Tilt-rotor aircraft control method and device, storage medium and electronic equipment

Abstract

The invention provides a tilt-rotor aircraft control method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring a current rotor inclination angle; the rotor inclination angle is changed according to a preset mode; and flight parameters of the tilt-rotor aircraft are controlled based on the rotor inclination angles. According to the embodiment of the invention, rotor inclination angle control is used as an active control parameter, so that the whole tilting process is smoother and more coherent, and the control stability is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of unmanned aerial vehicles, and in particular to a control method and device for a tilt-rotor aircraft, a computer program product, a non-transitory computer-readable storage medium, and an electronic device. BACKGROUND

[0002] As a multi-functional aircraft, the tilt-rotor aircraft has the ability of vertical take-off and landing and horizontal flight, and has a wide application prospect. When the rotors are in a vertical state, the aircraft is similar to a helicopter, and can hover, sideward fly, backward fly, and vertically take off and land. When the rotors are in a horizontal state, the aircraft is similar to a fixed-wing aircraft, and can fly at high speed and long range.

[0003] In the control of the transition phase from the vertical state of the rotors to the horizontal state of the rotors, challenges in stability and efficiency are often faced. In the traditional control, the speed control is taken as the active control, and the short-cabin tilt angle changes accordingly. This will cause the short-cabin tilt angle to increase or decrease due to the large or small speed in the actual control, resulting in incoherent tilt and affecting the stability of the control.

[0004] Therefore, it is necessary to propose a new technical solution to solve at least one of the above technical problems. SUMMARY

[0005] In order to overcome at least one aspect of the technical problems in the prior art, the present disclosure is proposed.

[0006] According to an aspect of an embodiment of the present disclosure, a control method for a tilt-rotor aircraft is provided, comprising: changing a rotor tilt angle in a preset manner; and controlling a flight parameter of the tilt-rotor aircraft based on the rotor tilt angle.

[0007] According to another aspect of an embodiment of the present disclosure, a control device for a tilt-rotor aircraft is provided, comprising: a rotor tilt angle adjusting module configured to change a rotor tilt angle in a preset manner; and a flight parameter control module configured to control a flight parameter of the tilt-rotor aircraft based on the rotor tilt angle.

[0008] According to another aspect of an embodiment of the present disclosure, a computer program product is provided, comprising program code instructions, which, when executed by a computer, cause the computer to perform the method according to the first aspect of the embodiment of the present disclosure.

[0009] According to another aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the method according to the first aspect of the embodiment of the present disclosure.

[0010] According to another aspect of the embodiments of the present disclosure, an electronic device is provided, comprising: a processor; a memory in electronic communication with the processor; and instructions stored in the memory and executable by the processor to cause the electronic device to perform the method according to the first aspect of the embodiments of the present disclosure. Attached Figure Description

[0011] The above and other aspects and features of this disclosure will become clear from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

[0012] Figure 1 This is a flowchart of a control method for a tiltrotor aircraft according to an embodiment of the present disclosure;

[0013] Figure 2 This is a schematic diagram illustrating the relationship between velocity and rotation angle according to an embodiment of the present disclosure;

[0014] Figure 3 This is a schematic diagram of the wing portion of a tiltrotor aircraft according to an embodiment of the present disclosure;

[0015] Figure 4 This is a schematic block diagram of a control device for a tiltrotor aircraft according to an embodiment of the present disclosure. Detailed Implementation

[0016] The following description of embodiments of the present disclosure with reference to the accompanying drawings is intended to explain the overall inventive concept of the present disclosure and should not be construed as a limitation thereof. All other embodiments obtained by those skilled in the art based on the embodiments in this disclosure are within the scope of protection of this disclosure.

[0017] A tiltrotor aircraft is an aircraft that has both fixed wings and rotors, and the rotor's axis of rotation can tilt relative to the fuselage. Figure 3 This is a schematic diagram of the wing section of a tiltrotor aircraft according to an embodiment of the present disclosure. Figure 3 As shown, the tiltrotor aircraft includes a fixed wing 1 and a rotor 2. The fixed wing 1 is fixed to the fuselage (not shown). The rotor 2 is driven by a nacelle. The nacelle includes a fixed portion 31 and a rotating portion 32. The fixed portion 31 is connected to the fixed wing 1. The rotor 2 and the rotating portion 32 as a whole are capable of tilting relative to the fixed wing 1. In the embodiments of this disclosure, the angle between the rotor axis and the horizontal plane of the fuselage is called the rotor tilt angle. Since the rotor 2 and the rotating portion 32 of the nacelle tilt together, the rotor tilt angle can also be called the nacelle tilt angle.

[0018] The method in the embodiments of the present disclosure can be used for controlling the tilt-rotor aircraft during the tilt transition process. The tilt transition process corresponds to the process of tilting the rotor, for example, the axis of the rotor changes from vertical to horizontal (the tilt angle of the rotor changes from close to 90° to close to 0°), or changes from horizontal to vertical (the tilt angle of the rotor changes from close to 0° to close to 90°). The switching between fixed-wing flight and rotor flight can be achieved through the tilt transition process.

[0019] In the known solution, the speed (for example, airspeed) is usually taken as the active control parameter, and the tilt angle of the rotor changes accordingly. In actual control, the speed may be large or small, which may cause the tilt angle of the rotor to increase or decrease, resulting in incoherent tilting and affecting the stability of the control. In the embodiments of the present disclosure, the tilt angle of the rotor is taken as the active control parameter, so that the entire tilting process is more smooth and coherent, which is conducive to improving the stability of the control.

[0020] In some embodiments of the present disclosure, the tilt transition process is divided into different control stages according to the tilt angle of the rotor, and the control weight of the rotor or the fixed wing is determined according to the control stage, which is in line with the mechanical characteristics of the tilt transition process and is conducive to further improving the stability of the control.

[0021] In some embodiments of the present disclosure, although not shown, the number of fixed wings can be two or more, and the two or more fixed wings can be arranged in front and back along the length direction of the fuselage to form a “tandem wing” layout, which is conducive to reducing the size of the aircraft in the wing span direction. In some embodiments of the present disclosure, the number of the above-mentioned rotors can be multiple and distributed on each fixed wing to form a distributed structure, which is conducive to realizing safety redundancy.

[0022] Figure 1 is a flowchart of a control method of a tilt-rotor aircraft according to an embodiment of the present disclosure.

[0023] As shown in Figure 1 , the method 100 includes the following steps 110-120:

[0024] Step 110, changing the tilt angle of the rotor according to a preset manner.

[0025] In the embodiments of the present disclosure, the tilt angle of the rotor is taken as the active control parameter, which is not affected by other parameters and only changes according to the set rule.

[0026] In some embodiments of the present disclosure, the tilt angle of the rotor can increase or decrease at a set rate.

[0027] Step 120, controlling the flight parameters of the tilt-rotor aircraft based on the tilt angle of the rotor.

[0028] This disclosure does not limit the method of obtaining the rotor tilt angle. For example, the rotor tilt angle can be determined based on rotor tilt control data (e.g., tilt rate and tilt time), or the rotor tilt angle information can be collected using sensors.

[0029] In some embodiments of this disclosure, flight parameters include at least one of pitch angle, roll angle, yaw angle, altitude, and speed. In particular, flight parameters may include speed, which is significantly different from existing methods that use speed as an active control parameter.

[0030] Figure 2 This is a schematic diagram illustrating the relationship between velocity and rotation angle according to an embodiment of the present disclosure. Figure 2 In the diagram, the area between the two solid lines represents the aircraft's tilt safety corridor, with the solid lines indicating the corridor's boundary. The dashed line represents the curve showing the speed as a function of the rotor tilt angle. In some embodiments of this disclosure, after obtaining the rotor tilt angle, the speed can be determined according to... Figure 2 The curve in the equation determines the corresponding speed, and thus the speed control variable. Those skilled in the art can design a speed-rotor tilt angle curve based on actual conditions.

[0031] In some embodiments of this disclosure, step 120 may further include steps 121-122:

[0032] Step 121: Determine the control weight of the rotor control based on the rotor tilt angle. The control weight of the rotor control represents the proportion of the change in flight parameters provided by the rotor control in the total change in flight parameters.

[0033] In the embodiments of this disclosure, the control weight of the rotor control represents the proportion of the change in flight parameters provided by the rotor control to the total change in flight parameters. It is readily understood that the change in flight parameters provided by the rotor control can be obtained based on the total change in flight parameters and the control weight of the rotor control. For example, assuming the total change in flight parameters is 1 and the control weight of the rotor control is 0.5, then the change in flight parameters provided by the rotor control is 1 × 0.5 = 0.5.

[0034] Step 122: Control the flight parameters of the tiltrotor aircraft according to the control weights of the rotor control.

[0035] In some embodiments of this disclosure, the tilt transition process can be divided into multiple control stages based on the rotor tilt angle, with different control stages corresponding to different rotor control weights. Therefore, the numerical range of the rotor tilt angle includes at least two sub-ranges, and the control weights for rotor control differ between these two sub-ranges. Exemplarily, the aforementioned multiple control stages may include a rotor control segment, an aerodynamic transition segment, and a fixed-wing control segment. In the rotor control segment, all flight parameters are entirely controlled by the rotor. In the aerodynamic transition segment, all flight parameters are jointly controlled by the rotor and the fixed-wing. In the fixed-wing control segment, all flight parameters are entirely controlled by the fixed-wing.

[0036] In some embodiments of this disclosure, when the rotor tilt angle is large, the control phase of the aircraft is the rotor control phase. When the rotor tilt angle is small, the control phase of the aircraft is the fixed-wing control phase. When the rotor tilt angle is between the aforementioned large and small values, the control phase of the aircraft is the aerodynamic transition phase.

[0037] In some embodiments of this disclosure, the rotor tilt angle range corresponding to the rotor control segment is, for example, between 80° and 90°. The rotor tilt angle range corresponding to the aerodynamic transition segment is, for example, between 15° and 80°. The rotor tilt angle range corresponding to the fixed-wing control segment is, for example, between 0° and 15°. It should be noted that the division of the above multiple control stages is not limited to this; for example, there may be different numbers of control stages, or different endpoint values ​​for the rotor tilt angle ranges. Those skilled in the art can determine whether the above rotor tilt angle range includes endpoint values ​​based on the actual situation. Exemplarily, each rotor tilt angle range may include smaller endpoint values ​​but not larger endpoint values.

[0038] In some embodiments of this disclosure, the numerical range of the rotor tilt angle is divided into a first range, a second range, and a third range, from largest to smallest. When the rotor tilt angle is in the first range, the control phase of the aircraft is the rotor control phase, and the weight of rotor control is 1. When the rotor tilt angle is in the second range, the control phase of the aircraft is the aerodynamic transition phase, and the weight of rotor control is determined according to a preset calculation model, generally decreasing as the rotor tilt angle decreases in the second range. When the rotor tilt angle is in the third range, the control phase of the aircraft is the fixed-wing control phase, and the weight of rotor control is 0.

[0039] As mentioned above, when the rotor tilt angle is in the second range, the weight of rotor control generally decreases as the rotor tilt angle decreases in the second range. This can include situations where the weight of rotor control gradually decreases as the rotor tilt angle decreases, remains unchanged and then decreases, or decreases and then remains unchanged.

[0040] In some embodiments of this disclosure, the weights of rotor control can be determined according to the following formula:

[0041]

[0042] Where ξ is the control weight for rotor control, β m Let θ1 and θ2 be the rotor tilt angles, where θ1 and θ2 are the endpoints of the rotor tilt angle range, and θ1 < θ2.

[0043] The values ​​of θ1 and θ2 can be determined based on the actual situation. Optionally, θ1 can be, for example, 15°, and θ2 can be, for example, 45°.

[0044] In some embodiments of this disclosure, step 122 may further include: acquiring the target change in flight parameters; determining the change in flight parameters provided by the rotor control based on the target change in flight parameters and the control weight of the rotor control; and manipulating the rotor to generate the change in flight parameters provided by the rotor control.

[0045] In some embodiments of this disclosure, the above method may further include steps 123 and 124:

[0046] Step 123: Determine the control weights of the fixed-wing control based on the rotor tilt angle. The control weights of the fixed-wing control represent the proportion of the change in flight parameters provided by the fixed-wing control in the total change in flight parameters.

[0047] In the embodiments of this disclosure, the control weight of the fixed-wing control represents the proportion of the change in flight parameters provided by the fixed-wing control to the total change in flight parameters. It is readily understood that the change in flight parameters provided by the fixed-wing control can be obtained based on the total change in flight parameters and the control weight of the fixed-wing control. For example, assuming the total change in flight parameters is 1 and the control weight of the fixed-wing control is 0.5, then the change in flight parameters provided by the fixed-wing control is 1 × 0.5 = 0.5.

[0048] As mentioned earlier, the numerical range of rotor tilt angle is divided into a first range, a second range, and a third range, from largest to smallest. In some embodiments of this disclosure, when the rotor tilt angle is in the first range, the control phase of the aircraft is the rotor control phase, and the weight of the fixed-wing control is 1. When the rotor tilt angle is in the second range, the control phase of the aircraft is the aerodynamic transition phase, and the weight of the fixed-wing control is determined according to a preset calculation model, generally increasing as the rotor tilt angle decreases in the second range. When the rotor tilt angle is in the third range, the control phase of the aircraft is the fixed-wing control phase, and the weight of the fixed-wing control is 1.

[0049] As mentioned above, when the rotor tilt angle is in the second range, the weight of fixed-wing control generally increases as the rotor tilt angle decreases in the second range. This can include situations where the weight of rotor control gradually increases as the rotor tilt angle decreases, remains unchanged and then increases, or increases and then remains unchanged.

[0050] In some embodiments of this disclosure, the weights of the fixed-wing control can be determined according to the following formula:

[0051]

[0052] Where η is the control weight for fixed-wing control, β m θ3 and θ4 are the endpoints of the range of rotor tilt angles, where θ3 < θ4.

[0053] The values ​​of θ4 and θ3 can be determined based on the actual situation. Optionally, θ4 can be, for example, 80°, and θ3 can be, for example, 45°.

[0054] Step 124: Control the flight parameters of the tiltrotor aircraft according to the control weights of the fixed-wing control.

[0055] In some embodiments of this disclosure, step 124 may further include: acquiring the target change in flight parameters; determining the change in flight parameters provided by the fixed-wing control based on the target change in flight parameters and the control weights of the fixed-wing control; and manipulating the rotor to generate the change in flight parameters provided by the fixed-wing control.

[0056] The following provides a specific example of the method in this disclosure, in which the control weights of the rotor control are calculated according to the following formula:

[0057]

[0058] The control weights for fixed-wing control are calculated using the following formula:

[0059]

[0060] In this example, when the rotor tilt angle is greater than or equal to 80°, the control phase is the rotor control phase, with a control weight of 1 for rotor control and 0 for fixed-wing control. When the rotor tilt angle is less than 15°, the control phase is the fixed-wing control phase, with a control weight of 0 for rotor control and 1 for fixed-wing control. When the rotor tilt angle is greater than or equal to 15° and less than 80°, the control phase is the aerodynamic transition phase. In this phase, as the rotor tilt angle decreases, the control weight of rotor control first remains unchanged (when the rotor tilt angle is greater than or equal to 45°) and then decreases (when the rotor tilt angle is less than 45°), while the control weight of fixed-wing control first increases (when the rotor tilt angle is greater than or equal to 45°) and then remains unchanged (when the rotor tilt angle is less than 45°).

[0061] This disclosure does not limit the number of control stages, the method of dividing control stages, or the variation pattern of control weights within each stage. For example, in the specific example above, 15°, 45°, and 80° can also be used as endpoint values ​​to divide the tilt transition process into four control stages.

[0062] Figure 4 This is a schematic block diagram of the control device for a tiltrotor aircraft according to an embodiment of the present disclosure. Figure 4 As shown, the device 400 includes: a rotor tilt angle adjustment module 410, used to change the rotor tilt angle according to a preset method; and a flight parameter control module 420, used to control the flight parameters of the tilt rotor aircraft based on the rotor tilt angle.

[0063] It should be understood that Figure 4 The various modules of the device 400 shown can be connected to the reference. Figure 1 The steps in method 100 described correspond to each other. Therefore, the operations, features, and advantages described above for method 100 also apply to device 400 and its included modules. For the sake of brevity, some operations, features, and advantages will not be repeated here.

[0064] In an optional embodiment, the flight parameter control module 420 is further configured to: determine the control weight of the rotor control based on the rotor tilt angle, wherein the control weight of the rotor control represents the proportion of the change in flight parameters provided by the rotor control in the total change in flight parameters; and control the flight parameters of the tilt rotor aircraft based on the control weight of the rotor control.

[0065] In an optional embodiment, the flight parameter control module 420 is further configured to: determine the control weight of the fixed-wing control based on the rotor tilt angle, wherein the control weight of the fixed-wing control represents the proportion of the change in flight parameters provided by the fixed-wing control in the total change in flight parameters; and control the flight parameters of the tiltrotor aircraft based on the control weight of the fixed-wing control.

[0066] In an optional embodiment, the numerical range of the rotor tilt angle includes at least two sub-ranges, and the control weights of the rotor control corresponding to the at least two sub-ranges are different, and / or the control weights of the fixed-wing control corresponding to the at least two sub-ranges are different.

[0067] In an optional embodiment, the at least two sub-ranges include a first range, a second range, and a third range that decrease sequentially; and the flight parameter control module 420 is further configured to perform at least one of the following: when the rotor tilt angle is in the first range, determine the control weight of the rotor control as 1; when the rotor tilt angle is in the second range, determine the control weight of the rotor control according to a preset calculation model, wherein the control weight of the rotor control generally decreases as the rotor tilt angle decreases in the second range; and when the rotor tilt angle is in the third range, determine the control weight of the rotor control as 0.

[0068] In an optional embodiment, the two endpoint values ​​of the first range are 90° and 80°, the two endpoint values ​​of the second range are 80° and 15°, and the two endpoint values ​​of the third range are 15° and 0°.

[0069] In an optional embodiment, the flight parameter control module 420 is further configured to perform at least one of the following: when the rotor tilt angle is within the first range, determine the control weight of the fixed-wing control to be 0; when the rotor tilt angle is within the second range, determine the control weight of the fixed-wing control according to a preset calculation model, wherein the control weight of the fixed-wing control generally increases as the rotor tilt angle decreases within the second range; and when the rotor tilt angle is within the third range, determine the control weight of the fixed-wing control to be 1.

[0070] In an optional embodiment, the flight parameter control module 420 is further configured to determine the control weights of the rotor control according to the following formula:

[0071]

[0072] Where ξ is the control weight for rotor control, β m Let θ1 and θ2 be the rotor tilt angles, where θ1 and θ2 are the endpoints of the rotor tilt angle range, and θ1 < θ2.

[0073] In an optional embodiment, the flight parameter control module 420 is further configured to determine the control weights of the fixed-wing control according to the following formula:

[0074]

[0075] Where η is the control weight for fixed-wing control, β m θ3 and θ4 are the endpoints of the range of rotor tilt angles, where θ3 < θ4.

[0076] In an optional embodiment, the flight parameter control module 420 is further configured to: acquire the target change amount of the flight parameters; determine the change amount of the flight parameters provided by the rotor control based on the target change amount of the flight parameters and the control weight of the rotor control; and manipulate the rotor to generate the change amount of the flight parameters provided by the rotor control.

[0077] In an optional embodiment, the rotor tilt angle adjustment module 410 is further configured to: increase or decrease the rotor tilt angle at a preset rate.

[0078] In an optional embodiment, the flight parameters include at least one of pitch angle, roll angle, heading angle, altitude, and speed.

[0079] This disclosure also provides a computer program product, including program code instructions, which, when executed by a computer, cause the computer to perform the method described above.

[0080] This disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the methods described above.

[0081] This disclosure also provides an electronic device, including: a processor, a memory that communicates electronically with the processor, and instructions stored in the memory and executable by the processor to cause the electronic device to perform the methods described above.

[0082] For details and technical effects of the computer program product, the non-transitory computer-readable storage medium storing computer instructions, and the electronic device of the present disclosure embodiments, please refer to the above description of the control method for tiltrotor aircraft, which will not be repeated here.

[0083] Based on the above, this disclosure proposes the following technical solution:

[0084] 1. A control method for a tiltrotor aircraft, comprising:

[0085] To change the rotor tilt angle according to a preset method;

[0086] The flight parameters of the tiltrotor aircraft are controlled based on the rotor tilt angle.

[0087] 2. The method according to 1, wherein controlling the flight parameters of the tiltrotor aircraft based on the rotor tilt angle includes:

[0088] Based on the rotor tilt angle, the control weight of the rotor control is determined, wherein the control weight of the rotor control represents the proportion of the change in flight parameters provided by the rotor control in the total change in flight parameters;

[0089] The flight parameters of the tiltrotor aircraft are controlled according to the control weights of the rotor control.

[0090] 3. The method according to 2, wherein controlling the flight parameters of the tiltrotor aircraft based on the rotor tilt angle further includes:

[0091] Based on the rotor tilt angle, the control weights of the fixed-wing control are determined, wherein the control weights of the fixed-wing control represent the proportion of the change in flight parameters provided by the fixed-wing control in the total change in flight parameters;

[0092] The flight parameters of the tiltrotor aircraft are controlled according to the control weights of the fixed-wing control.

[0093] 4. According to the method described in 3, wherein the numerical range of the rotor tilt angle includes at least two sub-ranges, the control weights of the rotor control corresponding to the at least two sub-ranges are different, and / or the control weights of the fixed-wing control corresponding to the at least two sub-ranges are different.

[0094] 5. The method according to 4, wherein the at least two sub-ranges comprise a first range, a second range, and a third range that decrease sequentially; and

[0095] The determination of the control weights for fixed-wing control based on the rotor tilt angle includes at least one of the following:

[0096] When the rotor tilt angle is within the first range, the control weight of the rotor control is determined to be 1;

[0097] When the rotor tilt angle is within the second range, the control weight of the rotor control is determined according to a preset calculation model, wherein the control weight of the rotor control generally decreases as the rotor tilt angle decreases within the second range;

[0098] When the rotor tilt angle is within the third range, the control weight of the rotor control is determined to be 0.

[0099] 6. According to the method described in 5, wherein the two endpoint values ​​of the first range are 90° and 80°, the two endpoint values ​​of the second range are 80° and 15°, and the two endpoint values ​​of the third range are 15° and 0°.

[0100] 7. The method according to 5, wherein determining the control weights for fixed-wing control based on the rotor tilt angle further includes at least one of the following:

[0101] When the rotor tilt angle is within the first range, the control weight of the fixed wing control is determined to be 0;

[0102] When the rotor tilt angle is within the second range, the control weight of the fixed wing control is determined according to a preset calculation model, wherein the control weight of the fixed wing control generally increases as the rotor tilt angle decreases within the second range.

[0103] When the rotor tilt angle is within the third range, the control weight of the fixed wing control is determined to be 1.

[0104] 8. The method according to 2, wherein determining the control weights for rotor control based on the rotor tilt angle includes:

[0105] The control weights of the rotor control are determined according to the following formula:

[0106]

[0107] Where ξ is the control weight for rotor control, β m Let θ1 and θ2 be the rotor tilt angles, where θ1 and θ2 are the endpoints of the rotor tilt angle range, and θ1 < θ2.

[0108] 9. The method according to 3, wherein determining the control weights for fixed-wing control based on the rotor tilt angle includes:

[0109] The control weights for the fixed-wing control are determined according to the following formula:

[0110]

[0111] Where η is the control weight for fixed-wing control, β m θ3 and θ4 are the endpoints of the range of rotor tilt angles, where θ3 < θ4.

[0112] 10. The method according to 2, wherein controlling the flight parameters of the tiltrotor aircraft according to the control weights of the rotor control includes:

[0113] Obtain the target change in the flight parameters;

[0114] The amount of change in flight parameters provided by the rotor control is determined based on the target change in the flight parameters and the control weights of the rotor control.

[0115] Manipulate the rotor to produce changes in the flight parameters provided by the rotor control.

[0116] 11. The method according to any one of 1-10, wherein changing the rotor tilt angle according to a preset method includes:

[0117] The rotor tilt angle is increased or decreased at a preset rate.

[0118] 12. The method described according to any one of 1-10, wherein:

[0119] The flight parameters include at least one of pitch angle, roll angle, heading angle, altitude, and speed.

[0120] 13. A control device for a tiltrotor aircraft, comprising:

[0121] The rotor tilt adjustment module is used to change the rotor tilt angle according to a preset method;

[0122] The flight parameter control module is used to control the flight parameters of the tiltrotor aircraft based on the rotor tilt angle.

[0123] 14. The apparatus according to claim 13, wherein the flight parameter control module is further configured to:

[0124] Based on the rotor tilt angle, the control weight of the rotor control is determined, wherein the control weight of the rotor control represents the proportion of the change in flight parameters provided by the rotor control in the total change in flight parameters;

[0125] The flight parameters of the tiltrotor aircraft are controlled according to the control weights of the rotor control.

[0126] 15. The apparatus according to 14, wherein the flight parameter control module is further configured to:

[0127] Based on the rotor tilt angle, the control weights of the fixed-wing control are determined, wherein the control weights of the fixed-wing control represent the proportion of the change in flight parameters provided by the fixed-wing control in the total change in flight parameters;

[0128] The flight parameters of the tiltrotor aircraft are controlled according to the control weights of the fixed-wing control.

[0129] 16. The apparatus according to 15, wherein the numerical range of the rotor tilt angle includes at least two sub-ranges, the control weights of the rotor control corresponding to the at least two sub-ranges are different, and / or the control weights of the fixed-wing control corresponding to the at least two sub-ranges are different.

[0130] 17. A computer program product comprising program code instructions, wherein when the program product is executed by a computer, the program code instructions cause the computer to perform the method described in any one of 1-12.

[0131] 18. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method according to any one of 1-12.

[0132] 19. An electronic device, comprising:

[0133] processor,

[0134] A memory that communicates electronically with the processor; and

[0135] Instructions, which are stored in the memory and can be executed by the processor, to cause the electronic device to perform the method according to any one of 1-12.

[0136] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that variations may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A control method of a tilt-rotor aircraft, comprising: varying a rotor tilt angle according to a preset manner; controlling a flight parameter of the tilt-rotor aircraft based on the rotor tilt angle.

2. The method of claim 1, wherein, The controlling the flight parameter of the tilt-rotor aircraft based on the rotor tilt angle comprises: determining a control weight of a rotor control according to the rotor tilt angle, wherein the control weight of the rotor control represents a proportion of a change amount of the flight parameter provided by the rotor control in a total change amount of the flight parameter; controlling the flight parameter of the tilt-rotor aircraft according to the control weight of the rotor control.

3. The method of claim 2, wherein, The controlling the flight parameter of the tilt-rotor aircraft based on the rotor tilt angle further comprises: determining a control weight of a fixed-wing control according to the rotor tilt angle, wherein the control weight of the fixed-wing control represents a proportion of a change amount of the flight parameter provided by the fixed-wing control in the total change amount of the flight parameter; controlling the flight parameter of the tilt-rotor aircraft according to the control weight of the fixed-wing control.

4. The method of claim 3, wherein, The rotor tilt angle has a numerical range including at least two sub-ranges, and the control weights of the rotor control corresponding to the at least two sub-ranges are different, and / or the control weights of the fixed-wing control corresponding to the at least two sub-ranges are different.

5. The method of claim 4, wherein, The at least two sub-ranges include a first range, a second range and a third range which are sequentially decreasing; and The determining the control weight of the fixed-wing control according to the rotor tilt angle comprises at least one of: determining the control weight of the rotor control as 1 when the rotor tilt angle is in the first range; determining the control weight of the rotor control according to a preset calculation model when the rotor tilt angle is in the second range, wherein the control weight of the rotor control has a generally downward trend as the rotor tilt angle decreases in the second range; determining the control weight of the rotor control as 0 when the rotor tilt angle is in the third range.

6. The method of claim 5, wherein, The two end points of the first range are 90° and 80° respectively, the two end points of the second range are 80° and 15° respectively, and the two end points of the third range are 15° and 0° respectively.

7. The method of claim 5, wherein, The determining the control weight of the fixed-wing control according to the rotor tilt angle further comprises at least one of: determining the control weight of the fixed-wing control as 0 when the rotor tilt angle is in the first range; determining the control weight of the fixed-wing control according to a preset calculation model when the rotor tilt angle is in the second range, wherein the control weight of the fixed-wing control has a generally upward trend as the rotor tilt angle decreases in the second range; determining the control weight of the fixed-wing control as 1 when the rotor tilt angle is in the third range.

8. The method of claim 2, wherein, The determining the control weight of the rotor control according to the rotor tilt angle comprises: determining the control weight of the rotor control according to the following formula: wherein ξ is a control weight of the rotor control, β m is a rotor tilt angle, θ1 and θ2 are end values of a rotor tilt angle value range, θ1 < θ2.

9. The method of claim 3, wherein, The determining the control weight of the fixed-wing control according to the rotor tilt angle comprises: determining the control weight of the fixed-wing control according to the following formula: wherein η is a control weight for fixed-wing control, β m is the rotor tilt angle, θ3and θ4are end values of the rotor tilt angle range, with θ3< θ4.

10. The method of claim 2, wherein, The control weight of the rotor control is used to control the flight parameter of the tilt-rotor aircraft, including: obtaining a target change amount of the flight parameter; determining a change amount of the flight parameter provided by the rotor control according to the target change amount of the flight parameter and the control weight of the rotor control; manipulating the rotor to generate the change amount of the flight parameter provided by the rotor control.

11. The method of any of claims 1-10, wherein, The rotor tilt angle changes in a preset manner, including: The rotor tilt angle increases or decreases at a preset rate.

12. The method of any one of claims 1-10, wherein: The flight parameter includes at least one of a pitch angle, a roll angle, a heading angle, a height, and a speed.

13. A control device of a tilt-rotor aircraft, comprising: a rotor tilt angle adjusting module configured to change a rotor tilt angle in a preset manner; a flight parameter control module configured to control a flight parameter of the tilt-rotor aircraft based on the rotor tilt angle.

14. The apparatus of claim 13, wherein, The flight parameter control module is further configured to: determine a control weight of the rotor control according to the rotor tilt angle, wherein the control weight of the rotor control represents a proportion of a change amount of the flight parameter provided by the rotor control in a total change amount of the flight parameter; and control the flight parameter of the tilt-rotor aircraft according to the control weight of the rotor control.

15. The apparatus of claim 14, wherein, The flight parameter control module is further configured to: determine a control weight of the fixed-wing control according to the rotor tilt angle, wherein the control weight of the fixed-wing control represents a proportion of a change amount of the flight parameter provided by the fixed-wing control in the total change amount of the flight parameter; and control the flight parameter of the tilt-rotor aircraft according to the control weight of the fixed-wing control.

16. The apparatus of claim 15, wherein, The rotor tilt angle has a numerical range including at least two sub-ranges, the control weights of the rotor control corresponding to the at least two sub-ranges are different, and the control weights of the fixed-wing control corresponding to the at least two sub-ranges are different.

17. A computer program product comprising program code instructions to, when the program product is executed by a computer, cause the computer to perform the method of any one of claims 1-12.

18. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to cause the computer to perform the method of any one of claims 1-12.

19. An electronic device, comprising: a processor, memory in electronic communication with the processor; and instructions stored in the memory and executable by the processor to cause the electronic device to perform the method of any one of claims 1-12.

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