents the real-time position of the aircraft's focal point. The desired static stability margin value, The mean aerodynamic chord of the aircraft.

5. The method for stabilizing flight when the wing of an aircraft is swept forward according to claim 1, characterized in that, The expression for calculating the target position of the center of gravity adjustment slider is: ； in, To adjust the target position of the slider for center of gravity, , , These are the fuselage mass, the mass of the center of gravity adjustment slider, and the wing mass, respectively. and These are the fuselage center of gravity position and the wing center of gravity position, respectively; the total mass of the aircraft consists of three parts: fuselage mass, center of gravity adjustment slider mass, and wing mass.

6. An adjustment mechanism for stabilizing flight when the wing of an aircraft undergoes variable forward sweep, characterized in that, The adjustment mechanism includes: a magnetoresistive angle sensor, a laser rangefinder, a center of gravity adjustment slider, a control unit, and a drive execution unit; The magnetoresistive angle sensor is fixedly installed at the wing pivot of the aircraft and is used to collect the rotation angle when the wing changes forward sweep. The laser rangefinder is fixedly installed inside the fuselage, and its measurement direction is parallel to the longitudinal direction of the fuselage. It is used to measure the real-time position of the center of gravity adjustment slider along the longitudinal direction of the fuselage. The control unit is electrically connected to the magnetoresistive angle sensor and the laser rangefinder. It is used to acquire the rotation angle and flight speed of the aircraft when the wing changes forward sweep during flight. Based on the rotation angle and flight speed and the focal position interpolation table, it uses a linear interpolation algorithm to calculate the real-time position of the aircraft's focal point. It is also used to calculate the target position of the aircraft's center of gravity by using the real-time position of the aircraft's focal point and the desired static stability margin value. It also calculates the target position of the center of gravity adjustment slider by combining the total mass of the aircraft. Furthermore, it is used to acquire the real-time position of the center of gravity adjustment slider and drive the center of gravity adjustment slider to move to the target position of the center of gravity adjustment slider based on the difference between the target position and the real-time position of the center of gravity adjustment slider. The drive execution unit is electrically connected to the control unit and drives the center of gravity adjustment slider.

7. The adjustment mechanism for stable flight during variable forward sweep of an aircraft wing according to claim 6, characterized in that, The drive execution unit includes a servo motor and a ball screw; The servo motor is fixedly installed inside the machine body, and the axis of its output shaft is arranged along the longitudinal direction of the machine body. The axis of the ball screw is coaxially arranged along the output shaft of the servo motor. One end of the ball screw is connected to the output shaft of the servo motor, and the other end is supported inside the machine body through a bearing seat. The center of gravity adjustment slider is screwed onto the ball screw, and the center of gravity adjustment slider moves linearly along the axis of the ball screw.

8. The adjustment mechanism for stable flight during variable forward sweep of an aircraft wing according to claim 7, characterized in that, It also includes a longitudinal guide rail, the length of which is parallel to the axis of the ball screw, and is fixedly installed on the side wall inside the machine body; One side of the center of gravity adjustment slider is provided with a groove extending along its moving direction. The groove slides in cooperation with the longitudinal guide rail, and the center of gravity adjustment slider moves linearly along the axis of the ball screw.

9. The adjustment mechanism for stable flight during variable forward sweep of an aircraft wing according to claim 8, characterized in that, The control unit is integrated into the control chip of the servo motor, and the control chip stores the focal position interpolation table and the desired static stability margin value.

10. The adjustment mechanism for stable flight during variable forward sweep of an aircraft wing according to claim 9, characterized in that, The control unit is also used to calculate the motion stroke based on the difference between the target position of the center of gravity adjustment slider and the real-time position of the center of gravity adjustment slider, and to calculate the corresponding number of rotations of the servo motor output shaft based on the motion stroke and the lead of the ball screw. The output shaft of the servo motor rotates a certain number of revolutions, driving the ball screw to drive the center-of-gravity adjustment slider screwed to the ball screw to move linearly along the axis of the ball screw to the target position.

Images