An adaptive cooperative flight control method and system for long-mad unmanned aerial vehicles

Abstract

The application discloses a kind of adaptive cooperative flight control method and system for long wheelbase unmanned aerial vehicle, belong to unmanned aerial vehicle technical field.The method includes: receiving waypoint sequence generates initial flight parameter and the structure of task adaptation, environment threshold value, obtains environment, fuselage structure and flight state information and generates adjustment instruction, revises flight speed and flight height parameter;Based on updated parameter and real-time heading angle, calculate heading correction, map as drive device asymmetric thrust instruction;Real-time monitoring propulsion system, identify abnormality when starting power reconstruction generates second power distribution instruction.The application is aimed at long wheelbase unmanned aerial vehicle structure characteristics, through waypoint, task, structure and the cooperative response of environment and propulsion system failure reconstruction mechanism, dynamically adjust flight and thrust parameter, improve complex scene operation efficiency, safety and adaptability.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and particularly relates to an adaptive cooperative flight control method and system for long-wheelbase UAVs. Background Technology

[0002] Long-wheelbase drones (LWDs), due to their large size and high payload capacity, are widely used in complex scenarios such as long-distance operations and heavy material transportation. Their flight control must balance path accuracy, structural safety, and environmental adaptability. In existing technologies, the flight parameters of LWDs are mostly based on static settings of preset waypoints, failing to dynamically optimize the initial baseline flight speed and altitude according to the spatial characteristics of the waypoint sequence and the mission type. This results in insufficient adaptability of flight parameters to actual operational requirements. In complex environments, environmental factors such as wind speed significantly affect the directional stability of LWDs. Existing technologies lack coordinated response strategies for environmental and structural parameters, making it difficult to ensure flight attitude stability through precise directional correction. Furthermore, the reliability of the propulsion system's power output directly affects flight safety. Existing control methods have inadequate power failure response mechanisms, failing to quickly maintain flight capability through power reconfiguration when the propulsion system malfunctions, further limiting the operational reliability and safety of LWDs in complex scenarios. Summary of the Invention

[0003] To address the technical problems in existing technologies where flight control schemes are not adapted to the structural characteristics of long-wheelbase UAVs, lack collaborative response and propulsion system fault reconfiguration mechanisms, resulting in insufficient efficiency, safety, and adaptability in complex scenarios, this invention provides an adaptive collaborative flight control method and system for long-wheelbase UAVs.

[0004] To achieve the above objectives, a first aspect of the present invention provides an adaptive cooperative flight control method for a long-wheelbase unmanned aerial vehicle, comprising the following steps: Receive waypoint sequences and generate initial flight paths, baseline flight speeds and altitudes, and set structural and environmental thresholds; The system acquires environmental status, fuselage structure status, and flight status information in real time. It generates a first adjustment command based on a structural threshold and a comparison of the fuselage structure status, and generates a second adjustment command based on an environmental threshold and a comparison of the environmental status. The environmental status includes a first environmental parameter, the fuselage structure status includes structural parameters, and the flight status information includes flight speed parameters and flight altitude parameters. The flight speed and altitude parameters are dynamically corrected according to the first and / or second adjustment instructions. Based on the corrected flight speed and flight altitude parameters, the heading control quantity is calculated and mapped to the differential speed command of each rotor motor to generate the first power distribution command; The first power distribution command is executed, and the motor speed, current and response delay are monitored in real time. If an abnormality is detected, the power reconfiguration mechanism is activated. The target speed of each motor is redistributed according to the remaining normal motor status. Under the premise of meeting the attitude control and lift requirements, the second power distribution command is generated to maintain the stable flight of the UAV.

[0005] Furthermore, the process of generating the structural threshold and the environmental threshold also includes: Based on the spatial coordinate distribution characteristics of the waypoint sequence, the corresponding wind field model data is obtained from the pre-stored environmental parameter database; based on the structural characteristic parameters of the long-axis UAV, stress tolerance data is obtained by solving the structural dynamics model; the wind field model data is converted into environmental thresholds, and the stress tolerance data is converted into structural thresholds.

[0006] Furthermore, the process of generating the first and second adjustment instructions also includes a structure-environment coupling risk assessment step, specifically: A structure-environment coupled risk assessment model is established, which takes the UAV maneuver parameters, first environmental parameters and structural parameters obtained by parsing the mission type corresponding to the waypoint sequence as input; The coupling risk assessment value is obtained by multiplying the coupling influence coefficient between the computer's motion parameters and the first environmental parameters by the structural parameters using the coupling risk assessment model. The coupling risk assessment value is compared with a preset coupling risk threshold. If the coupling risk assessment value is greater than the coupling risk threshold, a third adjustment instruction is generated. Based on the first adjustment command, the second adjustment command, and / or the third adjustment command, the flight speed and flight altitude are corrected to generate updated second flight speed parameters and second flight altitude parameters.

[0007] Furthermore, the correction of the flight speed and flight altitude also includes: calculating the second flight speed parameter and the second flight altitude parameter using the following parameter correction formula: ; , in, This represents the second flight speed parameter. Indicates flight speed. Indicates the second flight altitude parameter. Indicates flight altitude; The first flight speed correction parameter included in the first adjustment command, Correction parameters for the first flight altitude; Correction parameters for the second flight speed. Correction parameters for the second flight altitude; , , , These are the preset weighting coefficients.

[0008] Furthermore, the process of calculating the heading correction amount also includes: calculating the first control quantity using the following heading correction formula: , in, This is the first control quantity; For the desired heading angle, The real-time heading angle; , , This is the preset control gain coefficient.

[0009] Furthermore, during the initial flight path execution of the long-wheelbase UAV, a dynamic parameter correction step based on the completed flight segment data is also included, specifically: Real-time recording of the actual structural load spectrum and historical environmental disturbance data corresponding to the completed flight segments; Based on the actual structural load spectrum, the statistical characteristic value of the structural load of the completed flight segment is calculated. Combined with the mission type and spatial coordinate distribution of the uncompleted flight segment in the waypoint sequence, the structural threshold of the uncompleted flight segment is corrected. Based on the historical environmental disturbance data, the intensity and variation pattern of environmental disturbances in the completed flight segments are analyzed, and the environmental thresholds for the uncompleted flight segments are corrected by combining the preset flight scenarios of the uncompleted flight segments. Based on the actual correction range and flight effect of the flight speed and altitude in the completed flight segments, the initial reference flight speed and initial reference flight altitude of the uncompleted flight segments are dynamically adjusted to form an updated flight parameter reference. The long-wheelbase UAV performs flight control for unfinished segments based on the corrected monitoring thresholds and flight parameter benchmarks.

[0010] Furthermore, the step of correcting the structural threshold of incomplete segments also includes: identifying segments with similar spatial geometric features or mission logical associations in the waypoint sequence based on the statistical characteristic values ​​of structural loads of completed segments and the spatial coordinate distribution of incomplete segments; and using the identification results of the segment groups as the reference benchmark for correcting the structural threshold of incomplete segments within the segment group, the actual structural load spectrum corresponding to the segment with the closest load characteristics among the completed segments is used as the reference benchmark for correcting the structural threshold of incomplete segments within the segment group.

[0011] Secondly, the present invention provides an adaptive cooperative flight control system for a long-wheelbase unmanned aerial vehicle (UAV), wherein the system applies any of the adaptive cooperative flight control methods for long-wheelbase UAVs described in the present invention, and the system includes: The initial parameter generation module is used to receive waypoint sequences and generate initial flight paths, flight speeds, flight altitudes, structure thresholds, and environmental thresholds. The status information acquisition module is used to acquire environmental status information, fuselage structure status information and flight status information, and define the first environmental parameters, structural parameters and first attitude parameters; the adjustment command generation module is used to generate the first adjustment command and the second adjustment command based on the comparison results of the parameters and thresholds. The flight parameter correction module is used to correct the flight speed and flight altitude based on the adjustment command, and generate second flight speed parameters and second flight altitude parameters. The power distribution command generation module is used to calculate the heading correction amount, map and generate the first power distribution command, identify the first abnormal state and start the power reconfiguration mechanism to generate the second power distribution command. The flight control execution module is used to execute power distribution commands and control the flight activities of the UAV.

[0012] Furthermore, when generating the second power distribution command, the power distribution command generation module dynamically adjusts the output parameters of the propulsion system collected in real time by the status information acquisition module.

[0013] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the adaptive cooperative flight control methods for long-wheelbase unmanned aerial vehicles.

[0014] The beneficial technical effects of the present invention are at least as follows: This application provides an adaptive cooperative flight control method and system for long-wheelbase unmanned aerial vehicles (UAVs). By dynamically generating structural and environmental thresholds and adjusting flight parameters in conjunction with real-time environmental and structural information, it solves the structural safety hazard caused by the mismatch between flight parameters and actual operating conditions in complex environments, achieving adaptive optimization of flight parameters. Based on the flight requirements corresponding to second flight speed and second flight altitude parameters, it calculates the heading deviation between the desired heading angle and the real-time heading angle, accurately calculates the heading correction, and maps it to an asymmetric thrust command for the drive unit, solving the problem of insufficient heading control accuracy for long-wheelbase UAVs and significantly improving heading stability under complex conditions. By real-time acquisition of the actual output thrust value and thrust response delay of the drive unit and comparing it with preset thresholds to determine abnormal states, and activating a power reconfiguration mechanism to generate a second power distribution command when an abnormality is detected, it solves the problem of unreliable flight safety and mission continuity, achieving stable flight and continuous mission execution under abnormal conditions. Attached Figure Description

[0015] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0016] Figure 1 This is a flowchart of an adaptive cooperative flight control method for a long-wheelbase unmanned aerial vehicle (UAV) disclosed in one embodiment of the present invention; Figure 2 This is a schematic diagram of an adaptive cooperative flight control system for a long-wheelbase unmanned aerial vehicle (UAV) disclosed in one embodiment of the present invention. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] Long-wheelbase unmanned aerial vehicles (UAVs), with their large fuselage size and strong payload capacity, play a crucial role in complex scenarios such as long-distance power line inspection and heavy material transportation. However, their flight control needs to meet multiple requirements, including precise path tracking, structural safety maintenance, and dynamic environmental adaptation. Existing solutions use preset waypoint static parameter settings, with fixed flight speed and altitude, failing to fully consider the spatial coordinate distribution characteristics of waypoints and differences in mission types. This leads to a disconnect between parameters and the actual environment, resulting in low flight efficiency and significant safety hazards. Due to their large span and unique stress distribution, the wing structure's key structural parameters are sensitive to changes in flight status. Traditional methods lack a dynamic correlation mechanism between real-time structural status and flight parameters, making it difficult to avoid structural overload risks. Regarding environmental adaptability, existing technologies have not established a framework for coordinated response between environmental and structural parameters. Heading correction accuracy is insufficient when wind speed changes, and thrust distribution is simplistic. Furthermore, current control schemes lack rapid power reconfiguration capabilities when the drive unit malfunctions, and cannot allocate thrust commands based on remaining propulsion capacity, thus limiting operational continuity and safety in complex weather or high-risk scenarios.

[0019] To address the aforementioned problems, embodiments of the present invention provide an adaptive cooperative flight control method and system for long-wheelbase unmanned aerial vehicles (UAVs).

[0020] Example 1 like Figures 1-2 As shown in the figure, an adaptive cooperative flight control method for a long-wheelbase unmanned aerial vehicle (UAV) provided by an embodiment of the present invention includes the following steps: This application proposes an adaptive cooperative flight control method for long-wheelbase unmanned aerial vehicles (UAVs), comprising the following steps: S1. Receive waypoint sequence and generate initial flight path, reference flight speed and flight altitude, and set structural threshold and environmental threshold; S2. Real-time acquisition of environmental status, fuselage structure status, and flight status information; generation of a first adjustment command based on a structural threshold and a comparison of the fuselage structure status; generation of a second adjustment command based on an environmental threshold and a comparison of the environmental status; wherein, the environmental status includes a first environmental parameter, the fuselage structure status includes structural parameters, and the flight status information includes flight speed parameters and flight altitude parameters. S3. Dynamically correct the flight speed and flight altitude parameters according to the first and / or second adjustment instructions; S4. Based on the corrected flight speed parameters and flight altitude parameters, calculate the heading control quantity and map it to the differential speed command of each rotor motor to generate the first power distribution command; S5. Execute the first power distribution command, monitor the motor speed, current and response delay in real time, and start the power reconfiguration mechanism if an abnormality is detected. Based on the remaining normal motor status, redistribute the target speed of each motor and generate the second power distribution command under the premise of meeting the attitude control and lift requirements to maintain the stable flight of the UAV.

[0021] It should be noted that the waypoint sequence can be an ordered set of multiple spatial coordinate points, which is mainly used to describe the mission path of the UAV. The waypoint sequence can be pre-defined through manual planning or dynamically generated through an external mission management system, primarily to ensure the clarity and executability of the mission path.

[0022] In some embodiments, the initial flight path can be generated using a path planning algorithm based on linear interpolation, with the specific choice depending on the requirements of the mission scenario. As a preferred implementation, wind speed vector acquisition can also be combined with historical flight data of the UAV for predictive analysis to improve the accuracy of environmental state information. When the structural parameter exceeds a certain percentage of the structural threshold, a first adjustment command is triggered; when the rate of change of the first environmental parameter exceeds a preset range, a second adjustment command is triggered. Furthermore, the content of the adjustment command can be determined using a lookup table or empirical formula to ensure high real-time performance and reliability in the generation of the adjustment command. The correction process for flight speed and altitude can be implemented through incremental adjustments. For example, based on the flight speed correction requirement in the first adjustment command, the flight speed is gradually adjusted in fixed steps until safe flight conditions are met.

[0023] Similarly, altitude correction can be achieved through piecewise linear interpolation to ensure smooth altitude changes. The calculation of the first control variable can be implemented using a proportional-integral-derivative control algorithm, or intelligent control methods such as fuzzy control or neural network control. Furthermore, the mapping relationship between the first control variable and the first power distribution command can be established through experimental calibration or theoretical derivation based on the UAV's dynamic model to ensure the accuracy and rationality of thrust distribution.

[0024] Preferably, the process of generating the structural threshold and the environmental threshold further includes: obtaining the corresponding wind field model data from a pre-stored environmental parameter database based on the spatial coordinate distribution characteristics of the waypoint sequence; obtaining stress tolerance data by solving the structural dynamics model based on the structural characteristic parameters of the long-axis UAV; converting the wind field model data into environmental thresholds and converting the stress tolerance data into structural thresholds.

[0025] It should be noted that the environmental threshold is obtained by converting wind field model data from a pre-stored environmental parameter database by matching the spatial coordinate distribution characteristics of waypoint sequences, and the structural threshold is obtained by converting stress tolerance data from the structural characteristic parameters of long-axis UAVs calculated by the structural dynamics model. ,in , Represents the set of monitoring thresholds. The environmental threshold is obtained by matching the spatial coordinate distribution characteristics P of the waypoint sequence with the wind field model data F obtained from the pre-stored environmental parameter database, and then using the transformation function f. The structural threshold is calculated from the structural characteristic parameters M of the long-wheelbase UAV using a structural dynamics model to obtain the stress tolerance data S, which is then transformed using a conversion function. get.

[0026] Preferably, the process of generating the adjustment instruction includes: The structural parameters are compared with the structural threshold in a first comparison operation. When the result of the first comparison operation satisfies a first preset logical condition, the first adjustment instruction is generated. The first environmental parameter is compared with the environmental threshold in a second comparison operation. When the result of the second comparison operation satisfies the second preset logic condition, the second adjustment instruction is generated. The first adjustment instruction includes a first flight speed correction parameter and a first flight altitude correction parameter, and the second adjustment instruction includes a second flight speed correction parameter and a second flight altitude correction parameter.

[0027] It should be noted that, in this embodiment, the first comparison operation refers to evaluating the degree of deviation between the structural parameters and the structural threshold through calculation. This can be achieved using difference calculation, with the aim of quantifying whether the real-time state of the UAV fuselage exceeds the safe range. The first preset logical condition refers to the triggering rules set based on the structural dynamics model, such as deviation values ​​exceeding a certain fixed threshold or a dynamically changing tolerance range. Its purpose is to ensure that the adjustment command is only activated when the structural risk reaches a certain level, avoiding false triggering or missed triggering.

[0028] The second comparison operation refers to the deviation assessment between the first environmental parameter and the environmental threshold. This can be achieved through comparison of the magnitude of the wind speed vector, directional deviation analysis, or calculation of the comprehensive environmental index. The purpose is to quantify the intensity of the impact of environmental factors on flight stability in real time. The second preset logical condition refers to the triggering rules set based on environmental adaptability requirements, such as wind speed changes exceeding a certain critical value or duration reaching a specific threshold. The purpose is to prevent frequent adjustments caused by environmental fluctuations, while ensuring that the environmental response is only initiated when the impact is significant.

[0029] The system receives structural parameters and performs a first comparison operation with structural thresholds, triggering a first adjustment command. The first flight speed correction parameter and the first flight altitude correction parameter contained in the command provide a clear basis for subsequent flight parameter corrections.

[0030] Similarly, the system receives the first environmental parameter and performs a second comparison operation with the environmental threshold. If the operation results show that the influence of environmental factors such as wind speed on flight stability has exceeded the preset range, a second adjustment command is triggered. The second flight speed correction parameter and the second flight altitude correction parameter contained in this command ensure that the environmental adaptability correction focuses on the key parameters.

[0031] Preferably, the correction of the flight speed and flight altitude further includes: calculating the second flight speed parameter and the second flight altitude parameter using the following parameter correction formula: ; , in, This represents the second flight speed parameter. Indicates flight speed. Indicates the second flight altitude parameter. Indicates flight altitude; The first flight speed correction parameter included in the first adjustment command, Correction parameters for the first flight altitude; Correction parameters for the second flight speed. Correction parameters for the second flight altitude; , , , These are the preset weighting coefficients.

[0032] It should be noted that in this embodiment, the weighting coefficients α, β, γ, and δ refer to numerical parameters used to adjust the contribution ratio of different correction sources. These parameters can be determined through experimental calibration or adaptive learning algorithms to ensure that the system can flexibly configure priorities according to task requirements. In practical applications, the first flight speed correction parameter ΔV1 and the first flight altitude correction parameter ΔH1 refer to the correction amounts generated based on the fuselage structural state monitoring results of the long-wheelbase UAV, which can be calculated using a structural dynamics model. Simultaneously, the second flight speed correction parameter ΔV2 and the second flight altitude correction parameter ΔH2 refer to the correction amounts generated based on the environmental state monitoring results, which can be obtained through wind field model prediction to compensate for the impact of environmental disturbances such as wind speed on the flight path.

[0033] Preferably, the process of calculating the heading correction further includes: calculating the first control quantity using the following heading correction formula: , in, This is the first control quantity, i.e., the heading correction quantity; For the desired heading angle, The real-time heading angle in the first attitude parameters; , , This is the preset control gain coefficient.

[0034] It should be noted that the proportional term Used for rapid response to immediate heading deviations, it can directly generate a correction torque based on the error amplitude, ensuring rapid adjustment of yaw status in complex environments such as sudden changes in wind speed; integral term This method is used to accumulate historical errors and eliminate steady-state deviations. It can be implemented using numerical integration methods, such as the trapezoidal integration method or Simpson's integration method, thereby effectively suppressing the accumulation of heading deviations caused by continuous wind speed disturbances; the differential term... This method is used to predict heading changes and suppress dynamic oscillations. It can be implemented through differential operations or filtering to compensate for overshoot caused by sudden changes in wind speed. Furthermore, the control gain coefficients K1, K2, and K3 can be dynamically adjusted based on the UAV's structural characteristics and environmental conditions.

[0035] Preferably, the process of mapping the first control quantity to the first power distribution command includes: A nonlinear mapping relationship between heading correction and thrust differential is established, and the mapping relationship is adaptively adjusted based on the second flight speed parameter and the second flight altitude parameter. Based on the nonlinear mapping relationship, the first control quantity is converted into a thrust difference signal; Based on the thrust difference signal, the thrust command of the drive device is calculated through the thrust distribution matrix, and the independent thrust command is encoded into the first power distribution command.

[0036] In the process of mapping the first control variable to the asymmetric thrust command of the drive unit, the nonlinear mapping relationship specifically introduces a structural damping compensation term based on real-time feedback from structural parameters. This structural damping compensation term is not an additional module independent of the heading control logic, but rather deeply embedded in the core of thrust differential calculation—by capturing the dynamic changes of structural parameters in real time, it accurately identifies the current stress state and load accumulation trend of the wing, and then dynamically adjusts the thrust differential distribution ratio of the drive unit. When structural parameters show an increasing trend and the wing load approaches the structural threshold, the structural damping compensation term reduces the additional bending moment generated by the asymmetric thrust on the wing by appropriately reducing the thrust differential amplitude and optimizing the thrust change rate, thus preventing further accumulation of structural load. Conversely, when structural parameters are within a safe range and the wing stress is relatively small, the structural damping compensation term does not restrict the thrust differential demand required for heading control, ensuring the response speed and control accuracy of heading correction. This design breaks away from the traditional model where heading control and structural safety control are independent of each other, fundamentally integrating the two at the control logic level. This allows thrust distribution to both correct heading deviations and proactively undertake the load reduction and protection function of the wing structure, achieving synergistic optimization of heading stability and structural safety in complex flight environments.

[0037] Furthermore, it also includes: executing the first power distribution command to generate yaw control torque, and monitoring the output parameters of the propulsion system in real time; defining the state in which the output parameters of the propulsion system deviate from the preset normal range as the first abnormal state; When the first abnormal state is detected, the power reconfiguration mechanism is triggered. Based on the remaining effective output capacity of the propulsion system, the thrust of the drive device is redistributed, and a second power distribution command is generated. The flight activities of the long-wheelbase UAV are controlled through the second power distribution command.

[0038] It should be noted that in this embodiment, a nonlinear mapping relationship is established from the heading correction to the thrust differential, fully considering the complex aerodynamic coupling effect caused by the large fuselage size of the long-wheelbase UAV, thus avoiding the risk of distortion of the linear model in large-scale heading adjustments. The mapping relationship is adaptively adjusted based on the second flight speed and second flight altitude parameters. The mapping parameters are dynamically corrected using real-time updated flight speed and altitude information, compensating for the significant changes in aerodynamic damping characteristics during high-speed or low-altitude flight, ensuring that the mapping relationship always matches the current flight state. The process of converting the first control quantity into a thrust differential signal is closely related to the real-time flight state, avoiding the simple proportional conversion that ignores state changes in traditional methods. The thrust command of the drive unit is calculated through the thrust allocation matrix, satisfying both the yaw torque requirement and the output capability constraints of the drive unit. The independent thrust command is encoded into a first power allocation command, realizing standardized output of the thrust command and providing reliable input for subsequent flight control.

[0039] refer to Figure 2 Secondly, the present invention also provides an adaptive cooperative flight control system for long-wheelbase unmanned aerial vehicles, comprising: The initial parameter generation module is used to receive waypoint sequences and generate initial flight paths, flight speeds, flight altitudes, structure thresholds, and environmental thresholds. The status information acquisition module is used to acquire environmental status information, fuselage structure status information and flight status information, and define the first environmental parameter, structural parameter and first attitude parameter; the adjustment command generation module is used to generate the first adjustment command and the second adjustment command based on the comparison result of the parameters and the threshold. The flight parameter correction module is used to correct the flight speed and flight altitude based on the adjustment command, and generate second flight speed parameters and second flight altitude parameters. The power distribution command generation module is used to calculate the heading correction amount, map and generate the first power distribution command, identify the first abnormal state and start the power reconfiguration mechanism to generate the second power distribution command. The flight control execution module is used to execute power distribution commands and control the flight activities of the UAV.

[0040] Preferably, when generating the second power distribution command, the power distribution command generation module dynamically adjusts the output parameters of the propulsion system collected in real time by the status information acquisition module.

[0041] It should be noted that in this embodiment, the combination of the initial parameter generation module and the state information acquisition module realizes a linkage mechanism for dynamic optimization of flight parameters and real-time state monitoring. At the same time, by adjusting the command generation module and the flight parameter correction module, it is ensured that the flight parameters can be adaptively adjusted according to structural loads and environmental changes. Through the synergistic effect of the power distribution command generation module and the flight control execution module, the heading stability problem in complex environments and the power reconfiguration problem when the propulsion system fails are solved.

[0042] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements all the steps of any of the described adaptive cooperative flight control methods for long-wheelbase unmanned aerial vehicles.

[0043] Storage medium – any type of memory device or storage apparatus. The term “storage medium” is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDRRAM, SRAM, EDORAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a first computer system in which a program is executed, or may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0044] The storage medium containing computer-executable instructions provided in this application embodiment is not limited to the adaptive cooperative flight control method for long-wheelbase UAVs as described above, but can also execute related operations in the adaptive cooperative flight control method for long-wheelbase UAVs provided in any embodiment of this application.

[0045] This embodiment of the long-wheelbase UAV enables dynamic matching of flight parameters with actual operational requirements in complex scenarios, real-time quantitative assessment of structural safety and environmental impact, ensuring flight parameters adapt to structural and environmental changes, and guaranteeing directional stability in complex environments. Furthermore, it can quickly respond and maintain flight capability in the event of propulsion system malfunctions, significantly improving the comprehensive control capabilities of the long-wheelbase UAV in structurally sensitive, environmentally variable, and power failure scenarios.

[0046] Finally, it should be noted that the adaptive cooperative flight control method and system for long-wheelbase UAVs disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive cooperative flight control method for long-wheelbase unmanned aerial vehicles, characterized in that, Includes the following steps: The system receives waypoint sequences and generates an initial flight path, a reference flight speed, and a flight altitude, while setting structural and environmental thresholds. The process of generating structural and environmental thresholds further includes: obtaining corresponding wind field model data from a pre-stored environmental parameter database based on the spatial coordinate distribution characteristics of the waypoint sequences; calculating stress tolerance data using a structural dynamics model based on the structural characteristic parameters of the long-wheelbase UAV; converting the wind field model data into environmental thresholds; and converting the stress tolerance data into structural thresholds. The system acquires environmental status, fuselage structure status, and flight status information in real time. It generates a first adjustment command based on a structural threshold and a comparison of the fuselage structure status, and generates a second adjustment command based on an environmental threshold and a comparison of the environmental status. The environmental status includes a first environmental parameter, the fuselage structure status includes structural parameters, and the flight status information includes flight speed parameters and flight altitude parameters. The flight speed and altitude parameters are dynamically corrected according to the first and / or second adjustment instructions. Based on the corrected flight speed and altitude parameters, the heading control quantity is calculated and mapped to the differential speed command of each rotor motor to generate the first power distribution command; this also includes a structure-environment coupling risk assessment step, specifically: A structure-environment coupled risk assessment model is established, which takes the UAV maneuver parameters, first environmental parameters and structural parameters obtained by parsing the mission type corresponding to the waypoint sequence as input; The coupling risk assessment value is obtained by multiplying the coupling influence coefficient between the computer's motion parameters and the first environmental parameters by the structural parameters using the coupling risk assessment model. The coupling risk assessment value is compared with a preset coupling risk threshold. If the coupling risk assessment value is greater than the coupling risk threshold, a third adjustment instruction is generated. Based on the first adjustment instruction, the second adjustment instruction and / or the third adjustment instruction, the flight speed and flight altitude are corrected to generate updated second flight speed parameters and second flight altitude parameters. The first power distribution command is executed, and the motor speed, current and response delay are monitored in real time. If an abnormality is detected, the power reconfiguration mechanism is activated. The target speed of each motor is redistributed according to the remaining normal motor status. Under the premise of meeting the attitude control and lift requirements, the second power distribution command is generated to maintain the stable flight of the UAV. The process of a long-wheelbase UAV executing its initial flight path also includes a dynamic parameter correction step based on completed flight segment data, specifically including: Real-time recording of the actual structural load spectrum and historical environmental disturbance data corresponding to the completed flight segments; Based on the actual structural load spectrum, the statistical characteristic value of the structural load of the completed flight segment is calculated. Combined with the mission type and spatial coordinate distribution of the uncompleted flight segment in the waypoint sequence, the structural threshold of the uncompleted flight segment is corrected. Based on the historical environmental disturbance data, the intensity and variation pattern of environmental disturbances in the completed flight segments are analyzed, and the environmental thresholds for the uncompleted flight segments are corrected by combining the preset flight scenarios of the uncompleted flight segments. Based on the actual correction range and flight effect of the flight speed and altitude in the completed flight segments, the initial reference flight speed and initial reference flight altitude of the uncompleted flight segments are dynamically adjusted to form an updated flight parameter reference. The long-wheelbase UAV performs flight control for unfinished segments based on the corrected monitoring thresholds and flight parameter benchmarks.

2. The adaptive cooperative flight control method for long-wheelbase UAVs according to claim 1, characterized in that, The correction of the flight speed and flight altitude also includes: calculating the second flight speed parameter and the second flight altitude parameter using the following parameter correction formula: ； ， in, This represents the second flight speed parameter. Indicates flight speed. Indicates the second flight altitude parameter. Indicates flight altitude; The first flight speed correction parameter included in the first adjustment command, Correction parameters for the first flight altitude; Correction parameters for the second flight speed. Correction parameters for the second flight altitude; , , , These are the preset weighting coefficients.

3. The adaptive cooperative flight control method for long-wheelbase UAVs according to claim 1, characterized in that, The process of calculating the heading correction also includes: calculating the first control variable using the following heading correction formula: ， in, This is the first control quantity; For the desired heading angle, This is the real-time heading angle; , , This is the preset control gain coefficient.

4. The adaptive cooperative flight control method for long-wheelbase UAVs according to claim 1, characterized in that, The step of correcting the structural threshold of incomplete segments further includes: identifying segments with similar spatial geometric features or mission logical associations in the waypoint sequence based on the statistical characteristic values ​​of structural loads of completed segments and the spatial coordinate distribution of incomplete segments; and using the identification results of the segment groups as a reference benchmark for correcting the structural threshold of incomplete segments within the segment group, the actual structural load spectrum corresponding to the segment with the closest load characteristics among the completed segments is used as the reference benchmark for correcting the structural threshold of incomplete segments within the segment group.

5. An adaptive cooperative flight control system for long-wheelbase unmanned aerial vehicles, characterized in that, The system employs the adaptive cooperative flight control method for long-wheelbase unmanned aerial vehicles as described in any one of claims 1-4, and the system comprises: The initial parameter generation module is used to receive waypoint sequences and generate initial flight paths, flight speeds, flight altitudes, structure thresholds, and environmental thresholds. The status information acquisition module is used to acquire environmental status information, fuselage structure status information and flight status information, and define the first environmental parameters, structural parameters and first attitude parameters; the adjustment command generation module is used to generate the first adjustment command and the second adjustment command based on the comparison results of the parameters and thresholds. The flight parameter correction module is used to correct the flight speed and flight altitude based on the adjustment command, and generate second flight speed parameters and second flight altitude parameters. The power distribution command generation module is used to calculate the heading correction amount, map and generate the first power distribution command, identify the first abnormal state and start the power reconfiguration mechanism to generate the second power distribution command. The flight control execution module is used to execute power distribution commands and control the flight activities of the UAV.

6. The adaptive cooperative flight control system for long-wheelbase unmanned aerial vehicles according to claim 5, characterized in that, When generating the second power distribution command, the power distribution command generation module dynamically adjusts the output parameters of the propulsion system collected in real time by the status information acquisition module.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the adaptive cooperative flight control method for long-wheelbase unmanned aerial vehicles as described in any one of claims 1-4.

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