Flight control method and system based on operating rod of aircraft and aircraft
By setting an automatic flight function button on the aircraft's control stick and dynamically executing control logic in conjunction with the aircraft's modes and system status, the complexity of multi-mode aircraft control is solved, achieving convenient and precise flight control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-25
- Publication Date
- 2026-05-26
AI Technical Summary
Traditional flight control methods for multimodal aircraft are too burdensome to operate, prone to errors, and lack convenient and accurate control means.
One-button hovering, speed hold, and one-button level flight are set on the aircraft's control stick. By receiving button signals, the corresponding flight control logic is executed, and the flight control is dynamically adjusted in combination with the current mode of the aircraft and the system status.
It enables convenient and precise automatic flight control of multi-modal aircraft, reducing the pilot's workload and improving the safety and consistency of control.
Smart Images
Figure CN122085778A_ABST
Abstract
Description
Technical Field
[0001] This application relates to aircraft technology, specifically to a flight control method, system, and aircraft based on an aircraft control stick. Background Technology
[0002] With the continuous advancement of aircraft technology, multi-modal aircraft (such as aircraft with rotor mode, transition mode and fixed-wing mode) are being used more and more widely, and the complexity of their flight control is also increasing significantly.
[0003] In traditional methods, when performing flight missions based on multi-modal aircraft, pilots need to manually adjust multiple parameters (such as speed, attitude angle, and track angle), which can easily lead to errors due to excessive operational burden.
[0004] Therefore, there is an urgent need to propose a convenient and accurate control method for multi-mode aircraft. Summary of the Invention
[0005] Therefore, it is necessary to provide a flight control method, system, aircraft, computer-readable storage medium, and computer program product based on an aircraft joystick that can improve the convenience and accuracy of control, addressing the aforementioned technical problems.
[0006] Firstly, this application provides a flight control method based on an aircraft's control stick, the method comprising: The control stick is equipped with at least one first control stick button, and different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button. The method includes: Receive the trigger signal from the first joystick button; Based on the type of trigger signal and the current flight mode of the aircraft, the corresponding flight control logic is executed to perform corresponding flight control on the aircraft; among them, different types of trigger signals indicate different automatic flight functions.
[0007] In one embodiment, based on the type of the trigger signal and the current flight mode of the aircraft, corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is a one-key hover button signal and the current flight mode is rotor mode, the corresponding one-key hover control logic is executed to set the target values of the aircraft's forward speed, lateral speed, yaw rate and vertical rate to zero, so as to control the aircraft to gradually decelerate until it enters the hovering state.
[0008] In one embodiment, the method further includes: when the trigger signal is a one-key hover button signal and the current flight mode is a transition mode or a fixed-wing mode, executing the corresponding one-key hover control logic to control the aircraft to decelerate at a preset maximum rate and perform a reverse tilt operation until entering the hover state.
[0009] In one embodiment, the method further includes: If the flight control system is in normal condition, it executes the corresponding one-key hover control logic; if the flight control system is in degraded condition, it refuses to execute the one-key hover function indicated by the one-key hover button signal and outputs a prohibition signal.
[0010] In one embodiment, the method further includes: During the execution of the one-key hover control logic, the input signal processing functions of the aircraft's power control stick, attitude control stick, and corresponding hat are disabled until the one-key hover function is terminated and the input signal processing functions are restored.
[0011] In one embodiment, based on the type of the trigger signal and the current flight mode of the aircraft, corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is the speed hold button signal and the current flight mode is transition mode or fixed-wing mode, the corresponding speed hold control logic is executed to control the aircraft to maintain the current indicated airspeed.
[0012] In one embodiment, the method further includes: If the flight control system is in normal condition, the corresponding speed hold control logic is executed; if the flight control system is in degraded condition, the speed hold function indicated by the speed hold button signal is refused to be executed, and a prohibition signal is output. In one embodiment, the method further includes: During the execution of the speed maintenance control logic, the input signal processing functions of the aircraft's power control stick and the corresponding hood are disabled, while the input signals of the aircraft's attitude control stick are processed normally. In one embodiment, the method further includes: During the execution of the speed maintenance control logic, if a one-key level flight button signal is received, the aircraft will be controlled to maintain a horizontal attitude and fly at the current indicated airspeed.
[0013] In one embodiment, based on the type of the trigger signal and the current flight mode of the aircraft, corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is the one-key level flight button signal and the flight control system is in normal condition, if the current flight mode is rotor mode, the corresponding one-key level flight control logic is executed, setting the target values of the aircraft's forward speed, lateral speed, yaw rate, and vertical rate to zero, so as to control the aircraft to gradually decelerate until it enters a hovering state; if the current flight mode is transition mode or fixed-wing mode, the corresponding one-key level flight control logic is executed, setting the target values of the aircraft's track angle and track direction angular rate to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude. In one embodiment, the method further includes: When the trigger signal is the one-key level flight button signal and the flight control system is in degraded state, if the current flight mode is rotor mode, the corresponding one-key level flight control logic is executed, setting the target values of the aircraft's pitch angle, roll angle, yaw rate, and vertical rate to zero, so as to control the aircraft to decelerate to the attitude mode hovering; if the current flight mode is transition mode or fixed-wing mode, the corresponding one-key level flight control logic is executed, setting the target values of the aircraft's pitch angle and roll angle to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude.
[0014] In one embodiment, the method further includes: Before executing the one-key level flight control logic, if an input signal is detected on the control stick of the aircraft, the input signal value of the control stick in each direction is set to zero. In one embodiment, the method further includes: During the execution of the one-key level flight control logic, the displacement of the aircraft's attitude control stick is detected in real time; if the displacement is greater than or equal to the preset displacement threshold, the one-key level flight function is automatically terminated and switched to manual operation mode.
[0015] In one embodiment, the aircraft's control stick is further provided with a second control stick button; the second control stick button includes a button to disengage autopilot. The method also includes: Upon receiving a trigger signal to disconnect the autopilot button, all currently active autopilot functions will be terminated, and manual operation mode will be restored.
[0016] Secondly, this application provides a flight control system based on an aircraft's control stick. The flight control system is applied to an aircraft, and the control stick is equipped with at least one first control stick button. Different first control stick buttons correspond to different automatic flight functions. The at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button. The flight control system is used to execute the steps in the method described in the first aspect. Specifically, the flight control system includes a memory and a computer program. When the computer program is executed by a processor, it implements the steps in the method described in the first aspect.
[0017] Thirdly, this application also provides an aircraft. The aircraft includes at least one control stick; the control stick is provided with at least one first control stick button; different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button; the aircraft also includes the flight control system involved in the second aspect above.
[0018] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in the first aspect above.
[0019] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.
[0020] The aforementioned flight control method, system, aircraft, computer-readable storage medium, and computer program product based on an aircraft's control stick include at least one first control stick button on the control stick. Different first control stick buttons correspond to different automatic flight functions. The system receives trigger signals from the first control stick buttons; based on the type of the trigger signal and the aircraft's current flight mode, it executes corresponding flight control logic to perform corresponding flight control on the aircraft; wherein different types of trigger signals indicate different automatic flight functions. That is, the pilot does not need to perform complex operations; simply selecting a first control stick button triggers the execution of flight control logic matching the current flight mode with a single keystroke, enabling more precise automatic flight control of the aircraft. Attached Figure Description
[0021] Figure 1 This is a schematic diagram illustrating the principle of a flight control method based on an aircraft's control stick in one embodiment; Figure 2 This is a flowchart illustrating a flight control method based on an aircraft's control stick in one embodiment; Figure 3This is a schematic diagram of the control process for one-click hovering in one embodiment; Figure 4 This is a schematic diagram of the speed maintenance control process in one embodiment; Figure 5 This is a schematic diagram of the control process for one-click level flight in one embodiment; Figure 6 This is a schematic diagram of the control process for disconnecting autonomous driving in one embodiment; Figure 7 This is an internal structure diagram of the flight control system in one embodiment. Detailed Implementation
[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0023] It should be understood that, unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing specific examples only and are not intended to limit the scope of this application.
[0024] In this application, the aircraft includes a joystick and a flight control system. The joystick integrates at least one automatic flight function button, which can be designated as the first joystick button. Different first joystick buttons correspond to different automatic flight functions. For example, the first joystick button may include at least one of a one-key hover button, a speed hold button, or a one-key level flight button, thus covering mainstream automatic flight scenarios (such as covering hovering, cruise, emergency maneuvering, and other full-scenario control). The first joystick button may also include buttons for triggering other automatic flight functions; these are not exhaustively listed here. Exemplarily, the joystick may also include a second joystick button; the second joystick button may include a button to disengage autopilot, etc.
[0025] Once any of the aforementioned control sticks or buttons is triggered, the flight control system responds to the trigger signal from the control stick or button, executes the corresponding control logic, and performs corresponding flight control on the aircraft based on the aircraft's actuators.
[0026] Now combined Figure 1 Provide a illustrative explanation. For example... Figure 1As shown, after receiving a trigger signal from the joystick button, the system determines the type of the trigger signal. If it is a one-key hover signal, the one-key hover control logic is executed; if it is a speed hold signal, the speed hold control logic is executed; if it is a one-key level flight signal, the one-key level flight control logic is executed; if it is a disengage autopilot signal, the disengage autopilot control logic is executed. If multiple signals conflict (i.e., multiple types of trigger signals are received simultaneously), arbitration is based on a preset priority relationship. Specifically, the higher-priority trigger signal is responded to first to execute its corresponding control logic, terminating lower-priority functions. For example, the preset priority relationship is: disengage autopilot function > emergency mode function > normal mode function. The disengage autopilot signal is responded to first to execute the disengage autopilot control logic, terminating other automatic flight functions. Here, emergency mode function refers to the automatic flight function used in emergency mode, and normal mode function refers to the automatic flight function used in normal mode.
[0027] Please continue reading. Figure 1 Based on the control logic, execution commands are generated and output to the aircraft's actuators. The actuators can then make corresponding adjustments to the aircraft based on these commands, thereby achieving automatic flight control.
[0028] In some embodiments, a flight control method based on the aircraft's control stick is proposed. This method is executed by the aircraft, and more specifically by the aircraft's flight control system. This method combines the aircraft's current flight mode with the trigger signals of different automatic flight function buttons to more accurately execute the corresponding flight control logic. In other words, the pilot only needs to trigger the automatic flight function button with one button, and the flight control system can perform targeted automatic flight control for different flight modes of the multi-mode aircraft. Thus, convenient and accurate flight control is achieved for multi-mode aircraft (hereinafter referred to as aircraft).
[0029] In this application, the aircraft has at least one control stick. When there are multiple control sticks, the buttons on each stick (such as a first control stick button and a second control stick button) can be located on at least one of the sticks. For example, the aircraft's control sticks may include a power control stick (such as a throttle control stick on the left) and an attitude control stick (such as a side stick on the right). The power control stick has a one-button hover button and a speed hold button, and the attitude control stick has a one-button level flight button and an autopilot disengage button. It should be understood that this is merely an example and should not limit the placement of the buttons on each control stick.
[0030] All control sticks of the aircraft employ fly-by-wire design with mechanical return and no power feedback. The power control stick has a forward / backward degree of freedom, while the attitude control stick has three degrees of freedom: forward / backward, left / right, and axial. For example, to unify the operation of the rotor, transition, and fixed-wing flight modes, reduce pilot workload, and accommodate a higher SVO level (i.e., the level of shared / separated mission responsibilities between the pilot and the automated system), the control sticks of this application can adopt a consistency control principle, that is: all control stick channels map to the same direction of aircraft movement in different flight modes. For example, the power control stick corresponds to forward movement in both rotor and fixed-wing modes; the attitude control stick's forward / backward direction corresponds to altitude movement in both rotor and fixed-wing modes; and the attitude control stick's left / right direction corresponds to left and right movement in both rotor and fixed-wing modes. Due to the coordinated turning principle, the side stick's axial direction only functions in rotor mode.
[0031] The joystick-based flight control method in this application is compatible with multiple types of aircraft, improving system compatibility. The joystick-based flight control method will be described in more detail below.
[0032] like Figure 2 As shown, in one embodiment, a flight control method based on an aircraft's control stick is provided, which specifically includes the following steps: S21, receive the trigger signal from the first operating lever button.
[0033] It should be understood that the received trigger signal from the first operating lever button is one or more.
[0034] In some examples, when multiple trigger signals from the first control stick buttons are received, and these buttons cannot be triggered in parallel, a preset priority relationship can be established to prioritize the response to the trigger signal of the higher-priority first control stick button, thereby avoiding command conflicts and ensuring the consistency and safety of flight control. For multiple first control stick buttons that can be triggered in parallel (such as the speed hold button and the one-key level flight button), step S22 is executed for the trigger signal of each first control stick button to coordinate the control of the automatic flight function indicated by the multiple first control stick buttons.
[0035] S22, based on the type of trigger signal and the current flight mode of the aircraft, executes the corresponding flight control logic to perform corresponding flight control on the aircraft; wherein, different types of trigger signals indicate different automatic flight functions.
[0036] The current flight mode of the aircraft is any one of rotor mode, transition mode, or fixed-wing mode.
[0037] In this embodiment, the trigger signal of each first control stick button is dynamically bound to the current flight mode (rotor / transitional / fixed-wing) of the aircraft, executing differentiated control logic. That is, different trigger signals from different first control stick buttons (i.e., different types of trigger signals) have their own corresponding flight control logic, and the trigger signal of the same first control stick button has its own corresponding flight control logic in different flight modes. This achieves more precise automated flight control, thereby improving flight control safety.
[0038] In some embodiments, the trigger signal of each first control stick button is dynamically bound to the aircraft's current flight mode and the current state of the flight control system (normal or degraded state) to execute differentiated control logic. That is, by combining information from both the current flight mode and the current state of the flight control system, automated flight control is executed more precisely. The degraded state refers to a state where some of the aircraft's performance is limited or reduced, but basic safe flight and controllability can still be maintained. For example, in the normal state, full automatic flight functions are executed; in the degraded state, high-risk functions (such as one-button hovering and speed hold functions) are frozen, only basic attitude control (such as locking pitch / roll angles to 0°) is allowed, and a prohibition signal is output to the pilot. Degraded state restrictions enhance safety protection.
[0039] For example, when the trigger signal is a one-key hover button signal, the one-key hover control logic corresponding to the aircraft's current flight mode is executed to gradually control the aircraft into a hovering state. In some examples, the one-key hover function is prohibited when the flight control system is in a degraded state. That is, when the trigger signal is a one-key hover button signal and the flight control system is in a normal state, the one-key hover control logic corresponding to the aircraft's current flight mode is executed; if the flight control system is in a degraded state, the one-key hover function indicated by the one-key hover button signal is refused to be executed, and a prohibition signal is output to ensure flight safety.
[0040] For example, if the trigger signal is a speed hold button signal, the corresponding speed hold control logic will be executed only when the aircraft's current flight mode is transition mode or fixed-wing mode, controlling the aircraft to maintain the current indicated airspeed. That is, the speed hold function only takes effect in transition and fixed-wing modes. In some examples, the speed hold function is disabled when the flight control system is in a degraded state. That is, the corresponding speed hold control logic is executed when the trigger signal is a speed hold button signal, the aircraft's current flight mode is transition or fixed-wing mode, and the flight control system is in a normal state; if the flight control system is in a degraded state, the speed hold function indicated by the speed hold button signal is refused, and a prohibition signal is output.
[0041] For example, when the flight control system is in a degraded state, the command inputs for the one-key hover function and speed hold function are frozen through the joystick function prohibition list, allowing only basic attitude control to ensure flight safety. In other words, the identifiers for the one-key hover function and speed hold function are pre-stored in the joystick function prohibition list. Upon receiving a one-key hover button signal or a speed hold button signal, if the identifier of the one-key hover function or speed hold function indicated by the button signal is detected in the joystick function prohibition list, then the one-key hover function or speed hold function is refused to be executed, and a prohibition signal is output.
[0042] For example, when the trigger signal is the one-key level flight button signal, the one-key level flight control logic corresponding to the aircraft's current flight mode is executed. In some examples, the one-key level flight control logic corresponding to each flight mode may differ when the flight control system is in different states.
[0043] In some embodiments, all automatic flight functions are managed by a unified state machine, with a lifecycle including inactive, active, completed and abnormally terminated, to avoid logical deadlock and ensure the stability of system operation.
[0044] In some embodiments, the trigger signals of the joystick buttons are transmitted redundantly via dual channels. That is, the joystick and flight control system transmit the trigger signals of the joystick buttons in parallel via two communication links. The flight control system performs consistency checks on the trigger signals transmitted via the two communication links. If the difference exceeds a preset signal threshold, the received joystick button trigger signal is deemed invalid and no response is made. Dual-channel redundant transmission improves signal stability and enhances the reliability and security of the system.
[0045] In some embodiments, when the aircraft's flight mode changes, automatic flight functions incompatible with the target flight mode to which it needs to switch are automatically terminated. For example, the speed hold function is only active in transition and fixed-wing modes. If the aircraft has already activated the speed hold function in fixed-wing mode but needs to switch to rotor mode, the speed hold function incompatible with the rotor state is automatically terminated. Exemplarily, the status coding commands on the control stick can be fed back to the cockpit display system so that the pilot can be informed of the system status in a timely manner.
[0046] In the above method, at least one first control stick button is provided on the aircraft's control stick, with different first control stick buttons corresponding to different automatic flight functions. The pilot only needs to operate one button to trigger the execution of flight control logic matching the current flight mode, thus automatically controlling the aircraft's flight. This greatly improves operational convenience, replacing manual adjustment of multiple parameters with a single button trigger, simplifying the operation process and reducing the pilot's workload. Furthermore, it achieves precise multi-modal control; the flight mode adaptive logic ensures a smooth attitude transition during rotor / fixed-wing switching. In short, it enables convenient, precise, and safe control of multi-modal aircraft.
[0047] In some embodiments, step S22 includes: when the trigger signal is a one-key hover button signal and the current flight mode is rotor mode, executing the corresponding one-key hover control logic to set the target values of the aircraft's forward velocity, lateral velocity, yaw rate, and vertical rate to zero, thereby controlling the aircraft to gradually decelerate until it enters a hovering state. This enables the aircraft to automatically and stably enter a hovering state, avoiding sudden changes or loss of control. Furthermore, configuring the target values of the flight parameters can improve control accuracy to a certain extent.
[0048] In some embodiments, step S22 includes: when the trigger signal is a one-key hover button signal and the current flight mode is a transition mode or a fixed-wing mode, executing the corresponding one-key hover control logic to control the aircraft to decelerate at a preset maximum rate and perform a reverse tilt operation until entering the hover state. This achieves the automatic and stable entry of the aircraft into the hover state.
[0049] In summary, when the trigger signal is a one-key hover button signal, the one-key hover control logic is different for rotor mode and for transition / fixed-wing mode.
[0050] In some embodiments, during the execution of the one-key hover control logic, the speed parameters of the aircraft are monitored in real time during the deceleration process of the aircraft. When the speed parameters reach the preset hover threshold, the deceleration operation is stopped and the hovering state is maintained to ensure that the aircraft hovers stably.
[0051] In some embodiments, during the execution of the one-key hover control logic, the input signal processing functions of the aircraft's power stick, attitude stick, and corresponding control arm are disabled until the one-key hover function is terminated, at which point the disabled input signal processing functions are restored. This significantly reduces the risk of misoperation based on the stick input dynamic management mechanism, i.e., it avoids command contradictions caused by misoperation during the execution of the automatic flight function. It should be understood that when the input signal processing functions of the stick and control arm are disabled, the stick and control arm cannot input valid signals, thus achieving input validity control. For example, the input signals of the stick and control arm are no longer processed, or the input signals of the stick and control arm cannot be mapped to specific control commands. Exemplarily, the one-key hover function can be automatically terminated after a preset condition is met, or it can be automatically terminated after receiving a signal to disconnect the autopilot button.
[0052] Now combined Figure 3 The control process for one-click hovering is illustrated below. Figure 3 As shown, upon receiving the trigger signal from the one-key hover button, the flight control system determines its current state. If it is in a degraded state, the one-key hover function is rejected, and a prohibition signal is output. If it is in a normal state, the current flight mode of the aircraft is determined. If it is in rotor mode, the target values of the aircraft's forward velocity, lateral velocity, yaw rate, and vertical rate are all set to zero to control the aircraft to gradually decelerate until it enters a hovering state. If it is in transition mode or fixed-wing mode, the aircraft is controlled to decelerate at a preset maximum rate and performs a reverse tilt operation until it enters a hovering state.
[0053] Please continue reading. Figure 3 During the execution of the one-key hover control logic, the input signal processing functions of the aircraft's power stick, attitude stick, and corresponding control stick are disabled. Furthermore, during the aircraft's deceleration, the aircraft's speed parameters are monitored in real time to see if they reach the hovering threshold. If not, monitoring continues; if so, deceleration is stopped and the hovering state is maintained.
[0054] In some embodiments, step S22 includes: when the trigger signal is a speed hold button signal and the current flight mode is a transition mode or a fixed-wing mode, executing the corresponding speed hold control logic to control the aircraft to maintain the current indicated airspeed.
[0055] In some embodiments, during the execution of speed-holding control logic, the input signal processing functions of the aircraft's power control stick and corresponding airspeed controller are disabled to ensure stable speed maintenance and avoid command inconsistencies caused by misoperation. Furthermore, the input signals to the aircraft's attitude control stick can be processed normally. That is, the input signals from the attitude control stick are allowed to control the aircraft's attitude or flight path without affecting the maintenance of the current indicated airspeed, ensuring the flexibility of flight control.
[0056] In some embodiments, if a one-key level flight button signal is received during the execution of the speed-maintaining control logic, the aircraft is controlled to maintain a horizontal attitude and fly at the currently indicated airspeed. That is, the speed-maintaining function and the one-key level flight function can be executed in conjunction.
[0057] Now combined Figure 4 The control process for maintaining speed is illustrated. For example... Figure 4 As shown, after receiving the trigger signal from the speed hold button, the flight control system determines its current state. If it is in a degraded state, the speed hold function is refused, and a prohibition signal is output. If it is in a normal state, the current flight mode of the aircraft is determined. If it is in a transitional mode or fixed-wing mode, the current indicated airspeed is set to the target airspeed, and flight is maintained at that current indicated airspeed. As can be seen from the above, the speed hold function only takes effect in transitional and fixed-wing modes. Therefore, if the current flight mode of the aircraft is rotor mode, the speed hold function is refused, and a prohibition signal is output.
[0058] Please continue reading. Figure 4 During the execution of the speed-maintaining control logic, the input signal processing functions of the aircraft's power control stick and corresponding airspeed controller are disabled, while the input signal processing functions of the aircraft's attitude control stick are allowed to remain normal. During the execution of the speed-maintaining control logic, it can determine whether a one-key level flight trigger signal has been received. If so, it coordinates with the track angle control processing and airspeed maintenance processing to control the aircraft to maintain a level attitude and fly at the current indicated airspeed. If not, it maintains the current indicated airspeed.
[0059] In some embodiments, step S22 includes: when the trigger signal is a one-key level flight button signal and the flight control system is in normal condition, if the current flight mode is rotor mode, then execute the corresponding one-key level flight control logic to set the target values of the aircraft's forward speed, lateral speed, yaw rate and vertical rate to zero, so as to control the aircraft to gradually decelerate until it enters a hovering state (i.e. the aircraft's trajectory automatically leveles); if the current flight mode is transition mode or fixed-wing mode, then execute the corresponding one-key level flight control logic to set the target values of the aircraft's trajectory angle and trajectory direction angular rate to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude.
[0060] In some embodiments, step S22 includes: when the trigger signal is a one-key level flight button signal and the flight control system is in a degraded state, if the current flight mode is rotor mode, then the corresponding one-key level flight control logic is executed to set the target values of the aircraft's pitch angle, roll angle, yaw rate, and vertical rate to zero, so as to control the aircraft to decelerate to hover in attitude mode; if the current flight mode is transition mode or fixed-wing mode, then the corresponding one-key level flight control logic is executed to set the target values of the aircraft's pitch angle and roll angle to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude. Here, attitude mode is a flight control mode. In attitude mode, the aircraft automatically maintains its horizontal attitude (roll and pitch angles are 0°), but does not automatically lock its position.
[0061] In summary, when the trigger signal is the one-key level flight button signal, the flight control system corresponds to different one-key level flight control logics in different states and different flight modes of the aircraft.
[0062] In some embodiments, before executing the one-key level flight control logic, if an input signal is detected on the control stick's hood, the input signal values (i.e., control input values) of the hood in all directions are set to zero. That is, if the pilot triggers the one-key level flight button while performing trim or backup operations via the hood, the flight control system first sets the input signal values of the hood in all directions to zero (quick return to center) before executing the one-key level flight control logic. This achieves quick return to center and avoids residual control quantities interfering with flight.
[0063] In some embodiments, during the execution of the one-key level flight control logic, the displacement of the aircraft's attitude control stick is detected in real time; if the displacement is greater than or equal to a preset displacement threshold (i.e., the attitude control stick is violently pulled away from the neutral position), the one-key level flight function is automatically terminated and switched to manual operation mode to ensure flight safety.
[0064] In some embodiments, once the one-click level flight function is completed, the one-click level mode can be automatically exited. Alternatively, the one-click level mode can be maintained, allowing the aircraft to continue flying in a level attitude until a signal to disengage the autopilot is received, at which point the one-click level mode can be exited, terminating the one-click level flight function.
[0065] Now combined Figure 5 The control process for one-click level flight is illustrated below. Figure 5 As shown, after receiving the trigger signal from the one-key level flight button, if an input signal is detected on the control stick of the aircraft, the input signal value of the control stick in all directions is set to zero.
[0066] In addition, the current state of the flight control system can be determined. If the flight control system is in a normal state, the current flight mode of the aircraft is determined. If it is in rotor mode, the target values for forward velocity, lateral velocity, yaw rate, and vertical rate are all set to zero, and the aircraft is controlled to decelerate to a hovering state. If it is in transition mode or fixed-wing mode, the target values for track angle and track direction angular rate are all set to zero, and the aircraft is controlled to maintain horizontal forward flight at the current indicated airspeed.
[0067] If the flight control system is currently in a degraded state, the current flight mode of the aircraft is determined. If it is in rotor mode, the target values for pitch angle, roll angle, yaw rate, and vertical rate are all set to zero, and the aircraft is controlled to decelerate to a hovering attitude mode. If it is in transition mode or fixed-wing mode, the target values for pitch angle and roll angle are both set to zero, and the aircraft is controlled to maintain the current indicated airspeed and fly forward in a horizontal attitude.
[0068] Please continue reading. Figure 5 During the execution of the one-key level flight control logic, the displacement of the aircraft's attitude control stick is detected in real time to determine whether the displacement is greater than or equal to the preset displacement threshold. If so, the one-key level flight function is automatically terminated and switched to manual operation mode. If not, the one-key level flight function continues to be executed.
[0069] Once the one-key level flight function is completed, it automatically terminates and switches to manual operation mode. This eliminates the need to receive a signal to disconnect autopilot, simplifying the operation process.
[0070] In some embodiments, the flight control system can actively disengage the automatic flight function under preset conditions, thereby saving aircraft operating costs. It should be understood that meeting the preset conditions indicates to some extent that the purpose of automatic flight control has been achieved; therefore, the automatic flight function can be actively disengaged.
[0071] Specifically, when the activation duration of the automatic flight function activated by pressing the first control stick button exceeds the corresponding preset duration (e.g., maintaining speed for 10 minutes / one-button hovering for 5 minutes), the flight control system terminates the automatic flight function and prompts the pilot to take over via a control stick feedback command, ensuring the timeliness and safety of flight control. In some examples, when the activation duration of the automatic flight function exceeds the corresponding preset duration, the system can first prompt the pilot to take over via a control stick feedback command, and only after detecting that the pilot has taken over will the flight control system terminate the automatic flight function.
[0072] In some embodiments, the aircraft's control stick is further provided with a second control stick button. The second control stick button includes a "Disengage Autopilot" button. Upon receiving a trigger signal to disengage the autopilot button, all currently active automatic flight functions are terminated. For example, the currently active one-key hover function, speed hold function, and one-key level flight function are terminated. Then, manual operation mode is restored. For example, when an automatic flight function is activated, the input signal processing function of the corresponding control stick input device is disabled; therefore, the input signal processing function of all control stick input devices can be restored, thereby restoring manual operation mode. Exemplarily, the control stick input device may include at least one of a power control stick, an attitude control stick, or a hat stick.
[0073] Now combined Figure 6 The control process for disengaging automatic driving is illustrated below. For example... Figure 6 As shown, upon receiving a trigger signal from the autopilot disconnect button, all active autoflight functions are terminated. That is, the trigger signal from the autopilot disconnect button is responded to first, and all active autoflight functions are terminated simultaneously to avoid command conflicts. Furthermore, the input signal processing functions of all joystick input devices are restored, thereby re-establishing a normal mapping between the joystick input devices and the aircraft control channel, allowing the pilot to manually control the aircraft. This achieves seamless transition to manual control.
[0074] In summary, the method of this application achieves safe and efficient control of the aircraft in all scenarios through integrated button design, dynamic input management and state adaptation mechanism, which simplifies the operation process and improves system reliability.
[0075] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.
[0076] Based on the same inventive concept, this application also provides a flight control system for implementing the aforementioned aircraft-based joystick-based flight control system. The solution provided by this system is similar to the implementation described in the above method. Therefore, the specific limitations of one or more aircraft-based joystick-based flight control system embodiments provided below can be found in the limitations of the aircraft-based joystick-based flight control method described above, and will not be repeated here.
[0077] In one embodiment, a joystick-based flight control system for an aircraft is provided. This system is used to execute the joystick-based flight control method for an aircraft according to the embodiments of this application. Specifically, the flight control system includes a memory and a computer program, which, when executed by a processor, implements the steps of the joystick-based flight control method for an aircraft according to the embodiments of this application.
[0078] The various modules in this aircraft-based joystick-based flight control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in a computer device, or stored in software within the computer device's memory, allowing the processor to invoke and execute the corresponding operations of each module.
[0079] In one embodiment, the internal structure diagram of the flight control system can be as follows: Figure 7 As shown, the flight control system includes a processor and memory. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, it implements a flight control method based on the aircraft's control stick.
[0080] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the flight control system to which the present application is applied. A specific flight control system may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0081] In one embodiment, an aircraft is provided. The aircraft includes at least one control stick; the control stick is provided with at least one first control stick button; different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button; the aircraft also includes a flight control system. The flight control system includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the embodiments of this application. Exemplarily, the aircraft also includes an actuator.
[0082] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the embodiments of this application.
[0083] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the embodiments of this application.
[0084] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.
[0085] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0086] The above embodiments are merely illustrative of several implementation methods of this application and do not limit the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A flight control method based on an aircraft's control stick, characterized in that, The control stick is provided with at least one first control stick button, and different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button; The method includes: Receive the trigger signal from the first joystick button; Based on the type of the trigger signal and the current flight mode of the aircraft, the corresponding flight control logic is executed to perform corresponding flight control on the aircraft; wherein, different types of trigger signals indicate different automatic flight functions.
2. The method according to claim 1, characterized in that, Based on the type of the trigger signal and the current flight mode of the aircraft, the corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is a one-key hover button signal and the current flight mode is rotor mode, the corresponding one-key hover control logic is executed to set the target values of the aircraft's forward speed, lateral speed, yaw rate and vertical rate to zero, so as to control the aircraft to gradually decelerate until it enters the hovering state. And / or, When the trigger signal is a one-key hover button signal and the current flight mode is a transition mode or a fixed-wing mode, the corresponding one-key hover control logic is executed to control the aircraft to decelerate at a preset maximum rate and perform a reverse tilt operation until it enters the hover state.
3. The method according to claim 2, characterized in that, The method further includes: If the flight control system is in normal condition, the corresponding one-key hover control logic is executed; if the flight control system is in degraded condition, the one-key hover function indicated by the one-key hover button signal is refused to be executed, and a prohibition signal is output. And / or, During the execution of the one-key hover control logic, the input signal processing functions of the aircraft's power control stick, attitude control stick, and corresponding hat are disabled until the one-key hover function is terminated and the input signal processing functions are restored.
4. The method according to claim 1, characterized in that, Based on the type of the trigger signal and the current flight mode of the aircraft, the corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is a speed hold button signal and the current flight mode is a transition mode or a fixed-wing mode, the corresponding speed hold control logic is executed to control the aircraft to maintain the current indicated airspeed.
5. The method according to claim 4, characterized in that, The method further includes: If the flight control system is in a normal state, the corresponding speed hold control logic is executed; if the flight control system is in a degraded state, the speed hold function indicated by the speed hold button signal is refused to be executed, and a prohibition signal is output. And / or, During the execution of the speed maintenance control logic, the input signal processing function of the aircraft's power control stick and the corresponding hat is disabled, while the input signal of the aircraft's attitude control stick is processed normally. And / or, During the execution of the speed maintenance control logic, if a one-key level flight button signal is received, the aircraft is controlled to maintain a horizontal attitude and fly at the current indicated airspeed.
6. The method according to claim 1, characterized in that, Based on the type of the trigger signal and the current flight mode of the aircraft, the corresponding flight control logic is executed to perform corresponding flight control on the aircraft, including: When the trigger signal is a one-key level flight button signal and the flight control system is in normal condition, if the current flight mode is rotor mode, the corresponding one-key level flight control logic is executed to set the target values of the aircraft's forward speed, lateral speed, yaw rate, and vertical rate to zero, so as to control the aircraft to gradually decelerate until it enters a hovering state; if the current flight mode is transition mode or fixed-wing mode, the corresponding one-key level flight control logic is executed to set the target values of the aircraft's track angle and track direction angular rate to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude. And / or, When the trigger signal is a one-key level flight button signal and the flight control system is in a degraded state, if the current flight mode is rotor mode, the corresponding one-key level flight control logic is executed to set the target values of the aircraft's pitch angle, roll angle, yaw rate, and vertical rate to zero, so as to control the aircraft to decelerate to the attitude mode hovering; if the current flight mode is transition mode or fixed-wing mode, the corresponding one-key level flight control logic is executed to set the target values of the aircraft's pitch angle and roll angle to zero, so as to control the aircraft to maintain the current indicated airspeed and fly forward in a horizontal attitude.
7. The method according to claim 6, characterized in that, The method further includes: Before executing the one-key level flight control logic, if an input signal is detected on the control stick of the aircraft, the input signal value of the control stick in each direction is set to zero. And / or, During the execution of the one-key level flight control logic, the displacement of the aircraft's attitude control stick is detected in real time; if the displacement is greater than or equal to a preset displacement threshold, the one-key level flight function is automatically terminated and switched to manual operation mode.
8. The method according to any one of claims 1 to 7, characterized in that, The aircraft's control stick is also equipped with a second control stick button; the second control stick button includes a button to disengage autopilot. The method further includes: Upon receiving a trigger signal to disconnect the autopilot button, the currently active autopilot function is terminated, and manual operation mode is restored.
9. A flight control system based on an aircraft's control stick, characterized in that, The flight control system is applied to the aircraft, and the control stick is provided with at least one first control stick button, different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button; the flight control system is used to execute the steps of the method in any one of claims 1 to 8.
10. An aircraft, characterized in that, The aircraft includes at least one control stick; the control stick is provided with at least one first control stick button; different first control stick buttons correspond to different automatic flight functions; the at least one first control stick button includes at least one of a one-key hover button, a speed hold button, or a one-key level flight button; The aircraft also includes the flight control system as described in claim 9.