Single-redundancy control surface control system and method for fixed-wing unmanned aerial vehicle and storage medium

Abstract

This application discloses a single-redundant control surface system, control surface method, and storage medium for a fixed-wing unmanned aerial vehicle (UAV), relating to the field of UAV control technology. The system includes multiple servo controllers, multiple single-redundant electric servos, and a triple-redundant aircraft management computer. Each servo controller is equipped with multiple function boards for driving at least two of the single-redundant electric servos. The servo controller receives control surface commands from the triple-redundant aircraft management computer and forwards them to the single-redundant electric servos, and also sends the current servo position fed back by the single-redundant electric servos to the triple-redundant aircraft management computer. The single-redundant electric servos receive and execute control surface commands, and acquire their current position via position sensors and feed it back to the servo controller. The triple-redundant aircraft management computer generates control surface commands and sends them to the servo controller, and saves and records the current servo position.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and particularly to a single-redundant control surface control system, control surface control method, and storage medium for fixed-wing UAVs. Background Technology

[0002] As a key component of large fixed-wing unmanned aerial vehicles (UAVs), the control surface system plays a crucial role in controlling the aircraft's attitude and flight path. Its control response characteristics have a decisive impact on the UAV's flight performance, control quality, and flight safety. Currently, some fixed-wing UAVs still use single-redundant control surface systems, which have advantages such as simple structure, low cost, and light weight. However, in the face of malfunctions (such as servo failure, controller hardware failure, or communication interruption of the aircraft management computer), there is a high risk to system safety. If the control allocation method is unreasonable, it may lead to the failure of control capability in a certain direction, thereby threatening flight safety. Current single-redundant servo control systems employ a centralized multi-channel hardware redundancy servo architecture. This architecture uses parallel redundant motors and a centralized monitoring method with a redundancy management controller, which improves the overall reliability of the control surface system. However, since each motor requires a separate motor controller, it increases the overall weight of the UAV. Large fixed-wing UAVs are particularly sensitive to weight, and the additional hardware increases the overall load, affecting the UAV's endurance and maneuverability. Furthermore, this control distribution method relies heavily on a single external power supply. All voltage converters draw power from this single external power source. If the main power supply fails, the entire control surface system will be paralyzed, thus becoming a single point of failure.

[0003] In summary, how to solve the problem of single point of failure while reducing the weight of the control surface system to ensure effective flight control under non-ideal conditions and improve the safety and reliability of the control surface system is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a single-redundant control surface system, control surface control method, and storage medium for a fixed-wing unmanned aerial vehicle (UAV), which can solve the problem of single-point failure while reducing the weight of the control surface system, ensuring effective flight control under non-ideal conditions and improving the safety and reliability of the control surface system. The specific solution is as follows: In a first aspect, this application provides a single-redundant control surface system for a fixed-wing unmanned aerial vehicle (UAV), including multiple servo controllers, multiple single-redundant electric servos, and a triple-redundant aircraft management computer; wherein each servo controller is configured with multiple function boards, and each function board is used to drive at least two of the multiple single-redundant electric servos; wherein... The servo controller is used to receive control surface commands sent by the triple-redundant aircraft management computer, forward the control surface commands to the corresponding single-redundant electric servo, and send the current position of the servo fed back by the single-redundant electric servo to the triple-redundant aircraft management computer. The single-redundant electric servo motor is used to receive and execute the control surface control command forwarded by the corresponding servo motor controller, and to obtain the current position of the servo motor through the position sensor and feed it back to the corresponding servo motor controller. The triple-redundant aircraft management computer is used to generate control surface commands and send the control surface commands to the corresponding servo controllers, and to save and record the current position of the servo sent by the servo controllers.

[0005] Optionally, among the plurality of single-redundant electric servos, the single-redundant electric servos responsible for the same type of control surface are controlled by different servo controllers.

[0006] Optionally, the plurality of servo controllers includes a first servo controller and a second servo controller, each of which is equipped with an independent primary function board and a backup function board.

[0007] Optionally, the triple-redundant aircraft management computer is configured with three independent computer function boards, including a first computer function board, a second computer function board, and a third computer function board; the first computer function board is directly connected to the main function board of the first servo controller; the second computer function board is directly connected to the main function board of the second servo controller; and the third computer function board is directly connected to each of the backup function boards of the first servo controller and the second servo controller.

[0008] Optionally, the plurality of single-redundant electric servos include a left aileron servo, a right aileron servo, a left inner elevator servo, a right inner elevator servo, a left outer elevator servo, a right outer elevator servo, a left flap aileron servo, and a right flap aileron servo.

[0009] Optionally, the primary function board of the first servo controller is used to control the left aileron servo and the right inward elevator servo; the primary function board of the second servo controller is used to control the right aileron servo and the left inward elevator servo; the backup function board of the first servo controller is used to control the right flap aileron servo and the left outward elevator servo; and the backup function board of the second servo controller is used to control the left flap aileron servo and the right outward elevator servo.

[0010] Secondly, this application provides a control surface control method based on a single-redundant control surface system, applied to a target fixed-wing unmanned aerial vehicle, wherein the single-redundant control surface system is the aforementioned single-redundant control surface system; wherein, the method includes: The triple-redundant aircraft management computer in the single-redundant control surface system generates control surface commands and sends the control surface commands to the servo controller in the single-redundant control surface system, so that the servo controller forwards the control surface commands to the single-redundant electric servo in the single-redundant control surface system. The single-redundant electric servo receives the control surface command and, after executing the control surface command, senses the current position of the servo through the position sensor and feeds back the current position of the servo to the servo controller. The servo controller sends the current position of the servo to the triple-redundant aircraft management computer so that the triple-redundant aircraft management computer can save the record and jump to the step of generating control surface commands through the triple-redundant aircraft management computer in the single-redundant control surface control system, until the target fixed-wing UAV ends its flight.

[0011] Optionally, the control surface method based on a single-redundant control surface system further includes: If a malfunction is detected in the target fixed-wing UAV, and the remaining available control surfaces meet the target's flight control conditions, the flight control law of the remaining available control surfaces is reconstructed to control the target fixed-wing UAV to fly safely.

[0012] Optionally, the reconstructing of the flight control law for the remaining available control surfaces includes: Real-time detection of abnormal conditions on faulty control surfaces; Based on the abnormal state, and through an indirect control reconstruction strategy based on feedforward compensation, weight adjustment, or model prediction, the contribution ratio of each of the remaining available control surfaces to the center of mass moment in the flight control law is modified to reconstruct the flight control law of the remaining available control surfaces.

[0013] Thirdly, this application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned rudder surface control method.

[0014] This application provides a single-redundant control surface system for a fixed-wing unmanned aerial vehicle and a corresponding control surface control method based on the single-redundant control surface system. A single-redundant control surface system includes multiple servo controllers, multiple single-redundant electric servos, and a triple-redundant aircraft management computer. Each servo controller is equipped with multiple function boards, each function board driving at least two of the single-redundant electric servos. Each servo controller receives control surface commands from the triple-redundant aircraft management computer, forwards the commands to the corresponding single-redundant electric servos, and sends the current position of the servo fed back by the single-redundant electric servos to the triple-redundant aircraft management computer. Each single-redundant electric servo receives and executes the control surface commands forwarded by the corresponding servo controller, acquires its current position via a position sensor, and feeds it back to the corresponding servo controller. The triple-redundant aircraft management computer generates control surface commands and sends them to the corresponding servo controllers, and stores and records the current position of the servos sent by the servo controllers. As can be seen from the above, the single-redundant control surface system of this application consists of a triple-redundant aircraft management computer, multiple servo controllers, and multiple single-redundant electric servos. Each servo controller contains multiple function boards, and each function board can drive at least two single-redundant electric servos. The triple-redundant aircraft management computer generates control surface commands and sends them to the servo controllers. The servo controllers forward the commands to the single-redundant electric servos and simultaneously transmit the current position of the servos fed back to the aircraft management computer. The single-redundant electric servos execute the control commands and feed back their real-time position via position sensors. In this way, through the above process of this application, configuring multiple function boards within the servo controllers, with each function board driving at least two single-redundant electric servos, optimizes hardware resource configuration, improves servo drive efficiency and system integration, and achieves weight reduction of the control surface system by controlling multiple single-redundant servos through the servo controllers. It also avoids single-point failure caused by a single power supply, thereby solving the problem of single-point failure while reducing the weight of the control surface system, ensuring effective flight control under non-ideal conditions, and improving the safety and reliability of the control surface system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the device structure of a single-redundant control surface system for a fixed-wing unmanned aerial vehicle disclosed in this application. Figure 2 This is a schematic diagram of the hardware architecture of a single-redundant control surface system disclosed in this application. Figure 3 This is a schematic diagram of the architecture of a symmetrical control allocation method for a single-redundant control surface system disclosed in this application; Figure 4 This is a schematic diagram of the arrangement of the control surfaces of a fixed-wing unmanned aerial vehicle disclosed in this application; Figure 5 This is a flowchart of a control surface control method based on a single-redundant control surface control system disclosed in this application. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Currently, some fixed-wing UAVs still use single-redundant control surface systems, which have advantages such as simple structure, low cost, and light weight. However, they pose a high risk to system safety when facing malfunctions (such as servo failure, controller hardware failure, or communication interruption of the aircraft management computer). If the control allocation method is unreasonable, it may lead to the failure of control capability in a certain direction, thereby threatening flight safety. Existing single-redundant servo control systems adopt a centralized multi-channel hardware redundant servo architecture. They use parallel redundant motors and a centralized monitoring method with a redundancy management controller, which improves the overall reliability of the control surface system. However, since each motor requires a motor controller, it increases the overall weight of the UAV. Large fixed-wing UAVs are more sensitive to weight, and the additional hardware increases the overall load, affecting the UAV's endurance and maneuverability. In addition, this control allocation method is heavily dependent on a single external power supply. All voltage converters draw power from a single external power source. If the main power supply fails, the entire control surface system will be paralyzed, thus becoming a single point of failure.

[0019] To overcome the aforementioned technical problems, this application provides a single-redundant control surface system, control surface method, and storage medium for a fixed-wing unmanned aerial vehicle, which can solve the problem of single-point failure while reducing the weight of the control surface system, ensuring effective flight control under non-ideal conditions and improving the safety and reliability of the control surface system.

[0020] See Figure 1 and Figure 2As shown, this embodiment of the invention discloses a single-redundant control surface system for a fixed-wing unmanned aerial vehicle (UAV), including multiple servo controllers 12, multiple single-redundant electric servos 13, and a triple-redundant aircraft management computer 11; wherein, each servo controller 12 is configured with multiple function boards, and each function board is used to drive at least two of the multiple single-redundant electric servos 13; wherein, The servo controller 12 is used to receive control surface commands sent by the triple-redundant aircraft management computer, forward the control surface commands to the corresponding single-redundant electric servo, and send the current position of the servo fed back by the single-redundant electric servo to the triple-redundant aircraft management computer.

[0021] In this embodiment, the servo controller 12 is used to receive control surface commands sent by the triple-redundant aircraft management computer, forward the control surface commands to the corresponding single-redundant electric servo, and send the current position of the servo fed back by the single-redundant electric servo to the triple-redundant aircraft management computer.

[0022] It is understandable that the control surface system of a fixed-wing UAV typically consists of two parts: electric servos and servo controllers. The servos are directly connected to the servo controllers, and the servo controllers are directly connected to the aircraft management computer (AMC) for data exchange. The AMC calculates the control surface commands, which are then forwarded to the electric servos via the servo controllers. The servos, in turn, feed back their current position, as perceived by their sensors, to the AMC via the servo controllers. The AMC then recalculates the control surface commands, forming a control closed loop. During the control process of the control surface system, the connection between the AMC and the servo controllers, as well as the connection between the servo controllers and the servos, has a critical impact on system safety. Considering the possibility of electronic product failure, a comprehensive evaluation of different failure modes is necessary to determine the safest and most reliable control allocation method within the given control surface system framework. Addressing the shortcomings of existing centralized multi-channel hardware redundant servo control system architectures, this application proposes a single-redundant control surface system for a fixed-wing UAV, which uses two servo controllers to control eight single-redundant servos. In other words, based on a certain type of fixed-wing UAV, the control surface system adopts a dual-controller + eight single-redundant electric rudder mechanisms as the core drive structure.

[0023] It should be noted that the plurality of servo controllers includes a first servo controller and a second servo controller, each of which is equipped with an independent primary function board and a backup function board. That is, the plurality of servo controllers can be dual servo controllers, each with two independent function boards. Each function board receives and parses input commands and drives two single-redundant electric servos in real time. From a physical connection perspective, the dynamic allocation between control nodes must meet the following basic principles: Interchangeability principle: ensuring that there is no functional binding or structural adhesion between different servo controllers to facilitate maintenance and replacement; Power consumption balance principle: avoiding local overload caused by a single servo controller being connected to a high-load path (such as all steering being activated simultaneously), ensuring that the total output power of different servo controllers is similar.

[0024] The single-redundant electric servo motor 13 is used to receive and execute the control surface control command forwarded by the corresponding servo motor controller, and to obtain the current position of the servo motor through the position sensor and feed it back to the corresponding servo motor controller.

[0025] In this embodiment, the single-redundant electric servo motor 13 is used to receive and execute the control surface control commands forwarded by the corresponding servo controller, and to obtain the current position of the servo motor through a position sensor and feed it back to the corresponding servo controller. The plurality of single-redundant electric servos can be eight single-redundant electric servos: each electric servo motor is single-redundant, receives commands from the servo controller and executes actions, and simultaneously feeds back the current position of the servo motor to the servo controller through a sensor.

[0026] The triple-redundant aircraft management computer 11 is used to generate control surface commands and send the control surface commands to the corresponding servo controllers, and to save and record the current position of the servo sent by the servo controllers.

[0027] In this embodiment, the triple-redundant aircraft management computer 11 is used to generate control surface commands and send the control surface commands to the corresponding servo controllers, and to save and record the current position of the servo sent by the servo controllers.

[0028] It should be noted that the triple-redundant aircraft management computer is configured with three independent computer function boards, including a first computer function board, a second computer function board, and a third computer function board. The first computer function board is directly connected to the primary function board of the first servo controller; the second computer function board is directly connected to the primary function board of the second servo controller; and the third computer function board is directly connected to the backup function boards of both the first and second servo controllers. In other words, the triple-redundant aircraft management computer has three independent function boards, enabling interaction with external data, and preventing a failure of one function board from propagating to other function boards. From a physical connection perspective, the dynamic allocation between control nodes must meet the command channel isolation principle: different aircraft management computer channels are connected to different servo controller channels to prevent overload of one module from causing system collapse. Since the flight control computer is triple-redundant and the servo controller has four function boards, two function boards of the servo controller need to be placed on the same flight control computer channel. That is, the third computer function board is directly connected to the spare function boards of the first and second servo controllers. When the channel of the flight control computer fails, the system will immediately reconstruct a set of efficient alternative channels to inherit roll and pitch capabilities.

[0029] Understandably, after determining the hardware framework of controlling eight monoredundant servos through two servo controllers, it is necessary to determine the control allocation method for the electric servos, servo controllers, and aircraft management computer. Common control allocation relationships include symmetrical and asymmetrical control allocation methods. However, the symmetrical control allocation method has two technical problems: first, because similar control surfaces are centrally controlled, it is difficult to achieve optimal allocation of control resources under specific operating conditions; second, the sharing of a single control channel by similar control surfaces exacerbates the cascading effects of single-point failures. The symmetrical control allocation method not only limits the regulation efficiency of control surface resources but also significantly reduces the fault tolerance of the system. Therefore, this embodiment selects an asymmetrical control allocation method. Among the multiple monoredundant electric servos, the monoredundant electric servos responsible for controlling the same type of control surface are controlled by different servo controllers. That is, distributing the control of the same type of control surface to multiple servo controllers not only breaks through the constraint of strong dependence on a single channel for control surfaces with the same characteristics, effectively improving the parallel utilization rate and execution flexibility of control resources, but also enhances the fault redundancy capability of the overall control architecture to a certain extent.

[0030] It should be noted that, based on the aerodynamic shape layout and control surface efficiency comparison results (calibrated by simulation results), the following conclusions are drawn: In the main wing region, the aileron control efficiency is better than the flaperon; in the tail region, the inboard elevator control efficiency is better than the outboard elevator control efficiency. Therefore, in the event of a failure in the aircraft management computer's channel, and given the need for immediate reconstruction of a set of efficient alternative channels to inherit roll and pitch capabilities, retaining a pair of ailerons (for roll control) and a pair of inboard elevators (for pitch control) is the optimal choice for remaining operational capabilities. That is, the multiple single-redundant electric servos include the left aileron servo, right aileron servo, left inboard elevator servo, right inboard elevator servo, left outboard elevator servo, right outboard elevator servo, left flaperon servo, and right flaperon servo. Based on the above principles, this embodiment determines an asymmetric control surface control system control allocation method, the specific control allocation method as follows: Figure 2 As shown, the primary function board of the first servo controller is used to control the left aileron servo and the right inward elevator servo; the primary function board of the second servo controller is used to control the right aileron servo and the left inward elevator servo; the backup function board of the first servo controller is used to control the right flap aileron servo and the left outward elevator servo; the backup function board of the second servo controller is used to control the left flap aileron servo and the right outward elevator servo. This ensures that the control resources of the servo controller are evenly distributed, and avoids the complete loss of roll, pitch, or yaw control capabilities due to the failure of a redundancy in the aircraft management computer or a failure of a channel in the servo controller.

[0031] To verify the overall fault tolerance performance of the control surface system, a fault mode space (containing 14 possible failure paths) based on a full enumeration method was established, covering the following categories: Flight management computer faults: including single-channel failures (A / B / C), dual-channel failures (A+B, A+C, B+C), and triple-channel failures (A+B+C); Servo controller faults: involving faults in the servo controller itself (servo controller 1 / servo controller 2) and communication interruptions with the aircraft management computer, further refined to each physical signal output branch along the channel dimension; the safety of all fault modes was analyzed in conjunction with the control law control surface reconfiguration mechanism. Specific fault mode analyses are shown in Table 1. Table 1 Failure Mode Analysis of Control Allocation Methods in Asymmetric Surface Control Systems

[0032] Of the 14 failure modes mentioned above, numbers 7 and 14 represent the complete loss of control surfaces, which are extreme cases and cannot guarantee flight safety. Numbers 4 and 6, even in the event of a secondary failure of the aircraft management computer, can still ensure the availability of one main wing surface and one elevator rudder surface, preserving a certain degree of roll, pitch, and yaw stability. Although control efficiency is reduced, the aircraft will not be completely out of control. In the remaining 10 failure modes, control surface reconfiguration and trim control can be achieved through control law control surface reconfiguration, thereby ensuring the safety and maneuverability of the aircraft. In summary, the asymmetric control surface control system can guarantee flight safety in all 12 situations.

[0033] In contrast, the symmetrical control allocation method has more failure scenarios; even if the aircraft management computer's B channel fails, this configuration still retains a pair of aileron servos and a pair of inward elevator servos available. For example... Figure 3 The diagram illustrates a typical symmetrical control allocation method provided in this application. This ensures even resource distribution to the servo controllers, and even after the aircraft management computer's B channel fails, one pair of ailerons remains on the main wing surface, and one pair of inward elevators remains on the V-tail. Specific failure mode analysis is shown in Table 2. Table 2 Failure Mode Analysis of Control Allocation Method for Symmetrical Control Surface System

[0034] Regarding the 14 failure modes mentioned above, numbers 7 and 14 represent the complete loss of control surfaces, which are extreme cases and cannot guarantee flight safety. In the event of a secondary failure of the aircraft management computer, numbers 4 and 6 will result in the complete loss of roll controllability for number 4 and the complete loss of pitch and roll controllability for number 6. In the remaining 10 failure modes, control surface reconfiguration and trim control can be implemented through control law control surface reconfiguration, thereby ensuring the safety and maneuverability of the aircraft. In summary, the symmetrical control surface control system can guarantee flight safety in all 10 situations.

[0035] The results in Tables 1 and 2 show that, in the same mission safety scenario assessment, compared with the common symmetrical control allocation method, the asymmetric control surface allocation strategy adopted in this embodiment can effectively disperse the failure risk of the servo system under fault conditions, significantly improve the overall safety margin and fault tolerance performance of the system, and has the advantages of uniform allocation of servo controller control resources, high control efficiency, and high safety redundancy. In this way, this embodiment uses two sets of servo controllers to drive eight servos respectively, achieving physical reuse, avoiding the increase in weight and power consumption of multi-channel redundant systems, and simultaneously dispersing single-point failures easily caused by a single external power supply, thus improving the stability of the servo surface control system. Based on the results of aerodynamic simulation studies, the servo surface combination with higher control efficiency is selected for the main control design: for example, ailerons are preferred over flaps and inner elevators are preferred over outer elevators; and during post-fault reconfiguration, the front-mounted configuration of high-efficiency servos is prioritized to ensure that critical directions remain effectively controlled. By optimizing the control command allocation logic between the aircraft management computer and multiple servo controllers, and between the servo controllers and each servo, and adopting strategies such as servo surface cross-configuration and controller channel resource dispersion, the asymmetric control surface allocation strategy was finally determined. The control allocation method distributes the control of the same type of control surfaces among multiple servo controllers, which not only breaks through the constraint of strong dependence on a single channel for control surfaces with similar characteristics, but also effectively improves the parallel utilization and execution flexibility of control resources. It also enhances the fault redundancy capability of the overall control architecture to a certain extent, achieving optimal control of the entire control system and effectively accommodating single-point or local faults. With the control law control surface reconfiguration mechanism, the allocation of control commands can be dynamically adjusted under single servo or fault conditions, realizing active compensation and maintenance of control surface functions. This achieves effective management of the control surface control system under fault conditions, ensuring that the effective control of key control surfaces can still be maintained under non-ideal conditions, and improving the overall safety and reliability of the control surface control system.

[0036] As can be seen from the above, the single-redundant control surface system of this application embodiment consists of a triple-redundant aircraft management computer, multiple servo controllers, and multiple single-redundant electric servos. Each servo controller has multiple function boards, and each function board can drive at least two single-redundant electric servos. The triple-redundant aircraft management computer generates control surface commands and sends them to the servo controllers. The servo controllers forward the commands to the single-redundant electric servos and simultaneously transmit the current position of the servos fed back by the servos to the aircraft management computer. The single-redundant electric servos execute the control commands and feed back the real-time position of the servos through position sensors. In this way, through the above-described process of the embodiments of this application, configuring multiple function boards in the servo controller and having each function board drive at least two monoredundant electric servos can optimize hardware resource configuration, improve servo drive efficiency and system integration. By controlling eight monoredundant servos through two servo controllers, the weight of the control surface system is reduced, and single-point failure caused by a single power supply is avoided. Without changing the hardware configuration, the fault tolerance and operational robustness of the control surface system can be effectively enhanced, ensuring the stability of control surface during flight. This significantly improves the engineering availability and mission reliability of the control surface system, and solves the problem of single-point failure while reducing the weight of the control surface system, ensuring effective flight control under non-ideal conditions and improving the safety and reliability of the control surface system.

[0037] The above embodiments have provided a detailed description of each module in the single-redundant control surface system of this application. The following embodiments will introduce a control surface control method based on a single-redundant control surface system. See also... Figure 5 As shown in the figure, this invention discloses a control surface method based on a single-redundant control surface system, applied to a target fixed-wing unmanned aerial vehicle (UAV). The single-redundant control surface system is the single-redundant control surface system described in the above embodiment. The method includes: Step S11: Generate control surface commands through the triple-redundant aircraft management computer in the single-redundant control surface system, and send the control surface commands to the servo controller in the single-redundant control surface system, so that the servo controller forwards the control surface commands to the single-redundant electric servo in the single-redundant control surface system.

[0038] In this embodiment, the triple-redundant aircraft management computer within the single-redundant control surface system generates control surface commands and sends these commands to the servo controller within the system. The servo controller then forwards these commands to the corresponding single-redundant electric servos. The target fixed-wing UAV's control surface system employs this single-redundant control surface system, consisting of two servo controllers and eight electric servos. The functions of different control surfaces are shown in Table 3. Table 3 Functions of each servo motor

[0039] The arrangement of servos on the control surfaces of a UAV is as follows Figure 4 As shown, due to the symmetry on both sides, only one side will be discussed. It is understood that this embodiment discusses the control surface control system of eight single-redundant servos controlled by the triple-redundant aircraft management computer through the servo controller. The flap drive device, which is directly controlled by the triple-redundant aircraft management computer sending power-on and retraction commands, is not within the scope of this embodiment. In this way, using a triple-redundant aircraft management computer to generate control commands enables closed-loop command generation based on a highly reliable computing core, ensuring safe and stable command output. By forwarding control surface commands to the single-redundant electric servos through the servo controller, the orderly distribution and transmission of control signals can be achieved, ensuring that commands are accurately delivered to the actuators and providing smooth command transmission guarantees for reliable control surface operation.

[0040] Step S12: Receive the control surface control command through the single-redundant electric servo motor, and after executing the control surface control command, sense the current position of the servo motor through the position sensor and feed back the current position of the servo motor to the servo motor controller.

[0041] In this embodiment, the single-redundant electric servo receives and executes the control surface control commands. After execution, the position sensor detects the current position of the servo and feeds it back to the triple-redundant aircraft management computer. Thus, this embodiment ensures accurate execution of control surface commands and achieves responsive control surface actions by using a single-redundant electric servo to receive and execute control surface commands. Furthermore, the position sensor detects the current position of the servo and feeds it back to the triple-redundant aircraft management computer, recording the servo's current position and providing real-time feedback data for closed-loop control, improving control accuracy and status monitorability.

[0042] Step S13: The current position of the servo is sent to the triple-redundant aircraft management computer through the servo controller so that the triple-redundant aircraft management computer can save the record and jump to the step of generating control surface commands through the triple-redundant aircraft management computer in the single-redundant control surface control system until the target fixed-wing UAV ends its flight.

[0043] In this embodiment, the current position of the servo is sent to the triple-redundant aircraft management computer through the servo controller, so that the triple-redundant aircraft management computer can save the record and repeatedly execute the step of generating control surface commands through the triple-redundant aircraft management computer in the single-redundant control surface control system until the target fixed-wing UAV finishes flight.

[0044] It should be noted that the control law and control surface reconfiguration mechanism in this embodiment refers to the ability of the control system to detect the abnormal state of a control surface in real time during UAV flight control when its normal input commands cannot be effectively executed due to a fault, failure, or performance degradation. The control system then reallocates the control authority and actuation logic of the remaining effective control surfaces, dynamically adjusting the input-output mapping relationship of the flight control law to adjust the control commands of the remaining effective control surfaces, thereby maintaining the flight quality, stability, and control accuracy of the aircraft. When the target fixed-wing UAV malfunctions, this embodiment can reconfigure the control law of the remaining control surfaces to complete the control tasks of key degrees of freedom, avoiding the complete loss of roll, pitch, or yaw control. The processing flow is as follows: If a malfunction is detected in the target fixed-wing UAV, and the current remaining available control surfaces meet the target flight control conditions, the flight control law of the remaining available control surfaces is reconfigured to control the safe flight of the target fixed-wing UAV through the reconfigured flight control law. In other words, when a malfunction is detected in the target fixed-wing UAV, it is determined whether the remaining available control surfaces meet the target's flight control conditions. This means the control law control surface reconfiguration mechanism must satisfy the following: the system must have a minimum level of control surface redundancy, meaning that even if one or a few control surfaces fail, at least one pair of spare control surfaces can still provide basic pitch, roll, and yaw control capabilities. If the overall control surface redundancy is insufficient (e.g., if only one aileron servo is available for roll control, the opposite control surface cannot generate torque), the reconfiguration strategy will not be effectively implemented. If the remaining available control surfaces meet the target's flight control conditions, the flight control law of the remaining available control surfaces is reconfigured through the control law control surface reconfiguration mechanism, and the reconfigured flight control law is used to control the target fixed-wing UAV to achieve safe flight.

[0045] It should be further noted that the processing flow for reconstructing the flight control law of the remaining available control surfaces is as follows: Real-time detection of the abnormal state of the faulty control surfaces; based on the abnormal state and through an indirect control reconstruction strategy based on feedforward compensation, weight adjustment, or model prediction, modification of the contribution ratio of each of the remaining available control surfaces to the center-of-gravity moment in the flight control law, thereby reconstructing the flight control law of the remaining available control surfaces. That is, the control law control surface reconstruction mechanism typically includes steps such as fault diagnosis and judgment, control surface availability assessment, and integral balancing solution, supporting flexible configuration among multiple redundant control surfaces. While ensuring flight safety, it improves the system's autonomous adaptability and mission continuity under partial control surface failure conditions. In engineering implementation, through an indirect control reconstruction strategy based on feedforward compensation, weight adjustment, or model prediction, the contribution ratio of each control surface to the center-of-gravity moment in the control law can be modified, enabling the system to maintain controllability after a fault and complete state adaptation and flight attitude maintenance without relying on external intervention. Specifically, the abnormal state of the faulty control surface is detected in real time. Based on the abnormal state, an indirect control reconstruction strategy including feedforward compensation, weight adjustment or model prediction is adopted to adjust the contribution ratio of each of the remaining available control surfaces to the center of mass moment in the flight control law, and complete the flight control law reconstruction of the remaining available control surfaces.

[0046] In this way, this embodiment, combined with the stable computing power of the triple-redundant aircraft management computer, ensures the continuity and precision of control surface manipulation during UAV flight, achieving stable and reliable flight control throughout the entire process. Real-time monitoring of UAV fault status and determination of whether remaining control surfaces meet flight control conditions allows for rapid fault identification and feasibility assessment, providing accurate basis for subsequent control strategy adjustments. Reconstructing the flight control law for the remaining available control surfaces enables the reallocation of control permissions and command logic in scenarios where some control surfaces fail, fully utilizing the remaining control surface manipulation capabilities to ensure stable and controllable flight performance of the UAV even in fault conditions, achieving safe flight and emergency response. Real-time detection of abnormal states of faulty control surfaces allows for rapid acquisition of control surface fault information and timely triggering of the control law reconstruction process, ensuring timely fault response. Using indirect control reconstruction strategies based on feedforward compensation, weight adjustment, or model prediction to modify the control surface centroid torque contribution ratio allows for flexible adaptation to different fault scenarios, precise allocation of remaining control surface control efficiency, and control law optimization and reconstruction without changing the UAV platform hardware structure. This ensures UAV torque balance and flight attitude stability, improving the robustness and fault tolerance of the flight control system in fault conditions.

[0047] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned control surface method based on a single-redundant control surface system. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0048] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0049] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0050] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0051] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A single-redundant control surface system for a fixed-wing unmanned aerial vehicle, characterized in that, It includes multiple servo controllers, multiple single-redundant electric servos, and a triple-redundant aircraft management computer; wherein each servo controller is configured with multiple function boards, and each function board is used to drive at least two of the multiple single-redundant electric servos; wherein... The servo controller is used to receive control surface commands sent by the triple-redundant aircraft management computer, forward the control surface commands to the corresponding single-redundant electric servo, and send the current position of the servo fed back by the single-redundant electric servo to the triple-redundant aircraft management computer. The single-redundant electric servo motor is used to receive and execute the control surface control command forwarded by the corresponding servo motor controller, and to obtain the current position of the servo motor through the position sensor and feed it back to the corresponding servo motor controller. The triple-redundant aircraft management computer is used to generate control surface commands and send the control surface commands to the corresponding servo controllers, and to save and record the current position of the servo sent by the servo controllers.

2. The single-redundant control surface system according to claim 1, characterized in that, Among the multiple single-redundant electric servos, the single-redundant electric servos responsible for the same type of servo surface control are controlled by different servo controllers.

3. The single-redundant control surface system according to claim 1, characterized in that, The plurality of servo controllers include a first servo controller and a second servo controller, and each servo controller is equipped with an independent main function board and a backup function board.

4. The single-redundant control surface system according to claim 3, characterized in that, The triple-redundant aircraft management computer is equipped with three independent computer function boards, including a first computer function board, a second computer function board, and a third computer function board; the first computer function board is directly connected to the main function board of the first servo controller; the second computer function board is directly connected to the main function board of the second servo controller; and the third computer function board is directly connected to the spare function boards of the first servo controller and the second servo controller.

5. The single-redundant control surface system according to claim 4, characterized in that, The plurality of single-redundant electric servos include a left aileron servo, a right aileron servo, a left inner elevator servo, a right inner elevator servo, a left outer elevator servo, a right outer elevator servo, a left flap aileron servo, and a right flap aileron servo.

6. The single-redundant control surface system according to claim 5, characterized in that, The primary function board of the first servo controller is used to control the left aileron servo and the right inward elevator servo; the primary function board of the second servo controller is used to control the right aileron servo and the left inward elevator servo; the backup function board of the first servo controller is used to control the right flap aileron servo and the left outward elevator servo; the backup function board of the second servo controller is used to control the left flap aileron servo and the right outward elevator servo.

7. A control surface method based on a single-redundant control surface system, characterized in that, Applied to a target fixed-wing unmanned aerial vehicle, the single-redundant control surface system is the single-redundant control surface system according to any one of claims 1 to 6; wherein, the method includes: The triple-redundant aircraft management computer in the single-redundant control surface system generates control surface commands and sends the control surface commands to the servo controller in the single-redundant control surface system, so that the servo controller forwards the control surface commands to the single-redundant electric servo in the single-redundant control surface system. The single-redundant electric servo receives the control surface command and, after executing the control surface command, senses the current position of the servo through the position sensor and feeds back the current position of the servo to the servo controller. The servo controller sends the current position of the servo to the triple-redundant aircraft management computer so that the triple-redundant aircraft management computer can save the record and jump to the step of generating control surface commands through the triple-redundant aircraft management computer in the single-redundant control surface control system, until the target fixed-wing UAV ends its flight.

8. The control surface method based on a single-redundant control surface control system according to claim 7, characterized in that, Also includes: If a malfunction is detected in the target fixed-wing UAV, and the remaining available control surfaces meet the target's flight control conditions, the flight control law of the remaining available control surfaces is reconstructed to control the target fixed-wing UAV to fly safely.

9. The control surface control method based on a single-redundant control surface control system according to claim 8, characterized in that, The reconstruction of the flight control law for the remaining available control surfaces includes: Real-time detection of abnormal conditions on faulty control surfaces; Based on the abnormal state, and through an indirect control reconstruction strategy based on feedforward compensation, weight adjustment, or model prediction, the contribution ratio of each of the remaining available control surfaces to the center of mass moment in the flight control law is modified to reconstruct the flight control law of the remaining available control surfaces.

10. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the rudder surface control method as described in any one of claims 7 to 9.

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