Rotor craft control method, control device, rotor craft, storage medium and program product

Abstract

The invention discloses a rotorcraft control method and device, a rotorcraft, a storage medium and a program product, and relates to the technical field of aircraft control, and the rotorcraft control method comprises the steps that the operation direction and the operation amplitude of the control device are detected; the manipulating device controls at least one channel; the operation direction at least comprises longitudinal rotation; based on the operation direction and the operation amplitude, outputting an operation instruction corresponding to the channel; the operation instruction comprises a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is in positive correlation with the target speed; and analyzing the operation instruction based on the flight control system so as to control the rotorcraft to move towards the target direction according to the target speed. The operation direction of the operation device corresponds to the target direction in the operation instruction, and the flight control system is used for analyzing the operation instruction and regulating and controlling the channels, so that the decoupling operation of each channel is realized, the operation logic is simplified, and the operation difficulty is reduced.

Description

Technical Field

[0001] This application relates to the field of aircraft control technology, and in particular to rotorcraft control methods, control devices, rotorcraft, storage media, and program products. Background Technology

[0002] The configuration of the electric multi-rotor aircraft is most similar to that of a traditional helicopter. Traditional helicopters use a "two-stick, one-rudder" control system. The "two sticks" refer to the cyclic pitch stick and the collective pitch stick, and the "one-rudder" refers to the rudder. The control functions of the "two sticks and one rudder" are as follows: the cyclic pitch stick directly controls the blade pitch at different phases, thus controlling the helicopter's roll and pitch; the collective pitch stick directly controls the overall rotor pitch, thus controlling altitude; and the rudder directly controls the tail rotor pitch, thereby changing the yaw moment and indirectly adjusting the control angle.

[0003] Because the configuration of electric multirotor aircraft is most similar to that of traditional helicopters, which use a "two-stick, one-rudder" control system, the "two sticks" refer to the cyclic pitch stick and the collective pitch stick, and the "one-rudder" refers to the rudder. The control functions of the "two sticks and one rudder" are as follows: the cyclic pitch stick directly controls the pitch of the rotor blades at different phases, thereby controlling the roll and pitch of the helicopter; the collective pitch stick directly controls the total pitch of the rotor, thereby controlling the ascent and descent; and the rudder directly controls the pitch of the tail rotor, thereby changing the yaw moment and indirectly adjusting the control angle.

[0004] Traditional helicopters employ a mechanical control system. The cyclic pitch and collective pitch of the main rotor and the collective pitch of the tail rotor are directly controlled by the pilot using the control stick and pedals. This control method requires the pilot to use both hands and feet, and the pilot needs to quickly adjust the stick and rudder inputs based on different helicopter attitudes and positions. Altitude maintenance and attitude stability both rely on the pilot's perception, which is then output to the hand and foot movements as inputs to the control system. Furthermore, the control systems of each channel are interconnected. For example, during forward acceleration, in addition to pushing the stick to tilt the main rotor blades forward, the pilot needs to increase the collective pitch to compensate for lift loss, and simultaneously fine-tune the tail rotor collective pitch to balance changes in counter-torque.

[0005] The above control system has the following design flaws:

[0006] 1) Complex manipulation and control logic: When movement is expected in a single direction, both hands and feet need to be involved in adjustment and control simultaneously;

[0007] 2) High training costs: The pilot is required to be the flight control center, which places extremely high demands on the pilot's flying skills. Pilots usually need to develop muscle memory to achieve stable control of the helicopter, which greatly increases the duration of helicopter operation training.

[0008] 3) High operating load: Because the driver needs to control both hands and feet at the same time, the driver will bear a great psychological and physical operating load.

[0009] The shortcomings of the above-mentioned control design mainly stem from the control coupling between multiple channels in traditional helicopters and the lack of an automatic flight control system.

[0010] Therefore, there is an urgent need for a new type of rotorcraft control method to solve the problems of control coupling between multiple channels in existing control methods, which leads to complex control logic, high training costs, and high control load.

[0011] The above control system has the following design flaws:

[0012] 1) Complex manipulation and control logic: When a unidirectional movement is desired, both hands and feet need to be involved in adjustment and control simultaneously;

[0013] 2) High training costs: The pilot is required to be the flight control center, which places extremely high demands on the pilot's flying skills. Pilots usually need to develop muscle memory to achieve stable control of the helicopter, which greatly increases the duration of helicopter operation training.

[0014] 3) High operating load: Because the driver needs to control both hands and feet at the same time, the driver will bear a great psychological and physical operating load.

[0015] The shortcomings of the above-mentioned control design mainly stem from the control coupling between multiple channels in traditional helicopters and the lack of an automatic flight control system.

[0016] Therefore, there is an urgent need for a new type of rotorcraft control method to solve the problems of control coupling between multiple channels in existing control methods, which leads to complex control logic, high training costs, and high control load.

[0017] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0018] The main purpose of this application is to provide a rotorcraft control method, control device, rotorcraft, storage medium and program product, which aims to solve the technical problems of control coupling between multiple channels in the existing control method, resulting in complex control logic, high training costs and high control load.

[0019] To achieve the above objectives, this application proposes a method for controlling a rotorcraft, the method comprising:

[0020] The operating direction and operating range of the control device are detected; wherein the control device controls at least one channel; the operating direction includes at least longitudinal rotation;

[0021] Based on the operation direction and the operation amplitude, an operation command corresponding to the channel is output; wherein, the operation command includes a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is positively correlated with the target speed;

[0022] The flight control system analyzes the operation commands to control the rotorcraft to move toward the target direction at the target speed.

[0023] In one embodiment, the step of parsing the operation command based on the flight control system to control the rotorcraft to move toward the target direction at the target speed includes:

[0024] The operation instructions are parsed to obtain the target direction;

[0025] When the target direction is any of the horizontal, vertical, or heading directions, adjust the rotational speed of each rotor so that the rotorcraft moves toward the target direction at the target speed;

[0026] When the target direction is a combination of longitudinal and lateral directions, a decision is made based on the real-time longitudinal speed of the rotorcraft and the lateral control amplitude of the control device to control the rotorcraft to perform a side-flight maneuver with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn.

[0027] In one embodiment, the step of adjusting the rotational speed of each rotor when the target direction is any one of the lateral, longitudinal, vertical, and heading directions, so that the rotorcraft moves toward the target direction at the target speed, includes:

[0028] Depending on the longitudinal direction, the nose of the rotorcraft is adjusted to either a diving or pitching attitude, so that the rotorcraft can fly forward or backward at the target speed.

[0029] Depending on the lateral direction, the rotorcraft is made to roll to the left or to the right accordingly, so that the rotorcraft flies to the left or to the right at the target speed;

[0030] Depending on the vertical direction, the rotorcraft ascends or descends accordingly at the target speed;

[0031] Depending on the direction of the heading, the rotorcraft will yaw to the left or right according to the target yaw rate.

[0032] In one embodiment, the step of making a decision based on the real-time longitudinal velocity of the rotorcraft and the lateral control amplitude received by the control device when the target direction is a combined longitudinal and lateral direction, to control the rotorcraft to perform a sideways flight with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn, includes:

[0033] When the target direction is a combination of longitudinal and lateral directions, the rotorcraft is adjusted to the target longitudinal speed and target lateral speed in the corresponding direction;

[0034] If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the lateral operation amplitude is less than or equal to the first roll operation threshold, then the rotorcraft is controlled to perform a side-flight maneuver with the nose direction unchanged.

[0035] If the real-time longitudinal speed of the rotorcraft is greater than a first longitudinal speed threshold, and the lateral maneuver is greater than a first roll maneuver threshold, then the first coordinated turn mode is entered:

[0036] The target yaw rate is matched with the real-time longitudinal speed and the lateral control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target yaw rate.

[0037] In one embodiment, after the step of matching the target yaw rate corresponding to the real-time longitudinal velocity and the lateral operating amplitude, and controlling the rotorcraft to perform coordinated turns based on the target yaw rate, the method further includes:

[0038] If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the lateral operation amplitude is less than the second roll operation threshold, then the first coordinated turn mode is exited, and the rotorcraft is made to perform a side-flying motion with the nose direction unchanged; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first roll operation threshold is greater than the second roll operation threshold.

[0039] In one embodiment, after the step of making a decision based on the real-time longitudinal velocity of the rotorcraft and the lateral control amplitude received by the control device when the target direction is a combined longitudinal and lateral direction, to control the rotorcraft to perform a sideways flight with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn, the method further includes:

[0040] When the target direction is a combination of longitudinal and yaw directions, a decision is made based on the real-time longitudinal speed of the rotorcraft and the yaw control amplitude of the control device to control the rotorcraft to perform a straight flight with nose deflection, or to automatically match the target roll angle to control the rotorcraft to perform a coordinated turn.

[0041] In one embodiment, the step of making a decision based on the real-time longitudinal speed of the rotorcraft and the directional control amplitude received by the control device when the target direction is a composite direction of longitudinal and yaw, to control the rotorcraft to perform a straight flight with nose yaw, or to automatically match the target roll angle to control the rotorcraft to perform a coordinated turn, includes:

[0042] When the target direction is a combination of longitudinal and heading directions, the rotorcraft is adjusted to the target longitudinal speed and target yaw rate in the corresponding direction;

[0043] If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the heading operation amplitude is less than or equal to the first yaw operation threshold, then the rotorcraft is controlled to perform a straight flight motion with nose yaw.

[0044] If the real-time longitudinal speed is greater than the first longitudinal speed threshold, and the heading operation amplitude is greater than the first yaw operation threshold, then the second coordinated turn mode is entered:

[0045] The target roll angle is matched with the real-time longitudinal speed and the heading control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target roll angle.

[0046] In one embodiment, after the step of matching the target roll angle corresponding to the real-time longitudinal velocity and the heading control amplitude, and controlling the rotorcraft to perform coordinated turns based on the target roll angle, the method further includes:

[0047] If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the heading operation amplitude is less than the second yaw operation threshold, then the second coordinated turn mode is exited, and the rotorcraft is made to perform a straight flight motion with a nose yaw; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first yaw operation threshold is greater than the second yaw operation threshold.

[0048] In one embodiment, the step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes:

[0049] When the control device is operated in a single direction, it outputs a one-way operation command; wherein, the one-way operation command is used to control multiple channels to make the rotorcraft as a whole generate a flight speed in a single direction; each channel is used to control at least one of the following: the rotational speed of each rotor, the total rotor pitch, and the pitch of each rotor at different phases;

[0050] When the control device is simultaneously subjected to operations in multiple directions, it outputs a composite operation command; wherein, the composite operation command is used to control multiple channels so that the rotorcraft as a whole generates a flight speed in the composite direction.

[0051] In one embodiment, the control device is an integral unit, and the operable directions of the control device include lateral, longitudinal, vertical, and heading directions;

[0052] The step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes:

[0053] When the control device is operated in the operable direction, it triggers an operation command corresponding to the channel; wherein, the operation command is used to control the rotorcraft to move in the target direction corresponding to the operable direction.

[0054] In one embodiment, the control device includes a split first control component and a second control component; the first operable direction of the first control component includes at least one and at most three of lateral, longitudinal, vertical and yaw directions, and the second operable direction of the second control component includes one or more of the remaining lateral, longitudinal, vertical and yaw directions;

[0055] The step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes:

[0056] When the first control component is operated in the first operable direction, a first operation command corresponding to the channel is triggered; wherein, the first operation command is used to control the rotorcraft to move in the target direction corresponding to the first operable direction;

[0057] When the second control component is operated in the operable direction, a second operation command corresponding to the channel is triggered; wherein, the second operation command is used to control the rotorcraft to move in the target direction corresponding to the second operable direction, and the first operation command and the second operation command can be executed in parallel.

[0058] In one embodiment, the method further includes:

[0059] If the operation performed on the control device is to return it to its initial attitude, a reset command is output to the corresponding channel, causing the rotorcraft to decelerate to zero in the target direction.

[0060] Furthermore, to achieve the above objectives, this application also proposes a control device for controlling at least one channel, the control device comprising at least:

[0061] The first gripping component is used to rotate longitudinally, laterally, and / or rotate around the vertical axis when operated, and to trigger operation commands for the corresponding channel to control the aircraft to move longitudinally, move laterally, and / or rotate along the heading, respectively.

[0062] A toggle component, which is used to rotate vertically when operated and trigger an operation command for the corresponding channel to control the aircraft to move vertically at a target speed.

[0063] In one embodiment, the control device is an integral unit; the first grip component is rotatably connected to the base of the aircraft, the base being located between the two pilot seats of the aircraft; the toggle component is rotatably disposed on the first grip component, and the toggle component is configured as a toggle switch.

[0064] In one embodiment, the control device further includes a second gripping component; the first gripping component and the second gripping component are respectively disposed on both sides of the pilot's seat of the aircraft; the actuating component is rotatably disposed on the first gripping component; or, the actuating component is rotatably disposed on the second gripping component; the second gripping component is used to rotate longitudinally, laterally, and / or rotate about the vertical direction when operated, and trigger operation commands for the corresponding channel to control the aircraft to move longitudinally, laterally, and / or rotate along the heading, respectively.

[0065] In one embodiment, the second gripping component is also used to trigger the operation command of the corresponding channel when subjected to a combined operation in both the lateral and longitudinal directions, so as to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate to the aircraft and control the aircraft to perform a coordinated turn.

[0066] And / or, the second gripping component is also used to trigger the operation command of the corresponding channel when subjected to a combined operation in both the yaw and longitudinal directions, so as to control the aircraft to make a straight flight motion with a nose yaw, or to match the target roll angle for the aircraft and control the aircraft to make a coordinated turn.

[0067] And / or, when one of the first gripping component and the second gripping component is operated longitudinally and the other is operated laterally, the first gripping component and the second gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to perform a coordinated turn;

[0068] And / or, when one of the first gripping component and the second gripping component is operated longitudinally and the other is operated azimuthally, the first gripping component and the second gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

[0069] In one embodiment, the control device further includes a pedal assembly; the pedal assembly is located in front of the pilot's seat of the aircraft; the pedal assembly is used to move along a first direction when operated and trigger an operation command of the corresponding channel to control the aircraft to yaw along the heading according to the target yaw rate; the first grip component is rotatably connected to the aircraft; the actuating component is rotatably disposed on the first grip component.

[0070] In one embodiment, when the pedal assembly is operated and the first gripping component is simultaneously operated longitudinally, the pedal assembly and the first gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

[0071] In one embodiment, the first gripping component is also used to trigger the operation command of the corresponding channel when subjected to a combined operation in both the lateral and longitudinal directions, so as to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate to the aircraft and control the aircraft to perform a coordinated turn.

[0072] And / or, the first gripping component is also used to trigger the corresponding channel's operation command when subjected to a combined directional and longitudinal operation, to control the aircraft to perform a straight flight motion with a nose yaw, or to match the aircraft with a target roll angle and control the aircraft to perform a coordinated turn.

[0073] In one embodiment, the operating device further includes a first reset mechanism and a second reset mechanism; the first reset mechanism is connected to the first gripping member; the first reset mechanism is used to apply a force to the first gripping member so that the first gripping member has a tendency to reset to its initial state; the second reset mechanism is connected to the toggle member; the second reset mechanism is used to apply a force to the toggle member so that the toggle member has a tendency to reset to its initial state.

[0074] In addition, to achieve the above objectives, this application also proposes a rotorcraft, which includes: a control device and a flight control system; the flight control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the rotorcraft control method described above.

[0075] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the rotorcraft control method described above.

[0076] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the rotorcraft control method described above.

[0077] One or more technical solutions proposed in this application have at least the following technical effects:

[0078] This application employs a rotorcraft control method, which includes: detecting the operation direction and operation amplitude received by a control device; wherein the control device controls at least one channel; outputting an operation command corresponding to the channel based on the operation direction and operation amplitude; wherein the operation command includes a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is positively correlated with the target speed; and analyzing the operation command based on the flight control system to control the rotorcraft to move towards the target direction at the target speed.

[0079] This embodiment provides a method for controlling a rotorcraft. It detects the direction and amplitude of operation received by the control device and outputs corresponding operation commands based on these parameters. The flight control system then analyzes these commands and automatically adjusts the rotational speed, pitch, and other channels of each rotor, thereby controlling the rotorcraft to move towards the target direction at the target speed. Since the direction of operation received by the control device corresponds to the target direction in the operation command, the operation command can be triggered by moving the control device in any direction (lateral, longitudinal, vertical, or yaw). After the flight control system analyzes the operation command and adjusts the channels, the rotorcraft can be controlled in the corresponding target direction. This achieves decoupled control of each channel, avoiding the inconvenience caused by the coupling of control between channels, simplifying the control logic, reducing the difficulty of operation, and consequently reducing training costs and operational workload. Attached Figure Description

[0080] 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.

[0081] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This is a flowchart illustrating an embodiment of the rotorcraft control method of this application.

[0083] Figure 2 This is a flowchart illustrating Embodiment 2 of the rotorcraft control method of this application;

[0084] Figure 3 This is a flowchart illustrating Embodiment 3 of the rotorcraft control method of this application;

[0085] Figure 4 This is a flowchart illustrating Embodiment 4 of the rotorcraft control method of this application;

[0086] Figure 5 This is a schematic diagram of the structure of one embodiment of the operating device of this application;

[0087] Figure 6 This is a schematic diagram of another embodiment of the control device of this application;

[0088] Figure 7 This is a schematic diagram of the structure of another embodiment of the operating device of this application;

[0089] Figure 8 This is a schematic diagram of another embodiment of the control device of this application;

[0090] Figure 9 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the rotorcraft control method in the embodiments of this application.

[0091] Explanation of icon numbers:

[0092] 1. Control device; 11. First gripping component; 12. Actuating component; 13. Second gripping component; 14. Foot pedal assembly; 2. Base; 3. Driver's seat.

[0093] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0094] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0095] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0096] The main solution of this application embodiment is: detecting the operation direction and operation amplitude received by the control device; wherein, the control device controls at least one channel; based on the operation direction and the operation amplitude, outputting an operation command corresponding to the channel; wherein, the operation command includes a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is positively correlated with the target speed; based on the flight control system parsing the operation command, controlling the rotorcraft to move towards the target direction at the target speed.

[0097] In this embodiment, for ease of description, the flight control computer will be used as the execution subject in the following description.

[0098] The configuration of the electric multi-rotor aircraft is most similar to that of a traditional helicopter. Traditional helicopters use a "two-stick, one-rudder" control system. The "two sticks" refer to the cyclic pitch stick and the collective pitch stick, and the "one-rudder" refers to the rudder. The control functions of the "two sticks and one rudder" are as follows: the cyclic pitch stick directly controls the blade pitch at different phases, thus controlling the helicopter's roll and pitch; the collective pitch stick directly controls the overall rotor pitch, thus controlling altitude; and the rudder directly controls the tail rotor pitch, thereby changing the yaw moment and indirectly adjusting the control angle.

[0099] Because the configuration of electric multirotor aircraft is most similar to that of traditional helicopters, which use a "two-stick, one-rudder" control system, the "two sticks" refer to the cyclic pitch stick and the collective pitch stick, and the "one-rudder" refers to the rudder. The control functions of the "two sticks and one rudder" are as follows: the cyclic pitch stick directly controls the pitch of the rotor blades at different phases, thereby controlling the roll and pitch of the helicopter; the collective pitch stick directly controls the total pitch of the rotor, thereby controlling the ascent and descent; and the rudder directly controls the pitch of the tail rotor, thereby changing the yaw moment and indirectly adjusting the control angle.

[0100] Traditional helicopters employ a mechanical control system. The cyclic pitch and collective pitch of the main rotor and the collective pitch of the tail rotor are directly controlled by the pilot using the control stick and pedals. This control method requires the pilot to use both hands and feet, and the pilot needs to quickly adjust the stick and rudder inputs based on different helicopter attitudes and positions. Altitude maintenance and attitude stability both rely on the pilot's perception, which is then output to the hand and foot movements as inputs to the control system. Furthermore, the control systems of each channel are interconnected. For example, during forward acceleration, in addition to pushing the stick to tilt the main rotor blades forward, the pilot needs to increase the collective pitch to compensate for lift loss, and simultaneously fine-tune the tail rotor collective pitch to balance changes in counter-torque.

[0101] The above control system has the following design flaws:

[0102] 1) Complex manipulation and control logic: When movement is expected in a single direction, both hands and feet need to be involved in adjustment and control simultaneously;

[0103] 2) High training costs: The pilot is required to be the flight control center, which places extremely high demands on the pilot's flying skills. Pilots usually need to develop muscle memory to achieve stable control of the helicopter, which greatly increases the duration of helicopter operation training.

[0104] 3) High operating load: Because the driver needs to control both hands and feet at the same time, the driver will bear a great psychological and physical operating load.

[0105] The shortcomings of the above-mentioned control design mainly stem from the control coupling between multiple channels in traditional helicopters and the lack of an automatic flight control system.

[0106] Therefore, there is an urgent need for a new type of rotorcraft control method to solve the problems of control coupling between multiple channels in existing control methods, which leads to complex control logic, high training costs, and high control load.

[0107] The above control system has the following design flaws:

[0108] 1) Complex manipulation and control logic: When movement is expected in a single direction, both hands and feet need to be involved in adjustment and control simultaneously;

[0109] 2) High training costs: The pilot is required to be the flight control center, which places extremely high demands on the pilot's flying skills. Pilots usually need to develop muscle memory to achieve stable control of the helicopter, which greatly increases the duration of helicopter operation training.

[0110] 3) High operating load: Because the driver needs to control both hands and feet at the same time, the driver will bear a great psychological and physical operating load.

[0111] The shortcomings of the above-mentioned control design mainly stem from the control coupling between multiple channels in traditional helicopters and the lack of an automatic flight control system.

[0112] Therefore, there is an urgent need for a new type of rotorcraft control method to solve the problems of control coupling between multiple channels in existing control methods, which leads to complex control logic, high training costs, and high control load.

[0113] This application detects the direction and amplitude of operation received by the control device, and outputs operation commands corresponding to the channels based on the direction and amplitude. The flight control system then analyzes these commands and automatically adjusts the rotational speed, pitch, and other channels of each rotor, thereby controlling the rotorcraft to move towards the target direction at the target speed. Since the direction of operation received by the control device corresponds to the target direction in the operation command, operation commands can be triggered by moving the control device in any direction (lateral, longitudinal, vertical, or yaw). After the flight control system analyzes the operation commands and adjusts the channels, the rotorcraft can be controlled in the corresponding target direction. This achieves decoupled control of each channel, avoiding the inconvenience caused by the coupling of control between channels, simplifying the control logic, reducing the difficulty of operation, and consequently reducing training costs and operational workload.

[0114] It should be noted that the executing entity in this embodiment can be a flight control computer, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a rotorcraft capable of performing the above functions. The following description uses a flight control computer as an example to illustrate this embodiment and the subsequent embodiments.

[0115] Based on this, the embodiments of this application provide a rotorcraft control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the rotorcraft control method of this application.

[0116] In this embodiment, the rotorcraft control method includes steps S10 to S30:

[0117] Step S10: Detect the operating direction and operating range of the control device; wherein the control device controls at least one channel; the operating direction includes at least longitudinal rotation.

[0118] It should be noted that the control device can be a joystick or a rudder, etc. Taking a joystick as an example, the operation of the joystick can include, but is not limited to, the following directions: pushing the joystick forward or backward in the longitudinal direction to rotate the joystick in the longitudinal direction; pushing the joystick left or right in the lateral direction to rotate the joystick in the lateral direction; turning the joystick around the vertical direction to rotate the joystick around the vertical direction; and moving the lever on the joystick vertically, etc. In this case, the corresponding operation directions are: longitudinal, lateral, heading, and vertical. The operation range corresponds to the amount of pushing the joystick in the longitudinal and lateral directions, the amount of turning the joystick around the vertical direction, and the range of moving the lever vertically. Compared with the operation method of moving the control device, this embodiment adopts the operation method of rotating the control device. The rotation operation method saves more space occupied by the control device when it is being operated, thereby improving the space utilization of the aircraft cabin.

[0119] In addition, it should be noted that a channel refers to the control channel that controls parameters such as the rotational speed of each rotor of a rotorcraft, the total pitch, and the pitch of each rotor at different phases.

[0120] Step S20: Based on the operation direction and the operation amplitude, output the operation command corresponding to the channel; wherein, the operation command includes a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is positively correlated with the target speed.

[0121] It should be noted that the operating direction corresponds to the target direction; that is, a single operating direction corresponds to a single target direction. As a preferred implementation, the operating direction is consistent with the target direction. For example, when the operation is to push the control device longitudinally, the operating direction is longitudinal, and the corresponding target direction is also longitudinal; when the operation is to twist the control device to the left or right, the operating direction is heading, and the corresponding target direction is also heading. Thus, by keeping the operating direction of the control device consistent with the target direction, the control effect and the corresponding triggering operation method conform to the operator's intuitive operating logic, reducing the driver's learning cost and operating difficulty.

[0122] Furthermore, the operating amplitude is positively correlated with the target speed. Specifically, the relationship between the operating amplitude and the target speed can be linear or non-linear, such as exponential, power, logarithmic, piecewise linear, etc. No specific limitation is made here on the positive correlation between the operating amplitude and the target speed.

[0123] In addition, it should be noted that the operation instructions correspond to the channels. Since the operating device controls at least one channel, the operation instructions can correspond to one channel or multiple channels. The specific correspondence depends on the number of channels that the operating device can control.

[0124] In one optional implementation, step S20 may include steps S21 to S22:

[0125] Step S21: When the control device is operated in a single direction, it outputs a one-way operation command; wherein, the one-way operation command is used to control multiple channels to make the rotorcraft as a whole generate a flight speed in a single direction; each channel is used to control at least one of the following: the rotational speed of each rotor, the total rotor pitch, and the pitch of each rotor at different phases.

[0126] Step S22: When the control device is simultaneously subjected to operations in multiple operating directions, a composite operation command is output; wherein, the composite operation command is used to control multiple channels so that the rotorcraft as a whole generates a flight speed in the composite direction.

[0127] In this embodiment, a unidirectional operation command can be triggered by operating the control device in a single direction, or a composite operation command can be triggered by operating the control device in multiple directions. Regardless of whether the operation is performed in a single or multiple directions, the final triggered operation command, after being parsed, can control multiple channels such as the rotational speed of each rotor, the total pitch, and the pitch of each rotor at different phases, so that the rotorcraft moves as a whole according to the target direction and target speed in the control command.

[0128] Step S30: Based on the analysis of the operation command by the flight control system, control the rotorcraft to move toward the target direction at the target speed.

[0129] It should be noted that the flight control system refers to the flight control system. The flight control system performs multiple functions, including parsing operational commands, directly controlling various channels, and assisting in the calculation of rotational speed, angle parameters, etc. After parsing the operational commands, the flight control system obtains the target direction and target speed, and automatically adjusts the channels based on these parameters to control the rotorcraft to move towards the target direction and at the target speed. During the automatic adjustment of channels, if multiple channels are involved, the flight control system will match appropriate parameters to each channel to achieve the effect of the rotorcraft moving as a whole according to the target direction and target speed, thereby decoupling the control between the various channels.

[0130] This embodiment provides a method for controlling a rotorcraft. It detects the direction and amplitude of operation received by the control device and outputs operation commands corresponding to the corresponding channels based on these parameters. The flight control system then analyzes these commands and automatically adjusts the channels, thereby controlling the rotorcraft to move towards a target direction at a target speed. Since the direction of operation received by the control device corresponds to the target direction in the operation command, the operation command can be triggered by moving the control device in any direction (lateral, longitudinal, vertical, or yaw). After the flight control system analyzes the operation command and adjusts the channels, the rotorcraft can be controlled in the corresponding target direction. This achieves decoupled control of each channel, avoiding the inconvenience caused by the coupling of control between channels, simplifying the control logic, reducing the difficulty of operation, and consequently reducing training costs and operational workload.

[0131] In one feasible implementation, after step S30, the rotorcraft control method may further include step S40:

[0132] If the operation performed on the control device is to return it to its initial attitude, a reset command is output to the corresponding channel, causing the rotorcraft to decelerate to zero in the target direction.

[0133] In this embodiment, by returning the control device to its initial attitude, the target speed in the target direction is reduced to zero, thereby achieving the hovering operation of the rotorcraft.

[0134] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S30 includes steps S31 to S33:

[0135] Step S31: parse the operation command to obtain the target direction.

[0136] Step S32: When the target direction is any of the horizontal, vertical, or heading directions, adjust the rotational speed of each rotor so that the rotorcraft moves toward the target direction at the target speed.

[0137] In one optional implementation, step S32 may include steps S321 to S324:

[0138] Step S321: Adjust the head of the rotorcraft to a diving or pitching attitude according to the longitudinal direction, so that the rotorcraft flies forward or backward at the target speed.

[0139] Specifically, when the operating direction is the positive longitudinal direction, the target direction is also the positive longitudinal direction. The flight control system adjusts the rotational speed of each rotor through the control channel, causing the rotorcraft's nose to be adjusted to a diving attitude, thus enabling the rotorcraft to fly forward at the target speed. Conversely, when the operating direction is the opposite longitudinal direction, the target direction is also the opposite longitudinal direction. The flight control system adjusts the rotational speed of each rotor through the control channel, causing the rotorcraft's nose to be adjusted to a pitching attitude, thus enabling the rotorcraft to fly backward at the target speed.

[0140] Step S322: According to the lateral direction, the rotorcraft is made to roll to the left or to the right accordingly, so that the rotorcraft flies to the left or to the right at the target speed.

[0141] Similarly, when the target direction is the positive lateral direction, the flight control system adjusts the rotational speed of each rotor through the control channel, causing the rotorcraft to roll to the left, thus enabling the rotorcraft to fly to the left at the target speed; when the target direction is the opposite lateral direction, the flight control system adjusts the rotational speed of each rotor through the control channel, causing the rotorcraft to roll to the right, thus enabling the rotorcraft to fly to the right at the target speed.

[0142] Step S323: According to the vertical direction, the rotorcraft is made to ascend or descend according to the target speed.

[0143] Step S324: According to the direction of the heading, the rotorcraft is made to yaw to the left or right according to the target yaw rate.

[0144] In this embodiment, by determining whether the target direction is the positive or negative direction among the horizontal, vertical, and heading directions, the rotorcraft is controlled to adjust to the corresponding attitude so that the rotorcraft moves towards the target direction at the target speed.

[0145] Step S33: When the target direction is a combination of longitudinal and lateral directions, a decision is made based on the real-time longitudinal speed of the rotorcraft and the lateral operation amplitude of the control device to control the rotorcraft to perform a side-flying motion with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn.

[0146] It should be noted that coordinated turning refers to a turning maneuver in which an aircraft maintains a constant altitude while keeping its sideslip angle at zero. This reduces drag during the turn, avoids instability caused by sideslip, and improves passenger comfort. The sideslip angle is the angle between the aircraft's actual direction of motion and the direction its nose is pointing.

[0147] In step S33, when the target direction is determined to be a combination of longitudinal and lateral directions, an automatic decision is made based on the real-time longitudinal speed of the rotorcraft and the lateral control amplitude of the control device to control the rotorcraft to perform lateral flight or coordinated turns. When the decision indicates that the rotorcraft needs to perform a turn with a constant flight altitude, the target yaw rate is automatically matched to the rotorcraft, so that the rotorcraft can not only move according to the target speed in both the longitudinal and lateral directions during the turn, but also dynamically adjust the yaw angle of the rotorcraft to achieve coordinated turns.

[0148] In this embodiment, differentiated control is achieved by determining whether the target direction is a single direction or a combination of directions. When the target direction is a single direction, the rotorcraft moves towards the target direction at the target speed. When the target direction is a combination of longitudinal and lateral directions, an automatic decision is made based on the real-time longitudinal speed and lateral control amplitude to control the rotorcraft to perform a lateral flight or a coordinated turn. When the decision indicates that the rotorcraft needs to turn, the yaw rate is automatically matched to control the rotorcraft to make a coordinated turn, eliminating the influence of sideslip angle and achieving efficient turning. Because this method can automatically match the target yaw rate to the rotorcraft for coordinated turning during the turn, the pilot does not need to perform additional heading control on the control device during the turn, thereby reducing the pilot's workload during the turn operation and further reducing the difficulty of operation.

[0149] Based on the second embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the second embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 Step S33 includes steps S331 to S333:

[0150] Step S331: When the target direction is a composite direction of longitudinal and lateral, the rotorcraft is adjusted to the target longitudinal speed and target lateral speed in the corresponding direction.

[0151] Step S332: If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the lateral operation amplitude is less than or equal to the first roll operation threshold, then control the rotorcraft to perform a side-flying motion with the nose direction unchanged.

[0152] Step S333: If the real-time longitudinal speed of the rotorcraft is greater than the first longitudinal speed threshold, and the lateral maneuver is greater than the first roll maneuver threshold, then the first coordinated turn mode is entered.

[0153] The target yaw rate is matched with the real-time longitudinal speed and the lateral control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target yaw rate.

[0154] In this embodiment, by setting entry conditions for coordinated turns, such as a first longitudinal speed threshold and a first roll operation threshold, when the target direction is a combination of longitudinal and lateral directions, it is first determined whether the real-time longitudinal speed and lateral operation amplitude of the rotorcraft meet the entry conditions for coordinated turns. Only when the real-time longitudinal speed and lateral operation amplitude of the rotorcraft meet the entry conditions for coordinated turns will the first coordinated turn mode be entered. In this way, the first coordinated turn mode can be avoided frequently triggered by the pilot due to operation deviation. For example, when the pilot intends to fly in one of the lateral or longitudinal directions, but due to operation deviation, an additional small amount of flight speed is generated in the other flight direction, the presence of coordinated turn entry conditions can prevent the rotorcraft from performing a coordinated turn when the real-time lateral speed and lateral operation amplitude do not meet the conditions. Instead, the rotorcraft will only perform a sideways flight with the nose direction unchanged, thereby avoiding unnecessary yaw and ensuring that the pilot's control experience is close to the expected effect.

[0155] Furthermore, as an optional implementation, after step S333, the rotorcraft control method further includes step S334:

[0156] Step S334: If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the lateral operation amplitude is less than the second roll operation threshold, then exit the first coordinated turn mode and make the rotorcraft perform a side-flying motion with the nose direction unchanged; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first roll operation threshold is greater than the second roll operation threshold.

[0157] In this embodiment, by setting exit conditions with a second longitudinal speed threshold and a second roll operation threshold, the rotorcraft can exit the first coordinated turn mode when the condition is met below at least one of the two thresholds, thus avoiding excessive yaw of the rotorcraft. In addition, since there is a buffer zone of longitudinal speed between the first and second longitudinal speed thresholds, the first coordinated turn mode will not be exited even if the longitudinal speed decreases to within the buffer zone. Similarly, the first coordinated turn mode will not be exited even if the lateral operation amplitude decreases to within the buffer zone, thereby effectively ensuring the continuity and stability of the coordinated turn process and improving the reliability and safety of flight operations.

[0158] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 After step S33, the rotorcraft control method further includes step S34:

[0159] Step S34: When the target direction is a composite direction of longitudinal and yaw, a decision is made based on the real-time longitudinal speed of the rotorcraft and the yaw operation amplitude received by the control device to control the rotorcraft to perform a straight flight motion with nose deflection, or to automatically match the target roll angle for the rotorcraft to control the rotorcraft to perform a coordinated turn.

[0160] In this embodiment, when the target direction is a combination of longitudinal and yaw directions, automatic decisions are made based on the real-time longitudinal speed of the rotorcraft and the yaw operation amplitude received by the control device to control the rotorcraft to perform straight flight motion with nose deflection or coordinated turn. When the decision is that a turn is required, the target roll angle is automatically matched for the rotorcraft, and the rotorcraft is controlled to perform a coordinated turn based on the target roll angle. This achieves the effect of coordinated turn even when performing a combination of longitudinal and yaw motions simultaneously, increases the triggering methods for coordinated turn, and provides the pilot with richer coordinated turn operation methods.

[0161] In one optional implementation, step S34 may include steps S341 to S343:

[0162] Step S341: When the target direction is a composite direction of longitudinal and heading, the rotorcraft is adjusted to the target longitudinal speed and target yaw rate in the corresponding direction.

[0163] Step S342: If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the heading operation amplitude is less than or equal to the first yaw operation threshold, then control the rotorcraft to perform a straight flight motion with nose yaw.

[0164] Step S343: If the real-time longitudinal velocity of the rotorcraft is greater than the first longitudinal velocity threshold, and the heading operation amplitude is greater than the first yaw operation threshold, then enter the second coordinated turn mode:

[0165] The target roll angle is matched with the real-time longitudinal speed and the heading control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target roll angle.

[0166] In this embodiment, a coordinated turn entry condition is set with a first longitudinal speed threshold and a first yaw operation threshold. When the target direction is a composite direction of longitudinal and yaw, it is first determined whether the aircraft's flight state meets the coordinated turn entry condition. Only when the rotorcraft's flight state meets the coordinated turn entry condition will it enter the second coordinated turn mode. Thus, when the pilot intends to fly in either the yaw or longitudinal direction, but due to operational deviation, an additional small amount of flight speed or angular velocity is generated in another direction, the coordinated turn entry condition prevents the rotorcraft from performing a coordinated turn when the yaw operation amplitude and real-time longitudinal speed do not meet the conditions. This avoids unnecessary roll of the aircraft and ensures that the pilot's control experience is close to the expected effect.

[0167] Furthermore, as an optional implementation, after step S343, the rotorcraft control method further includes step S344:

[0168] Step S344: If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the heading operation amplitude is less than the second yaw operation threshold, then exit the second coordinated turn mode; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first yaw operation threshold is greater than the second yaw operation threshold.

[0169] In this embodiment, by setting exit conditions with a second longitudinal speed threshold and a second yaw operation threshold, the rotorcraft can exit the second coordinated turn mode when the exit condition is met below at least one of the two thresholds, thus avoiding excessive roll of the rotorcraft. In addition, since there is a buffer zone of longitudinal speed between the first and second longitudinal speed thresholds, the second coordinated turn mode will not be exited even if the longitudinal speed decreases to within the buffer zone. Similarly, the second coordinated turn mode will not be exited even if the heading operation amplitude decreases to within the buffer zone, effectively ensuring the continuity and stability of the coordinated turn process and improving the reliability and safety of flight operations.

[0170] Based on the first embodiment of this application, in the fifth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. In addition, in an optional implementation, the control device is an integral unit, and the operable directions of the control device include lateral, longitudinal, vertical, and heading directions;

[0171] Step S20 may include step A21:

[0172] Step A21: When the control device is operated in the operable direction, an operation command corresponding to the channel is triggered; wherein, the operation command is used to control the rotorcraft to move in the target direction corresponding to the operable direction.

[0173] In this embodiment, the control device is an integrated unit, that is, the control device is a single controllable component. The control device can trigger an operation command when it is operated in the operable direction. Since the operable direction includes lateral, longitudinal, vertical and yaw, the rotorcraft can be controlled to move in the corresponding direction by operating a single controllable component. This reduces the number of control components required to complete the control of the rotorcraft, allows the pilot to operate with one hand, reduces the pilot's control load, and also reduces the weight of the control device.

[0174] In another alternative embodiment, the control device includes a split first control component and a second control component; the first operable direction of the first control component includes at least one and at most three of the following: lateral, longitudinal, vertical, and heading; and the second operable direction of the second control component includes one or more of the remaining lateral, longitudinal, vertical, and heading.

[0175] Step S20 may include steps B21 to B22:

[0176] Step B21: When the first control component is operated in the first operable direction, a first operation command corresponding to the channel is triggered; wherein, the first operation command is used to control the rotorcraft to move in the target direction corresponding to the first operable direction.

[0177] Step B22: When the second control component is operated in the operable direction, a second operation command corresponding to the channel is triggered; wherein, the second operation command is used to control the rotorcraft to move in the target direction corresponding to the second operable direction, and the first operation command and the second operation command can be executed in parallel.

[0178] In this embodiment, the control device includes a split first control component and a second control component, allowing the driver to control all operable directions by manipulating both components. This control method avoids the problem of heavy single-handed operation caused by distributing all operable directions to the two components, thus preventing all driving operations from being performed with one hand.

[0179] This application also provides a control device, please refer to... Figure 5 The operating device 1 is used to control at least one channel, and the operating device 1 includes at least:

[0180] The first gripping component 11 is used to rotate longitudinally, rotate laterally, and / or rotate around the vertical axis when operated, and to trigger operation commands of the corresponding channel to control the aircraft to move longitudinally, move laterally, and / or rotate along the heading, respectively.

[0181] A toggle component 12 is used to rotate vertically when operated and trigger an operation command for the corresponding channel to control the aircraft to move vertically at a target speed.

[0182] The control device 1 of this application adopts a first gripping component 11 and a toggle component 12. Since the operation direction of the first gripping component 11 and the toggle component 12 corresponds to the target direction in the operation command, the control device 1 can be moved in any direction of the lateral, longitudinal, vertical and yaw directions to control the rotorcraft in the corresponding direction. This achieves decoupled control in each direction, simplifies the control logic, reduces the difficulty of operation, and thus reduces training costs and control load.

[0183] Furthermore, in the first alternative implementation, please refer to Figure 5 and Figure 6 The control device 1 is an integral unit; the first gripping component 11 is rotatably connected to the base 2 of the aircraft, and the base 2 is located between the two pilot seats 3 of the aircraft; the toggle component 12 is rotatably disposed on the first gripping component 11, and the toggle component 12 is a toggle-type structure.

[0184] Thus, by rotatably connecting the bottom of the first gripping component 11 to the base 2 of the aircraft, and rotatably connecting the actuating component 12 to the first gripping component 11, since the base 2 is located between the two pilot seats 3 of the aircraft, the pilots of both pilot seats 3 can operate the aircraft using the first gripping component 11 and the actuating component 12. Therefore, only one set of control device 1 needs to be installed in the aircraft for the two pilots to share, so that the aircraft can not only serve as a trainer aircraft to provide training functions, but also reduce the number of mechanical parts required for the control device 1 and reduce the weight of the aircraft. Furthermore, compared to a grip structure where the actuating component requires one-handed holding and vertical rotation, this embodiment sets the actuating component 12 as a toggle switch and rotatably mounts it on the first grip component 11. This allows the driver to operate the actuating component 12 with a single finger (such as the thumb) while holding and manipulating the first grip component 11 with one hand. This enables the driver to perform combined vertical and other directional operations on the control device 1 simultaneously with one hand, providing a more convenient and comfortable operating experience.

[0185] In the second alternative implementation, please refer to Figure 5 and Figure 7 The control device 1 further includes a second gripping component 13; the first gripping component 11 and the second gripping component 13 are respectively disposed on both sides of the pilot seat 3 of the aircraft; the actuating component 12 is rotatably disposed on the first gripping component 11; or, the actuating component 12 is rotatably disposed on the second gripping component 13; the second gripping component 13 is used to rotate longitudinally, rotate laterally, and / or rotate around the vertical direction when operated, and trigger operation commands of the corresponding channel to control the aircraft to move longitudinally, move laterally, and / or rotate along the heading.

[0186] Thus, by providing an additional second gripping component 13, and enabling the first gripping component 11 and the second gripping component 13 to perform manipulation in at least a portion of the directions when operated, the aircraft can be controlled to move along the corresponding direction at the target speed. This achieves the effect of not having to perform movement operations in all directions on a single gripping component, making it easier for the pilot to perform different start operations with both hands to control different directions, thus reducing the load of single-handed operation.

[0187] Specifically, the first gripping component 11 can be configured as a first joystick, the second gripping component 13 can be configured as a second joystick, and the toggle component 12 can be configured as a toggle button.

[0188] Furthermore, as an optional implementation, the second gripping component 13 is also used to trigger the operation command of the corresponding channel when subjected to combined lateral and longitudinal operations at the same time, so as to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to perform a coordinated turn.

[0189] And / or, the second gripping component 13 is also used to trigger the operation command of the corresponding channel when subjected to a combined operation in both the yaw and longitudinal directions, so as to control the aircraft to make a straight flight motion with a nose yaw, or to match the target roll angle for the aircraft and control the aircraft to make a coordinated turn.

[0190] And / or, when one of the first gripping component 11 and the second gripping component 13 is operated longitudinally and the other is operated laterally, the first gripping component 11 and the second gripping component 13 are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to perform a coordinated turn.

[0191] And / or, when one of the first gripping component 11 and the second gripping component 13 is operated longitudinally and the other is operated azimuthally, the first gripping component 11 and the second gripping component 13 are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with a nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

[0192] Thus, in this embodiment, by enabling the first gripping component 11 and the second gripping component 13 to jointly trigger operating commands when one is subjected to longitudinal operation and the other to directional or lateral operation, the aircraft can perform yaw-and-straight flight, side flight, or coordinated turn; or, when the second gripping component 13 is simultaneously subjected to longitudinal and directional, or longitudinal and lateral operation, the operating commands can be triggered, enabling the aircraft to perform yaw-and-straight flight, side flight, or coordinated turn; when performing a coordinated turn, the target roll angle or target yaw rate can be automatically matched for the aircraft, thereby eliminating the influence of the yaw angle on the aircraft's turn, achieving efficient turn, and ensuring the passenger's riding experience.

[0193] In the third alternative implementation, please refer to Figure 5 and Figure 8 The control device 1 further includes a foot pedal assembly 14; the foot pedal assembly 14 is located in front of the pilot seat 3 of the aircraft; the foot pedal assembly 14 is used to move along a first direction when operated and trigger the operation command of the corresponding channel to control the aircraft to yaw along the heading according to the target yaw rate; the first gripping component 11 is rotatably connected to the aircraft; the actuating component 12 is rotatably disposed on the first gripping component 11.

[0194] Thus, by providing a first gripping component 11, a toggle component 12, and a foot pedal assembly 14, and using the movement of the foot pedal assembly 14 to trigger heading operation commands, the triggering operation for adjusting yaw rate can be completed by the driver's legs, thereby reducing the driver's bow operating load and reducing driver fatigue.

[0195] Specifically, the pedal assembly 14 may include a first pedal and a second pedal. The first pedal is used to move along a first direction when subjected to a pedaling operation and trigger the operation command of the corresponding channel to control the aircraft to turn to the left. The second pedal is used to move along the first direction when subjected to a pedaling operation and trigger the operation command of the corresponding channel to control the aircraft to turn to the right.

[0196] Furthermore, as an optional implementation, when the pedal assembly 14 is operated and the first gripping member 11 is simultaneously operated longitudinally, the pedal assembly 14 and the first gripping member 11 are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

[0197] Thus, in this embodiment, when the foot pedal assembly 14 is operated and the first gripping component 11 is simultaneously operated longitudinally, the operation command can be triggered together, causing the aircraft to perform a straight flight motion with nose deflection or a coordinated turn. When a coordinated turn is performed, the target roll angle can be automatically matched for the aircraft, thereby eliminating the influence of the deflection angle on the aircraft's turn, achieving efficient turning, and ensuring the passenger's riding experience.

[0198] Furthermore, as an optional implementation, the first gripping component 11 is also used to trigger the operation command of the corresponding channel when subjected to combined lateral and longitudinal operations at the same time, so as to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to perform a coordinated turn.

[0199] And / or, the first gripping component 11 is also used to trigger the corresponding channel operation command when subjected to a combined operation in both directional and longitudinal directions, so as to control the aircraft to perform a straight flight motion with a nose yaw, or to match the aircraft with a target roll angle and control the aircraft to perform a coordinated turn.

[0200] Thus, in this embodiment, by simultaneously subjecting the first gripping component 11 to longitudinal and yaw or longitudinal and lateral operations, an operation command can be triggered, enabling the aircraft to perform yaw and straight flight, side flight, or coordinated turn. When performing a coordinated turn, the target yaw rate or target roll angle can be automatically matched to the aircraft, thereby eliminating the influence of the yaw angle on the aircraft's turn, achieving efficient turn, and ensuring the passenger's riding experience.

[0201] In addition, as an optional implementation, the operating device 1 further includes a first reset mechanism and a second reset mechanism; the first reset mechanism is connected to the first gripping member 11; the first reset mechanism is used to apply a force to the first gripping member 11 so that the first gripping member 11 has a tendency to reset to its initial state; the second reset mechanism is connected to the toggle member 12; the second reset mechanism is used to apply a force to the toggle member 12 so that the toggle member 12 has a tendency to reset to its initial state.

[0202] Thus, by providing a first reset mechanism and a second reset mechanism, the first gripping component 11 and the actuating component 12 have a tendency to reset to their initial state. After the pilot releases the first gripping component 11 and the actuating component 12, the first reset mechanism and the second reset mechanism can drive the first gripping component 11 and the actuating component 12 to reset to their initial attitude, thereby reducing the speed or angular velocity of the aircraft in all directions to zero, achieving a hovering effect. In addition, the first reset mechanism and the second reset mechanism also improve safety for pilots who have not fully mastered the control method. The pilot only needs to release their grip, and the first reset mechanism and the second reset mechanism will drive the first gripping component 11 and the actuating component 12 to reset, achieving an automatic hovering effect, avoiding safety accidents caused by the pilot's improper operation and subsequent release of the grip.

[0203] This application provides a rotorcraft, which includes: a control device and a flight control system; the flight control system includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the rotorcraft control method in the above embodiment 1.

[0204] The following is for reference. Figure 9 The diagram illustrates a structural schematic suitable for implementing the embodiments of this application. The rotorcraft in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The rotorcraft shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0205] like Figure 9As shown, the rotorcraft may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the rotorcraft. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the rotorcraft to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a rotorcraft with various systems, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0206] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0207] The rotorcraft provided in this application, employing the rotorcraft control method described in the above embodiments, solves the technical problems of complex control logic, high training costs, and high control load caused by control coupling between multiple channels in existing control methods. Compared with the prior art, the beneficial effects of the rotorcraft provided in this application are the same as those of the rotorcraft control method provided in the above embodiments, and other technical features of this rotorcraft are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0208] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0209] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0210] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the rotorcraft control method in the above embodiments.

[0211] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0212] The aforementioned computer-readable storage medium may be included in the rotorcraft or may exist independently and not assembled into the rotorcraft.

[0213] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a rotorcraft, cause the rotorcraft to: detect the direction and amplitude of operation received by a control device; wherein the control device controls at least one channel; output an operation command corresponding to the channel based on the operation direction and the operation amplitude; wherein the operation command includes a target direction and a target speed, the operation direction corresponding to the target direction, and the operation amplitude being positively correlated with the target speed; and parse the operation command based on a flight control system to control the rotorcraft to move towards the target direction at the target speed.

[0214] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0215] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0216] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0217] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-described rotorcraft control method. This solves the technical problem in existing control methods where control coupling between multiple channels leads to complex control logic, high training costs, and high control load. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the rotorcraft control method provided in the above embodiments, and will not be repeated here.

[0218] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the rotorcraft control method described above.

[0219] The computer program product provided in this application can solve the technical problem of complex control logic, high training costs, and high control load caused by control coupling between multiple channels in existing control methods. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the rotorcraft control method provided in the above embodiments, and will not be repeated here.

[0220] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for controlling a rotary-wing aircraft, characterized in that, The method includes: The operating direction and operating range of the control device are detected; wherein the control device controls at least one channel; the operating direction includes at least longitudinal rotation; Based on the operation direction and the operation amplitude, an operation command corresponding to the channel is output; wherein, the operation command includes a target direction and a target speed, the operation direction corresponds to the target direction, and the operation amplitude is positively correlated with the target speed; The flight control system analyzes the operation commands to control the rotorcraft to move toward the target direction at the target speed.

2. The method as described in claim 1, characterized in that, The step of parsing the operation commands based on the flight control system to control the rotorcraft to move toward the target direction at the target speed includes: The operation instructions are parsed to obtain the target direction; When the target direction is any of the horizontal, vertical, or heading directions, adjust the rotational speed of each rotor so that the rotorcraft moves toward the target direction at the target speed; When the target direction is a combination of longitudinal and lateral directions, a decision is made based on the real-time longitudinal speed of the rotorcraft and the lateral control amplitude of the control device to control the rotorcraft to perform a side-flight maneuver with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn.

3. The method as described in claim 2, characterized in that, The step of adjusting the rotational speed of each rotor when the target direction is any of the lateral, longitudinal, vertical, and heading directions, so that the rotorcraft moves toward the target direction at the target speed, includes: Depending on the longitudinal direction, the nose of the rotorcraft is adjusted to either a diving or pitching attitude, so that the rotorcraft can fly forward or backward at the target speed. Depending on the lateral direction, the rotorcraft is made to roll to the left or to the right accordingly, so that the rotorcraft flies to the left or to the right at the target speed; Depending on the vertical direction, the rotorcraft ascends or descends accordingly at the target speed; Depending on the direction of the heading, the rotorcraft will yaw to the left or right according to the target yaw rate.

4. The method as described in claim 2, characterized in that, When the target direction is a combination of longitudinal and lateral directions, the steps of making decisions based on the real-time longitudinal velocity of the rotorcraft and the lateral control amplitude received by the control device to control the rotorcraft to perform a sideways flight with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn, include: When the target direction is a combination of longitudinal and lateral directions, the rotorcraft is adjusted to the target longitudinal speed and target lateral speed in the corresponding direction; If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the lateral operation amplitude is less than or equal to the first roll operation threshold, then the rotorcraft is controlled to perform a side-flight maneuver with the nose direction unchanged. If the real-time longitudinal speed is greater than the first longitudinal speed threshold, and the lateral operation amplitude is greater than the first roll operation threshold, then the first coordinated turning mode is entered: The target yaw rate is matched with the real-time longitudinal speed and the lateral control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target yaw rate.

5. The method as described in claim 4, characterized in that, After the step of matching the target yaw rate corresponding to the real-time longitudinal velocity and the lateral operating amplitude, and controlling the rotorcraft to perform coordinated turns based on the target yaw rate, the method further includes: If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the lateral operation amplitude is less than the second roll operation threshold, then the first coordinated turn mode is exited, and the rotorcraft is made to perform a side-flying motion with the nose direction unchanged; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first roll operation threshold is greater than the second roll operation threshold.

6. The method as described in claim 2, characterized in that, After the step of making a decision based on the real-time longitudinal speed of the rotorcraft and the lateral control amplitude received by the control device when the target direction is a composite longitudinal and lateral direction, to control the rotorcraft to perform a sideways flight with the nose direction unchanged, or to automatically match the target yaw rate to control the rotorcraft to perform a coordinated turn, the method further includes: When the target direction is a combination of longitudinal and yaw directions, a decision is made based on the real-time longitudinal speed of the rotorcraft and the yaw control amplitude of the control device to control the rotorcraft to perform a straight flight with nose deflection, or to automatically match the target roll angle to control the rotorcraft to perform a coordinated turn.

7. The method as described in claim 6, characterized in that, When the target direction is a composite direction of longitudinal and yaw, the steps of making a decision based on the real-time longitudinal speed of the rotorcraft and the yaw operation amplitude received by the control device to control the rotorcraft to perform a straight flight motion with nose yaw, or to automatically match the target roll angle to control the rotorcraft to perform a coordinated turn, include: When the target direction is a combination of longitudinal and heading directions, the rotorcraft is adjusted to the target longitudinal speed and target yaw rate in the corresponding direction; If the real-time longitudinal speed is less than or equal to the first longitudinal speed threshold, and / or the heading operation amplitude is less than or equal to the first yaw operation threshold, then the rotorcraft is controlled to perform a straight flight motion with nose yaw. If the real-time longitudinal speed is greater than the first longitudinal speed threshold, and the heading operation amplitude is greater than the first yaw operation threshold, then the second coordinated turn mode is entered: The target roll angle is matched with the real-time longitudinal speed and the heading control amplitude, and the rotorcraft is controlled to make coordinated turns based on the target roll angle.

8. The method as described in claim 7, characterized in that, After the step of matching the target roll angle based on the real-time longitudinal velocity and the heading control amplitude, and controlling the rotorcraft to perform coordinated turns based on the target roll angle, the method further includes: If the real-time longitudinal speed is less than the second longitudinal speed threshold, and / or the heading operation amplitude is less than the second yaw operation threshold, then the second coordinated turn mode is exited, and the rotorcraft is made to perform a straight flight motion with a nose yaw; wherein, the first longitudinal speed threshold is greater than the second longitudinal speed threshold, and the first yaw operation threshold is greater than the second yaw operation threshold.

9. The method as described in claim 1, characterized in that, The step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes: When the control device is operated in a single direction, it outputs a one-way operation command; wherein, the one-way operation command is used to control multiple channels to make the rotorcraft as a whole generate a flight speed in a single direction; each channel is used to control at least one of the following: the rotational speed of each rotor, the total rotor pitch, and the pitch of each rotor at different phases; When the control device is simultaneously subjected to operations in multiple directions, it outputs a composite operation command; wherein, the composite operation command is used to control multiple channels so that the rotorcraft as a whole generates a flight speed in the composite direction.

10. The method as described in claim 1, characterized in that, The control device is an integrated unit, and the operable directions of the control device include lateral, longitudinal, vertical, and heading directions. The step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes: When the control device is operated in the operable direction, it triggers an operation command corresponding to the channel; wherein, the operation command is used to control the rotorcraft to move in the target direction corresponding to the operable direction.

11. The method as described in claim 1, characterized in that, The control device includes a split first control component and a second control component; the first operable direction of the first control component includes at least one and at most three of the following: lateral, longitudinal, vertical, and heading; the second operable direction of the second control component includes one or more of the remaining lateral, longitudinal, vertical, and heading. The step of outputting an operation command corresponding to the channel based on the operation direction and the operation amplitude includes: When the first control component is operated in the first operable direction, a first operation command corresponding to the channel is triggered; wherein, the first operation command is used to control the rotorcraft to move in the target direction corresponding to the first operable direction; When the second control component is operated in the operable direction, a second operation command corresponding to the channel is triggered; wherein, the second operation command is used to control the rotorcraft to move in the target direction corresponding to the second operable direction, and the first operation command and the second operation command can be executed in parallel.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: If the operation performed on the control device is to return it to its initial attitude, a reset command is output to the corresponding channel, causing the rotorcraft to decelerate to zero in the target direction.

13. A control device, characterized in that, The control device is used to control at least one channel, and the control device includes at least: The first gripping component is used to rotate longitudinally, rotate laterally, and / or rotate around the vertical axis when operated, and to trigger operation commands of the corresponding channel to control the aircraft to move longitudinally, move laterally, and / or rotate along the heading, respectively. A toggle component, which is used to rotate vertically when operated and trigger an operation command for the corresponding channel to control the aircraft to move vertically at a target speed.

14. The operating device as claimed in claim 13, characterized in that, The control device is an integrated unit; The first gripping component is rotatably connected to the base of the aircraft, which is located between the two pilot seats of the aircraft; The toggle component is rotatably disposed on the first grip component, and the toggle component is configured as a toggle button structure.

15. The operating device as claimed in claim 13, characterized in that, The control device further includes a second gripping component; the first gripping component and the second gripping component are respectively disposed on both sides of the pilot's seat of the aircraft; The actuating component is rotatably disposed on the first gripping component; or, the actuating component is rotatably disposed on the second gripping component; The second gripping component is used to rotate longitudinally, laterally, and / or rotate around the vertical axis when operated, and to trigger operation commands for the corresponding channel to control the aircraft to move longitudinally, laterally, and / or rotate along the heading, respectively.

16. The operating device as claimed in claim 15, characterized in that, The second gripping component is also used to trigger the operation command of the corresponding channel when subjected to combined lateral and longitudinal operations at the same time, so as to control the aircraft to make a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to make a coordinated turn; And / or, the second gripping component is also used to trigger the operation command of the corresponding channel when subjected to a combined operation in both the yaw and longitudinal directions, so as to control the aircraft to make a straight flight motion with a nose yaw, or to match the target roll angle for the aircraft and control the aircraft to make a coordinated turn. And / or, when one of the first gripping component and the second gripping component is operated longitudinally and the other is operated laterally, the first gripping component and the second gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to perform a coordinated turn; And / or, when one of the first gripping component and the second gripping component is operated longitudinally and the other is operated azimuthally, the first gripping component and the second gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

17. The operating device as claimed in claim 13, characterized in that, The control device also includes a pedal assembly; the pedal assembly is located in front of the pilot's seat of the aircraft; the pedal assembly is used to move along a first direction when operated and trigger the operation command of the corresponding channel to control the aircraft to yaw along the heading according to the target yaw rate. The first gripping component is rotatably connected to the aircraft; The actuating component is rotatably disposed on the first gripping component.

18. The operating device as claimed in claim 17, characterized in that, When the pedal assembly is operated and the first gripping component is simultaneously operated longitudinally, the pedal assembly and the first gripping component are used to jointly trigger the operation command of the corresponding channel to control the aircraft to perform a straight flight motion with nose yaw, or to match the target roll angle for the aircraft and control the aircraft to perform a coordinated turn.

19. The operating device as claimed in any one of claims 13 to 18, characterized in that, The first gripping component is also used to trigger the operation command of the corresponding channel when subjected to combined lateral and longitudinal operations at the same time, so as to control the aircraft to make a side flight movement with the nose direction unchanged, or to match the target yaw rate for the aircraft and control the aircraft to make a coordinated turn. And / or, the first gripping component is also used to trigger the corresponding channel's operation command when subjected to a combined directional and longitudinal operation, to control the aircraft to perform a straight flight motion with a nose yaw, or to match the aircraft with a target roll angle and control the aircraft to perform a coordinated turn.

20. The operating device as claimed in any one of claims 13 to 18, characterized in that, The operating device further includes a first reset mechanism and a second reset mechanism; The first reset mechanism is connected to the first gripping component; the first reset mechanism is used to apply a force to the first gripping component so that the first gripping component has a tendency to reset to its initial state; The second reset mechanism is connected to the actuating component; the second reset mechanism is used to apply a force to the actuating component so that the actuating component has a tendency to reset to its initial state.

21. A rotary-wing aircraft, characterized in that, The rotorcraft includes: Operating device; A flight control system, the flight control system including a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the rotorcraft control method as described in any one of claims 1 to 12.

22. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the rotorcraft control method as described in any one of claims 1 to 12.

23. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the rotorcraft control method as described in any one of claims 1 to 12.

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