Ground power supply sliding method, device and medium based on cooperative control

Abstract

The application discloses a ground power supply sliding method and device based on cooperative control and a medium, relates to the technical field of sliding control, and comprises the following steps: identifying a releasable section in a release discrimination sequence, performing release adaptability comparison processing, forming a target release window, executing power supply receiving switching and release switching processing on the target release window, and generating a release execution state set; monitoring the flight state of the aircraft according to the release execution state set and performing consistency comparison and stable control processing to generate a cooperative sliding control instruction table. The application generates a shadow power supply track and identifies a releasable section in a release discrimination sequence, improves release timing judgment accuracy, enhances release window stability, improves the transition smoothness of the aircraft after release, and facilitates the timing control of the power supply cooperation process between the ground power supply sliding vehicle and the aircraft in combination with industrial control software.

Description

Technical Field

[0001] This invention relates to the field of gliding control technology, and in particular to a ground-powered gliding method, equipment and medium based on cooperative control. Background Technology

[0002] With the increasing demands for takeoff and landing efficiency and energy utilization efficiency of large aircraft, assisted takeoff based on ground-powered taxiing is gradually becoming an important development direction for aviation ground support technology. In existing technologies, ground-powered taxiways typically provide external power support to the aircraft, reducing energy consumption of the aircraft's propulsion system during the taxiing phase, thereby achieving energy conservation and extending equipment lifespan. In this type of technology, a stable collaborative relationship needs to be established between the aircraft and the ground power supply system during the taxiing phase, and a smooth transition from ground power to airborne power needs to be completed during the release phase. To this end, related technologies are gradually introducing multi-parameter collaborative scheduling, timing control, and status monitoring methods, combined with industrial control software to achieve unified scheduling and control of the traction device, power supply device, and flight propulsion device. This ensures that power distribution and state switching during the taxiing process are executed according to predetermined strategies, thereby improving the overall controllability and safety of the taxiing process.

[0003] However, existing technologies still have certain limitations in practical applications. Most existing ground power supply taxiing methods are based on a single trajectory or a single state chain for control, lacking collaborative modeling between the taxiing process and the power supply take-off process. This makes it difficult to accurately describe the matching relationship between the power supply take-off demand and the actual taxiing state during the release phase, thus affecting the accuracy of the release timing determination. Existing technologies usually rely on fixed thresholds or simple rules for release determination during the release control process, failing to fully consider the coupling effects between multiple factors such as attitude disturbances, take-off switching processes, and taxiing redundancy. This results in instability in the identification of release segments and the selection of release windows, leading to large state fluctuations during the release switching process and affecting the stable transition of subsequent flight phases. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a ground-powered gliding method based on cooperative control to solve the problems of insufficient release determination accuracy and poor release window stability.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a ground power supply taxiing method based on cooperative control, comprising: collecting taxiing operation parameters corresponding to the current ground power supply taxiing task and performing cooperative reference compilation processing to form a cooperative taxiing reference set; extracting taxiing control constraints of the cooperative taxiing reference set and performing state deduction and trajectory convergence processing to generate a cooperative taxiing trajectory; analyzing the power supply take-up requirements corresponding to each time position in the cooperative taxiing trajectory and performing power supply take-up mapping processing to generate a shadow power supply trajectory; performing cooperative taxiing adjustment and release judgment processing based on the cooperative taxiing trajectory and the shadow power supply trajectory to form a release discrimination sequence; identifying the releaseable segments in the release discrimination sequence and performing release adaptability comparison processing to form a target release window; performing power supply take-up switching and release switching processing on the target release window to generate a release execution state set; and monitoring the flight status of the aircraft and performing consistency comparison and stability control processing according to the release execution state set to generate a cooperative taxiing control command table.

[0007] As a preferred embodiment of the ground power supply taxiing method based on cooperative control described in this invention, the specific steps for forming the cooperative taxiing reference set are as follows: Collect the traction parameters of the taxiway, ground power parameters, flight propulsion parameters, flight attitude parameters and release boundary parameters corresponding to the current ground power supply taxiing mission, and merge them according to the cooperative relationship under the same taxiing phase to form a taxiing operation parameter group; Perform collaborative constraint identification and constraint mapping processing on the taxiing operation parameter set to form a collaborative taxiing reference set.

[0008] As a preferred embodiment of the ground power supply gliding method based on cooperative control described in this invention, the specific steps for generating the cooperative gliding trajectory are as follows: Extract the taxiing propulsion constraints, power supply connection constraints, and release switching constraints from the collaborative taxiing reference set, and arrange the constraints according to the timing relationship to form a taxiing control constraint group; Perform segment state extrapolation processing on the taxiing control constraint group to obtain the propulsion state, power supply state and release state in different taxiing segments, and form a set of candidate trajectory segments; Identify the state succession relationship between adjacent candidate trajectory segments in the candidate trajectory segment set, perform trajectory convergence processing, and generate a cooperative gliding trajectory.

[0009] As a preferred embodiment of the ground power supply gliding method based on cooperative control described in this invention, the specific steps for generating the shadow power supply trajectory are as follows: Extract the power supply switching status, propulsion response status and release switching status corresponding to each time position in the coordinated sliding trajectory to form a set of demand-accepting parameters. Perform connection relationship identification processing on the connection demand parameter group to obtain the power supply connection sequence, connection strength and connection buffer relationship corresponding to each time position, and form a connection mapping parameter group; The connection mapping relationship corresponding to each time position in the connection mapping parameter group is associated with the time position in the cooperative sliding trajectory to form a shadow power supply trajectory.

[0010] As a preferred embodiment of the ground power supply taxiing method based on cooperative control described in this invention, the specific steps for forming the release discrimination sequence are as follows: The actual sliding state corresponding to each time position is obtained from the cooperative sliding trajectory, and time-aligned with the connection mapping relationship in the shadow power supply trajectory to form a dual-track cooperative state set. By performing skid offset suppression and convergence aggregation on the dual-track cooperative state set, the release convergence relationship corresponding to each time position is extracted to form a release convergence fragment set. The set of release-approaching fragments is subjected to continuous merging and fragmentation resolution processes to form a release discrimination sequence.

[0011] As a preferred embodiment of the ground power supply taxiing method based on cooperative control described in this invention, the specific steps for forming the target release window are as follows: The time sequence positions in the segment aggregation release discrimination sequence that have the same release tendency direction and continuous discrimination state are used to form a set of releaseable segments; Boundary tuning is performed on the set of releaseable segments to eliminate the influence of state oscillations at the beginning and end positions of each releaseable segment, and the internal stable release boundary is reconstructed to form a set of candidate release segments. Extract the attitude disturbance changes, handover changes, and taxiing margin changes corresponding to each time position within each candidate release segment in the candidate release segment set, and perform window focusing processing to form the target release window.

[0012] As a preferred embodiment of the ground power supply taxiing method based on cooperative control described in this invention, the specific steps for generating the release execution state set are as follows: Extract the acceptance mapping relationship and release adaptability parameters corresponding to each time position within the target release window, and perform acceptance gradual entry processing to form an acceptance switching state group; The release linkage and timing integration processing are performed on the receiving and switching state group to form a release execution state set.

[0013] As a preferred embodiment of the ground power supply taxiing method based on cooperative control described in this invention, the specific steps for generating the cooperative taxiing control command table are as follows: According to the temporal position sequence within the target release window, the flight status of the aircraft after entering the flight transition phase is continuously sampled and time-series coupled to form a flight status sequence. A consistency comparison is performed between the flight state sequence and the release execution state set to identify the state deviation direction and deviation extension range corresponding to each time position, forming a state deviation group. Stability control tuning and instruction arrangement are performed on the state deviation group to form a coordinated taxiing control instruction table.

[0014] In a second aspect, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein the computer program, when executed by the processor, implements any step of the ground-powered gliding method based on cooperative control as described in the first aspect of the present invention.

[0015] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the ground power supply gliding method based on cooperative control as described in the first aspect of the present invention.

[0016] The beneficial effects of this invention are as follows: by generating a shadow power supply trajectory, the power supply take-up process before release no longer relies on a single state trigger, improving the predictability of the power supply take-up process, and facilitating the timing control of the power supply coordination process between the ground power supply trolley and the aircraft by combining with industrial control software; by identifying the releasable segment in the release discrimination sequence, the release action can be implemented in a more suitable segment, improving the accuracy of release timing determination, enhancing the stability of the release window, and improving the smoothness of the transition after the aircraft releases. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a ground-powered gliding method based on cooperative control.

[0019] Figure 2 A flowchart for the formation of a coordinated gliding trajectory.

[0020] Figure 3 A flowchart for releasing the discrimination sequence is generated.

[0021] Figure 4 A flowchart is generated for the coordinated taxiing control instruction list. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a ground-powered taxiing method based on cooperative control, comprising the following steps: S1. Collect the taxiing operation parameters corresponding to the current ground power supply taxiing mission, and perform collaborative reference compilation processing to form a collaborative taxiing reference set.

[0026] S1.1 Collect the traction parameters of the taxiway, ground power supply parameters, flight propulsion parameters, flight attitude parameters and release boundary parameters corresponding to the current ground power supply taxiing mission, and merge them according to the cooperative relationship under the same taxiing phase to form a taxiing operation parameter group.

[0027] It should be noted that after the ground power supply taxiing mission begins, corresponding parameters are read from the taxiing traction control interface, ground power supply control interface, aircraft propulsion control interface, aircraft attitude measurement interface, and release boundary recording interface, respectively. The taxiing traction parameters include traction command value, traction output value, traction speed, traction response hysteresis, and traction status markers. The traction output value is expressed as a force or torque value, the traction speed as a velocity value, and the traction response hysteresis as a time value. The ground power supply parameters include power supply voltage, power supply current, power supply power, power supply on / off status, power supply switching time, and power supply acceptance status markers. The power supply voltage, power supply current, and power supply power are expressed as voltage, current, and power values, respectively. The power supply switching time is expressed as... The parameters are represented by timestamps; flight propulsion parameters include propulsion command values, propulsion output values, propulsion response times, and propulsion status markers. Propulsion output values ​​are represented by thrust values ​​or propulsion output ratios, and propulsion response times are represented by timestamps; flight attitude parameters include pitch angle, roll angle, yaw angle, attitude angular velocity, and attitude change status markers. Pitch angle, roll angle, and yaw angle are represented by angle values, and attitude angular velocity is represented by angular velocity values; release boundary parameters include permissible release start position, permissible release end position, release switching redundancy, release prohibition marker, and release boundary status markers. Permissible release start position and permissible release end position are represented by runway distance positions or timing positions, and release switching redundancy is represented by dimensionless boundary redundancy.

[0028] After collecting various parameters, timing alignment processing is performed on the original timestamps corresponding to each parameter: taking the taxiing control cycle of the current ground power supply taxiing mission as the unified timing granularity, the time range between the start and end times of each taxiing control cycle is defined as the allowable alignment window corresponding to the taxiing control cycle, and the cycle number corresponding to the allowable alignment window is used as the timing position of the taxiing phase; the taxiing traction parameters, ground power supply parameters, flight propulsion parameters, flight attitude parameters, and release boundary parameters are respectively attached to the corresponding timing positions of the taxiing phase according to the original timestamps.

[0029] For parameters whose acquisition frequency is higher than the taxiing control cycle, periodic processing is performed according to parameter type. Among them, traction output value, traction speed, power supply voltage, power supply current, power supply power, propulsion output value, pitch angle, roll angle, yaw angle, and attitude angular velocity are taken as continuous control variables, and the effective sampled value corresponding to the end position of the same taxiing control cycle is extracted as the terminal effective value. The power supply on / off state, power supply switching time, power supply acceptance state mark, release prohibition mark, allowed release start position, allowed release end position, and release boundary state mark are taken as switching state variables, and the position where the state change occurs within the same taxiing control cycle, the state before the change, and the state after the change are extracted as state change boundary values.

[0030] For parameters whose sampling frequency is lower than the taxiing control cycle, periodic padding is performed according to parameter attributes. Specifically, the power supply acceptance status marker, release prohibition marker, and release boundary status marker are used as state continuation parameters, and the state content corresponding to the previous valid sampling moment is continued and linked to the current taxiing phase timing position. The traction output value, power supply power, propulsion output value, and attitude angular velocity are used as continuously changing parameters, and the trend value corresponding to the current taxiing phase timing position is determined based on the timestamp continuation relationship between previous and subsequent valid sampling points. This ensures that each timing position has comparable traction parameter content, power supply parameter content, propulsion parameter content, attitude parameter content, and release boundary parameter content. Parameter content with missing timestamps, exceeding the allowable alignment window, or conflicting with the release prohibition marker is not included in the merging process of the current timing position and is retained as parameter content to be verified.

[0031] The parameters that have completed timing alignment are merged: according to the correspondence of each parameter in the taxiing propulsion, power supply connection and release switching within the same taxiing phase, the interrelated parameter contents are organized into the parameter contents of the same phase; specifically, the parameters of taxiing traction parameters and flight propulsion parameters that form a coordination relationship with taxiing propulsion in the same timing position or within the allowable alignment window are merged into propulsion parameter contents; the parameters of ground power supply parameters that are connected with the subsequent power supply connection process are merged into connection parameter contents; and the parameters of flight attitude parameters and release boundary parameters that form a constraint relationship with release switching are merged into release parameter contents; the propulsion parameter contents, connection parameter contents and release parameter contents are organized sequentially according to the order of each taxiing phase to form taxiing operation parameter groups.

[0032] S1.2 Perform cooperative constraint identification and constraint mapping processing on the taxiing operation parameter group to form a cooperative taxiing reference set.

[0033] It should be noted that the collaborative constraint identification process is performed on the taxiing operation parameter group: the propulsion parameter content, the receiving parameter content, and the release parameter content in each stage are read in the order of the taxiing stages, and the changes in the corresponding values ​​of each parameter content within the same taxiing stage are compared based on the effective values ​​of the end points, the boundary values ​​of state changes, and the trend values ​​of changes that have been completed in the timing position of each taxiing stage.

[0034] Furthermore, regarding the propulsion parameters, the traction output value, traction speed, and traction response lag in the taxiway traction parameters are read, and the propulsion output value and propulsion response time in the flight propulsion parameters are read. When the traction output value or traction speed changes at the current taxiing phase timing position, and the flight propulsion parameters form a coordinated propulsion output change at the same taxiing phase timing position or the subsequent timing position corresponding to the traction response lag, the corresponding parameter content is determined as parameter content with a synchronous restraint relationship and included in the propulsion constraint content.

[0035] For the acceptance parameters, read the power supply on / off status, power supply switching time, power supply power, and power supply acceptance status mark from the ground power supply parameters; if the power supply switching status in the current taxiing phase can form a pre-acceptance status before the timing position where the power supply acceptance status mark begins to enter in the next taxiing phase, and the power supply power change and the power supply acceptance status mark maintain a sequential connection relationship, then the corresponding parameter content is determined as parameter content with a sequential constraint relationship and is included in the acceptance constraint content.

[0036] For the release parameters, read the pitch angle, roll angle, yaw angle, and attitude angular velocity from the flight attitude parameters, and read the allowed release start position, allowed release end position, release switching margin, and release prohibition mark from the release boundary parameters. If the current timing position during the takeoff phase is within the range defined by the allowed release start position and allowed release end position, and is not covered by the release prohibition mark, and the trend of change in the flight attitude parameters does not point outside the release boundary, then the corresponding parameter content is determined as parameter content with boundary limiting relationship and is included in the release constraint content.

[0037] The constraints for advancing, assuming, and releasing are organized according to the taxiing phases to form a set of phase constraints, and constraint mapping is performed: the constraints for advancing, assuming, and releasing in each taxiing phase are mapped to the corresponding temporal positions of the taxiing phase, so that each temporal position is associated with the corresponding phase constraint; for constraints that cross adjacent taxiing phases, the corresponding constraints in the previous taxiing phase are continued to be associated with the corresponding temporal positions of the next taxiing phase along the taxiing temporal sequence, so that the advancing, assuming, and releasing constraints between adjacent taxiing phases remain continuous; after completing the constraint mapping process, all phase constraints are arranged according to the chronological order of each taxiing phase to form a cooperative taxiing baseline set.

[0038] It should also be noted that the synchronous restraint relationship refers to the synchronous coordination relationship between the traction parameters of the taxiway and the flight propulsion parameters within the same taxiing phase and time sequence position, based on changes in traction output, traction speed, and propulsion output. It is used to characterize the constraint effect of changes on the traction side on the propulsion side response during the taxiing propulsion process, and to avoid the propulsion state remaining in the original state after traction changes, thus preventing propulsion mismatch or attitude disturbance.

[0039] The preceding and following constraint relationship refers to the constraint relationship formed by the ground power supply parameters in the current taxiing phase on the power supply acceptance status in the next taxiing phase; it is used to characterize the restrictive effect of power supply switching time, power supply on / off status and power supply changes on the subsequent acceptance entry method, acceptance entry sequence and acceptance switching rhythm, so as to avoid the disconnect between the power supply status of the previous phase and the acceptance requirements of the next phase.

[0040] Boundary constraint relationship refers to the release range constraint relationship formed between flight attitude parameters and release boundary parameters during the release transition phase; it is used to characterize the limiting effect of pitch angle, roll angle, yaw angle, attitude angular velocity, allowable release start position, allowable release end position, release switching redundancy, and release prohibition mark on the location, switching range, and switching rhythm of the release action, so as to prevent the release action from exceeding the allowable boundary.

[0041] S2. Extract the taxiing control constraints of the cooperative taxiing reference set and perform state deduction and trajectory convergence processing to generate the cooperative taxiing trajectory.

[0042] S2.1 Extract the taxiing propulsion constraints, power supply connection constraints, and release switching constraints from the cooperative taxiing reference set, and arrange the constraints according to the timing relationship to form a taxiing control constraint group.

[0043] It should be noted that constraint extraction processing is performed on the collaborative taxiing reference set: according to the taxiing time sequence, the stage constraint content corresponding to each time position in the collaborative taxiing reference set is read, and the content that restricts the taxiing advancement process is extracted as taxiing advancement constraint, the content that restricts the power supply connection process is extracted as power supply connection constraint, and the content that restricts the release switching position and switching rhythm is extracted as release switching constraint; so that each time position corresponds to a clear taxiing advancement constraint, power supply connection constraint and release switching constraint.

[0044] Constraint orchestration is performed on taxiing propulsion constraints, power supply acceptance constraints, and release switching constraints: Using the taxiing sequence as the main thread, the three types of constraints at the same time position are linked together, and constraints with continuous restriction relationships between adjacent time positions are sequentially connected, ensuring that propulsion constraints, acceptance constraints, and release constraints in the previous time position can be passed to the next time position. For constraints whose order changes between adjacent time positions, the order is readjusted according to the order of the change, prioritizing taxiing propulsion constraints for the taxiing propulsion process, power supply acceptance constraints for the acceptance transition process, and release switching constraints for the release transition process, thus forming a taxiing control constraint group.

[0045] S2.2 Perform segment state deduction processing on the taxiing control constraint group to obtain the propulsion state, power supply state and release state in different taxiing segments, and form a set of candidate trajectory segments.

[0046] It should be noted that the taxiing control constraint group is divided into segments: adjacent timing positions that maintain continuity of constraint combinations and have the same dominant constraint direction are grouped into the same taxiing segment along the taxiing timing sequence; for each taxiing segment, the constraint with the most consecutive occurrences is determined as the dominant constraint of that taxiing segment; when two or more types of constraints have the same number of consecutive occurrences, the dominant constraint is determined in the order of release switching constraint, power supply take-off constraint, and taxiing advance constraint; when adjacent taxiing segments overlap at the handover position, the constraint content in the handover position that is consistent with the dominant constraint of the subsequent taxiing segment and continues to function at the starting position of the subsequent taxiing segment is selected. When a runway segment is assigned to a subsequent runway segment, the constraints at the handover position that are consistent with the dominant constraints of the previous runway segment and continue to function at the end of the previous runway segment are recorded as the end connection content of the previous runway segment. Among them, runway segments with runway propulsion constraints as the dominant constraints are identified as propulsion segments, runway segments with power supply acceptance constraints as the dominant constraints are identified as acceptance segments, and runway segments with release switching constraints as the dominant constraints are identified as release segments. At the same time, the start position, end position, corresponding dominant constraints within the segment, and end connection content corresponding to the handover position of each runway segment are recorded to form a segment constraint record set.

[0047] The segment constraint record set is processed by performing segment state deduction: The corresponding constraint content is read sequentially along the temporal positions within each taxiing segment. The direction of constraint change and the connection between adjacent temporal positions are compared. Temporal positions with consistent change directions and continuous connection are determined as state continuation positions, while those with a change direction or interrupted connection are determined as state adjustment positions. The constraint change content within each segment is organized sequentially according to the order of the state continuation and adjustment positions to form the segment state of the corresponding taxiing segment. Specifically, a propulsion state is formed for the propulsion segment, a power supply state for the receiving segment, and a release state for the release segment. For the handover positions between adjacent taxiing segments, the state continuation content of the previous segment and the state entry content of the next segment are retained, and the state result at the end of the previous segment is connected to the constraint content at the beginning of the next segment. After completing the state deduction of all taxiing segments, the corresponding propulsion state, power supply state, and release state are organized according to the order of each taxiing segment to form a candidate trajectory segment set.

[0048] It should also be noted that release switching constraints are used to limit the allowed timing, location, boundary range, and switching conditions of release actions, directly affecting release safety; power supply connection constraints are used to limit the entry sequence and connection rhythm between ground power supply withdrawal and subsequent power supply connection, directly affecting the continuity of power supply switching; taxiing and propulsion constraints are used to limit the traction and propulsion coordination state during taxiing and propulsion, and belong to the basic constraints in continuous operation; determining the dominant constraints according to the rule that release switching constraints take precedence over power supply connection constraints, and power supply connection constraints take precedence over taxiing and propulsion constraints, can prioritize the constraints that have a more direct impact on the release safety boundary and the continuity of power supply connection when there are multiple constraints, making the dominant constraint attribution in the taxiing section clearer.

[0049] S2.3 Identify the state continuity relationship between adjacent candidate trajectory segments in the candidate trajectory segment set, and perform trajectory convergence processing to generate a cooperative gliding trajectory.

[0050] It should be noted that the process of identifying and processing the state succession relationship of the candidate trajectory segment set is as follows: Following the gliding sequence, the segment end state and segment start state corresponding to adjacent candidate trajectory segments are read sequentially, and the correspondence between adjacent candidate trajectory segments in terms of propulsion changes, power supply changes, and release changes is compared. Content that can continue from the end state of the previous candidate trajectory segment to the start state of the next candidate trajectory segment is taken as segment succession content. Content that shows a change or transition between the end state of the previous candidate trajectory segment and the start state of the next candidate trajectory segment is taken as segment adjustment content. The segment succession content and segment adjustment content are organized according to the connection order of adjacent candidate trajectory segments to form a segment succession relationship set.

[0051] After completing the segment connection set, trajectory convergence processing is performed: The state content maintaining continuity between consecutive candidate trajectory segments is sequentially concatenated; the state content showing changes or transitions between consecutive candidate trajectory segments is connected and adjusted to ensure that the propulsion, power supply, and release states correspond sequentially at the segment connection positions. For candidate trajectory segments with multiple connectable directions, connection paths without state breaks at the segment connection positions are prioritized. If multiple connection paths without state breaks still exist, the connection path with the most segment connection content and the fewest segment adjustment content is retained. If multiple connection paths have the same number of segment connection content and segment adjustment content, the connection path is determined in the order of release state continuity first, followed by power supply state continuity, and then propulsion state continuity. If all connection paths have state breaks, the connection path with the fewest state breaks is retained, and the corresponding state break position is marked as the trajectory adjustment position. The trajectory adjustment position is then connected and adjusted using the segment adjustment content from adjacent candidate trajectory segments. After completing the connection path selection and trajectory adjustment position adjustment for all candidate trajectory segments, the candidate trajectory segments are organized according to the sliding sequence to generate a cooperative sliding trajectory.

[0052] S3. Analyze the power supply requirements after release corresponding to each time position in the cooperative sliding trajectory, and perform power supply mapping processing to generate a shadow power supply trajectory. Based on the cooperative sliding trajectory and the shadow power supply trajectory, perform cooperative sliding adjustment and release judgment processing to form a release discrimination sequence.

[0053] S3.1 Extract the power supply switching status, propulsion response status and release switching status corresponding to each time position in the cooperative sliding trajectory to form a set of demand-accepting parameters.

[0054] It should be noted that the trajectory state content corresponding to each time position is read one by one along the time sequence direction of the coordinated taxiing trajectory, and the state content representing the process of ground power supply withdrawal and airborne power supply access is extracted as the power supply switching state, the state content representing the response adjustment of flight propulsion output as taxiing propulsion changes is extracted as the propulsion response state, and the state content representing the entry, continuation and disengagement process of release action is extracted as the release switching state.

[0055] The power supply switching status, propulsion response status, and release switching status between consecutive time positions are compared to identify the power supply switching entry position, propulsion response coordination position, and release switching access position. The overlap of the three types of positions at the same time position and the connection between consecutive time positions are then correlated and organized. The state content that maintains continuous connection between adjacent time positions is organized into continuous acceptance content, and the state content that changes during switching entry or switching exit between adjacent time positions is organized into switching acceptance content. The continuous acceptance content and switching acceptance content are sequentially arranged according to the time sequence of the coordinated sliding trajectory to form a set of acceptance demand parameters.

[0056] S3.2 Perform connection relationship identification processing on the connection demand parameter group to obtain the power supply connection sequence, connection strength and connection buffer relationship corresponding to each time position, and form a connection mapping parameter group.

[0057] It should be noted that the acceptance sequence identification is performed on the demand parameter group: along the time sequence direction of the demand parameter group, the power supply switching state, the propulsion response state, and the release switching state corresponding to each time sequence position are read sequentially, and the entry and exit order of the three types of states at the same time sequence position are compared; the time sequence position where the power supply switching entry occurs first and the propulsion response coordination occurs later is determined as the power supply first and coordination later position, and the time sequence position where the propulsion response coordination occurs first and the release switching entry occurs later is determined as the coordination first and release later position. The time sequence positions where the power supply switching entry, propulsion response coordination, and release switching entry occur sequentially are connected in series to form the corresponding power supply acceptance sequence.

[0058] After completing the acceptance sequence identification, the acceptance strength identification and acceptance buffer relationship identification are performed: along the time sequence direction of the acceptance demand parameter group, the power supply switching state, propulsion response state and release switching state between adjacent time sequence positions are read sequentially; for power supply power and propulsion output value, the difference between the effective value at the end of the later time sequence position and the effective value at the end of the previous time sequence position is used as the corresponding state change amount, and the direction of change is determined according to the sign of the difference; for power supply switching state and release switching state, the state before change and the state after change in the state change boundary value are read, and the state changing from not entering to entering is determined as the entry direction, the state changing from entering to exit is determined as the exit direction, and the state not changing is determined as the maintenance direction.

[0059] When the direction of power supply switching state change and the direction of propulsion output value change are consistent in adjacent timing positions, and the power supply switching state of the later timing position can take over the propulsion response state of the previous timing position, and the release switching state does not show an exit direction between adjacent timing positions, the corresponding timing position is determined as a strong takeover position; when the direction of power supply switching state change and the direction of propulsion output value change are consistent in adjacent timing positions, but the power supply switching state of the later timing position fails to directly take over the propulsion response state of the previous timing position, and the release switching state maintains the entry direction or the maintenance direction between adjacent timing positions, the corresponding timing position is determined as a transition takeover position.

[0060] The connection buffer relationship is determined according to the sequential arrangement of the strong connection position and the transitional connection position: the transitional connection position that is located before the strong connection position and is continuously adjacent to the strong connection position is determined as the front buffer position, and the transitional connection position that is located after the strong connection position and is continuously adjacent to the strong connection position is determined as the back buffer position; the consecutive number of front buffer positions is used as the front buffer length, and the consecutive number of back buffer positions is used as the back buffer length; when there is no continuously adjacent transitional connection position before the strong connection position, the timing position before the strong connection position is used as the connection entry boundary, and when there is no continuously adjacent transitional connection position after the strong connection position, the timing position after the strong connection position is used as the connection exit boundary; the sequential correspondence between the front buffer position, the strong connection position, the back buffer position, the front buffer length, and the back buffer length is organized into the connection buffer relationship; according to the order of each timing position, the power supply connection sequence, connection strength, and connection buffer relationship are arranged accordingly to form a connection mapping parameter group.

[0061] S3.3. Associate the connection mapping relationship corresponding to each time position in the connection mapping parameter group with the time position in the cooperative sliding trajectory to form a shadow power supply trajectory.

[0062] It should be noted that the timing association processing is performed on the receiving mapping parameter group and the cooperative sliding trajectory: along the timing direction of the cooperative sliding trajectory, the propulsion state, power supply state, and release state corresponding to each timing position are read sequentially, and the power supply receiving sequence, receiving strength, and receiving buffer relationship corresponding to the same timing position are read in the receiving mapping parameter group; the propulsion state, power supply state, and release state at the same timing position are correspondingly linked with the corresponding power supply receiving sequence, receiving strength, and receiving buffer relationship, so that each timing position in the cooperative sliding trajectory is associated with the corresponding receiving mapping relationship, forming the timing receiving corresponding content; for content where the receiving mapping relationship between adjacent timing positions is continuous, the association is maintained along the timing direction; for content where the receiving mapping relationship between adjacent timing positions changes due to entry, enhancement, or exit, the changed receiving mapping relationship is retained at the corresponding timing position, so that the receiving mapping relationship is synchronized with the state changes in the cooperative sliding trajectory.

[0063] The entire sequence of power supply is organized into a trajectory: following the temporal order of the coordinated sliding trajectory, the completed connection mapping relationships at each temporal position are arranged sequentially, ensuring that the power supply connection sequence continues between preceding and following temporal positions, that the connection strength changes gradually between each temporal position, and that the connection buffer relationship corresponds between the preceding buffer position, the strong connection position, and the following buffer position. The continuous connection mapping relationships between preceding and following temporal positions are sequentially connected, and the temporal position where the connection changes is retained as the connection transition position in the trajectory, forming a shadow power supply trajectory.

[0064] S3.4 Obtain the actual sliding state corresponding to each timing position from the cooperative sliding trajectory, and perform timing alignment with the connection mapping relationship in the shadow power supply trajectory to form a dual-track cooperative state set.

[0065] It should be noted that, along the time sequence of the coordinated taxiing trajectory, the propulsion state, power supply state, and release state corresponding to each time sequence position are read sequentially, and the propulsion state, power supply state, and release state at the same time sequence position are organized accordingly to form the actual taxiing state corresponding to each time sequence position.

[0066] Along the time sequence of the shadow power supply trajectory, the power supply sequence, strength, and buffer relationship corresponding to each time sequence position are read sequentially. The power supply sequence, strength, and buffer relationship at the same time sequence position are then organized to form the corresponding power supply mapping relationship for each time sequence position.

[0067] According to the corresponding order of each timing position in the cooperative sliding trajectory and the shadow power supply trajectory, the actual sliding state at the same timing position and the receiving mapping relationship are time-aligned, and the contents of each timing position after alignment are organized in the timing order to form a dual-track cooperative state set.

[0068] S3.5 By performing slip offset suppression and convergence aggregation processing on the dual-track cooperative state set, the release convergence relationship corresponding to each time position is extracted to form a release convergence fragment set.

[0069] It should be noted that the following process is performed on the dual-track coordinated state set to suppress taxiing offset: Along the temporal direction of the dual-track coordinated state set, the actual taxiing state and the corresponding connection mapping relationship at each temporal position are read sequentially. The correspondence between the advance state, power supply state, release state, and power supply connection sequence, connection strength, and connection buffer relationship at the same temporal position is compared. For content where the actual taxiing state and the connection mapping relationship maintain correspondence at the same temporal position, their correspondence is retained. For content where the actual taxiing state and the connection mapping relationship are misaligned at the same temporal position, the original timestamp and observation value corresponding to the actual taxiing state are not changed. The original timestamp, taxiing phase temporal position, and allowable alignment window corresponding to the misaligned content are read. When the original timestamp of the misaligned content still falls within the allowed alignment window corresponding to the current timing position of the sliding phase or the timing position of the adjacent sliding phase, and does not conflict with the power supply switching state, release switching state, or release prohibition flag, an offset correspondence is established between the misaligned content and the current receiving mapping relationship, and this offset correspondence is used as the aligned content after sliding offset suppression; when the original timestamp of the misaligned content exceeds the allowed alignment window, or conflicts with the power supply switching state, release switching state, or release prohibition flag, the offset correspondence processing is not performed, and the misaligned content is marked as the true deviation content; the retained correspondence, offset correspondence, and true deviation content are organized according to each timing position to form an offset suppression state set.

[0070] Perform convergence aggregation processing on the offset suppression state set: sequentially compare the changes in the convergence mapping relationship and the release state changes between adjacent time positions along the temporal direction, organize the content with the continuation of the convergence order, the progressive convergence strength, and the connection of the convergence buffer relationship between adjacent time positions into convergence convergence content; organize the content that corresponds to the convergence convergence content and maintains the entry continuation relationship in the release state into release convergence content; sequentially concatenate the release convergence content that maintains the entry continuation in adjacent time positions, and retain the convergence entry position and convergence exit position as the segment boundary position to form a release convergence segment set.

[0071] S3.6 Perform continuous merging and fragmentation resolution on the release-approaching fragment set to form a release discrimination sequence.

[0072] It should be noted that continuous merging is performed on the release approach fragment set: along the temporal direction of the release approach fragment set, the start position, end position, and release approach relationship of adjacent release approach fragments are read sequentially. Content that maintains the same direction at the fragment connection position and whose approach content at the end of the previous release approach fragment can be connected to the start of the next release approach fragment is merged into the same continuous approach fragment. For content that has a local discontinuity at the fragment connection position but whose approach direction before and after the discontinuity position is consistent and whose release approach relationship on both sides of the discontinuity position is maintained, the discontinuity position is retained as the internal transition position after merging, and adjacent release approach fragments are further merged into the same continuous approach fragment to form a continuous approach fragment group.

[0073] Perform fracture resolution processing on the continuous approaching segment group: along the temporal direction of the continuous approaching segment group, identify the fracture position inside each continuous approaching segment in turn, and record the number of time positions of the sliding phase continuously covered by each fracture position. The fracture position with a continuous coverage number not greater than one sliding control cycle is determined as a short fracture position, and the fracture position with a continuous coverage number greater than one sliding control cycle is determined as a long fracture position.

[0074] For short fracture locations, continue to compare the release approach relationship, the bearing buffer relationship, and the release boundary state before and after the fracture location; when the same release approach direction is maintained before and after the fracture location, the bearing mapping relationship is still within the bearing range corresponding to the same pre-buffer position, strong bearing position, or post-buffer position, and the release boundary state has not changed and the release prohibition mark has not covered the fracture location, the corresponding short fracture location will be resolved into a transition position inside the fragment.

[0075] For long fracture locations, or where there are changes in the release approach direction before and after the fracture location, the bearing buffer relationship spans different bearing ranges, the release boundary state changes, the release prohibition mark covers the fracture location, or the fracture location has been marked as real deviation content in the offset suppression state set, the corresponding fracture location is retained as the fragment boundary location, and fracture resolution is not performed.

[0076] After processing each fracture location, all consecutive approaching segments are rearranged according to the temporal sequence so that each temporal location is associated with the corresponding approach discrimination content. The short fracture locations that have been resolved are marked as internal transition locations, and the fracture locations that have not been resolved are marked as segment boundary locations, thus forming a release discrimination sequence.

[0077] S4. Identify the releasable segments in the release discrimination sequence, perform release adaptability comparison processing, form a target release window, perform power supply switching and release switching processing on the target release window, and generate a release execution state set.

[0078] S4.1. The time sequence positions in the segment aggregation release discrimination sequence that have the same release approach direction and continuous discrimination state are used to form a set of releaseable segments.

[0079] It should be noted that the approach discrimination content corresponding to each time position in the release discrimination sequence is read, and the release approach direction and discrimination state continuity relationship between adjacent time positions are compared along the time sequence. Among them, the case where adjacent time positions correspond to the same approach change direction in the release discrimination sequence is determined as consistent release approach direction, and the case where the approach discrimination content corresponding to the previous time position can continue to the next time position without interruption is determined as continuous discrimination state continuity. Adjacent time positions that simultaneously satisfy consistent release approach direction and continuous discrimination state continuity are merged into the same continuous discrimination range, and the start position and end position corresponding to each continuous discrimination range are recorded.

[0080] For each consecutive discrimination range, segment aggregation processing is performed: sequentially concatenating the temporal positions that are connected one after another in each consecutive discrimination range and maintain the same release approach direction, and continuing to merge the temporal positions located at the junction of adjacent consecutive discrimination ranges and still maintaining the preceding and following relationship into the same aggregation range; for temporal positions where the approach direction changes or the discrimination state is interrupted at the junction, they are retained as segment boundary positions and are not merged into the previous aggregation range; each aggregation range is organized into a releaseable segment, and all releaseable segments are arranged according to the temporal order in the release discrimination sequence to form a set of releaseable segments.

[0081] S4.2 Perform boundary tuning on the set of releaseable segments to eliminate the influence of state oscillations at the beginning and end positions of each releaseable segment, and reconstruct the internal stable release boundary to form a set of candidate release segments.

[0082] It should be noted that boundary identification processing is performed on the set of releasable segments: along the temporal direction of each releasable segment, the start position, end position, and release proximity relationship corresponding to each temporal position within the segment are read respectively. Taking the start position and end position as the starting point of boundary identification, the release proximity direction, discrimination state continuity relationship, and release boundary state change between adjacent temporal positions are compared one by one within the segment. The temporal position on the start position side where the release proximity direction changes first, the discrimination state continuity relationship is interrupted, or the release boundary state is discontinuous is determined as the start boundary adjustment position. The temporal position on the end position side where the release proximity direction changes first, the discrimination state continuity relationship is interrupted, or the release boundary state is discontinuous is determined as the end boundary adjustment position.

[0083] Each releasable segment undergoes boundary tuning: For each releasable segment, starting from the segment's initial position, the release approach direction, discrimination state continuity, and release boundary state changes between subsequent timing positions and previous timing positions are checked sequentially along the segment's internal temporal direction. When two or more consecutive timing positions are found to satisfy the conditions of consistent release approach direction, continuous discrimination state continuity, and seamless release boundary state transition, the first timing position in this consecutive sequence is determined as the tuned segment's initial position, and the temporal content from the original segment's initial position to the tuned segment's initial position is removed from the segment boundary. When multiple sets of consecutive timing positions satisfying the conditions exist on the segment's initial side, the set of consecutive timing positions whose initial position is closest to the original segment's initial position is selected, and the first timing position in the selected consecutive sequence is determined as the tuned segment's initial position.

[0084] For the end position of the segment, starting from the end position, check the release approach direction, discrimination state continuity, and release boundary state changes one by one along the opposite timing direction. When two or more consecutive timing positions are found to have the same release approach direction, continuous discrimination state continuity, and seamless release boundary state, the last timing position closest to the end position of the segment in the consecutive timing positions is determined as the adjusted end position of the segment, and the timing content from the adjusted end position of the segment to the original end position of the segment is removed from the segment boundary. When there are multiple sets of consecutive timing positions that meet the conditions on the end position side of the segment, select the set of consecutive timing positions whose end position is closest to the original end position of the segment, and determine the last timing position closest to the end position of the segment in the selected consecutive timing positions as the adjusted end position of the segment.

[0085] If there are no two or more consecutive timing positions that meet the conditions on the start or end side of a releasable section, the releasable section is marked as a boundary unstable section.

[0086] After boundary tuning is completed, stable release boundary reconstruction processing is performed on the tuned segment content that is not marked as an unstable boundary segment: within the time range defined by the start and end positions of the tuned segment, the continuation of the release proximity relationship between adjacent time positions and the corresponding release boundary state are compared. The continuous time content with the release proximity relationship and the release boundary state are organized into a stable release range. The start and end positions of the stable release range are used as the boundary of the reconstructed segment. Each releasable segment that is not marked as an unstable boundary segment is reorganized into a segment, and all reconstructed segment content is arranged in time sequence to form a candidate release segment set.

[0087] S4.3 Extract the attitude disturbance changes, handover changes and taxiing margin changes corresponding to each time position in each candidate release segment in the candidate release segment set, and perform window focusing processing to form the target release window.

[0088] It should be noted that, according to each time sequence position, the release parameter content in the taxiing operation parameter group, the connection mapping relationship in the shadow power supply trajectory, and the segment boundary content corresponding to the candidate release segment are read back; the absolute values ​​of the pitch angle change, roll angle change, yaw angle change, and attitude angular velocity change between adjacent time sequence positions are taken respectively, and the ratio of each absolute value to the maximum absolute value of the same type of change in the current candidate release segment is used as the corresponding attitude change scale value; the maximum value among the attitude change scale values ​​is used as the attitude disturbance scale value.

[0089] The ratios of the power supply takeover sequence change marker value, the takeover strength level difference, and the change in the takeover buffer relationship position between adjacent time sequence positions to the maximum value of the same type of change in the current candidate release segment are used as the corresponding takeover change scale value; the maximum value among all takeover change scale values ​​is used as the takeover switching scale value.

[0090] The minimum value among the interval between the current timing position and the start position of the candidate release segment, the interval between the current timing position and the end position of the candidate release segment, and the release switching margin is taken as the boundary margin value, and the ratio of the boundary margin value to the maximum boundary margin value in the current candidate release segment is taken as the runaway margin scale value; when the maximum value of any similar change is zero, the corresponding scale value is determined to be zero.

[0091] Along the temporal direction of each candidate release segment, the release adaptability evaluation value corresponding to each temporal position is compared one by one. The temporal content that continuously increases or remains unchanged in the release adaptability evaluation value and is continuously connected to the preceding and following temporal positions is organized into the window focus range. If there are multiple window focus ranges within the same candidate release segment, the group of window focus ranges with the larger average value of the release adaptability evaluation value is retained. When the average value of the release adaptability evaluation value of multiple window focus ranges is the same, the group of window focus ranges with smaller changes in the release adaptability evaluation value between adjacent temporal positions is retained, and the corresponding continuous temporal content is determined as the target release window.

[0092] The expression for calculating the release fitness evaluation quantity is: ; ; ; ; in, Indicates the first Release adaptation evaluation quantity corresponding to each time position; Indicates the first Attitude perturbation coefficients corresponding to each time position; Indicates the first The switching coefficient corresponding to each time sequence position; Indicates the first The runaway margin coefficient corresponding to each timing position. Indicates the first The attitude perturbation scale value corresponding to each time position. Indicates the first The attitude perturbation scale value corresponding to each position; Indicates the first The handover scale value corresponding to each timing position. Indicates the first The corresponding switching scale value for each position; Indicates the first The runaway margin scale value corresponding to each time position; This represents the maximum value among all time-series positions within the current candidate release segment, indicating the maximum value of the coasting margin scale. This represents the minimum value among all time-series positions within the current candidate release segment, indicating the minimum value of the runaway margin scale. This represents a very small positive number used to avoid a denominator of zero, such as 0.0000001. If the current timing position is the first timing position of the candidate release segment, the corresponding attitude disturbance coefficient and handover switching coefficient are set to zero. If the taxiing redundancy scale values ​​corresponding to all timing positions in the current candidate release segment are the same, the taxiing redundancy coefficients corresponding to each timing position are uniformly set to one. If the taxiing redundancy scale values ​​corresponding to all timing positions in the current candidate release segment are all zero, the taxiing redundancy coefficients corresponding to each timing position are uniformly set to zero.

[0093] It should also be noted that the reason why this calculation method is used to calculate the release adaptability evaluation quantity is that the determination of the release window is affected by three types of factors: attitude disturbance, handover, and coasting margin. Among them, attitude disturbance and handover are unfavorable factors. The larger the value, the more unfavorable it is for the smooth implementation of the release handover. Coasting margin is a favorable factor. The larger the value, the more favorable it is for the safe implementation of the release handover. Therefore, the coasting margin is used as a positive vector, and attitude disturbance and handover are used as reverse constraint quantities for combined calculation.

[0094] S4.4 Extract the succession mapping relationship and release adaptability parameters corresponding to each time position within the target release window, and perform succession gradual entry processing to form a succession switching state group.

[0095] It should be noted that a gradual acceptance process is performed for each timing position within the target release window: along the timing direction of the target release window, the acceptance mapping relationship and release adaptability parameters corresponding to each timing position are read sequentially; among them, the acceptance mapping relationship includes power supply acceptance sequence, acceptance strength, front buffer position, strong acceptance position, back buffer position, front buffer length, and back buffer length, and the release adaptability parameters include attitude disturbance scale value, acceptance switching scale value, and taxiing redundancy scale value.

[0096] When a timing position is within the continuous range corresponding to the preceding buffer position, and the subsequent timing position can enter the range corresponding to the strong take-off position, while the release adaptive evaluation value remains unchanged, the timing position is determined as the take-off entry position; when a timing position is within the range corresponding to the strong take-off position, and the strong take-off position is maintained continuously for at least one runway control cycle, while the release adaptive evaluation value does not decrease, the timing position is determined as the take-off continuity position; when a timing position transitions from the strong take-off position to the range corresponding to the following buffer position, and the release adaptive evaluation value remains consistent before and after, the timing position is determined as the take-off stability position.

[0097] According to the temporal sequence of receiving entry position, receiving continuous position, and receiving stable position, the receiving mapping relationship corresponding to each temporal position within the target release window is progressively organized so that the receiving process within the target release window moves from the pre-buffer position to the strong receiving position, and then transitions from the strong receiving position to the post-buffer position, forming a receiving switching state group.

[0098] It should also be noted that when there is no receiving entry position, receiving continuous position, or receiving stable position within the target release window, the target release window is marked as an incomplete receiving window, and the focus range of other windows within the same candidate release segment is returned to redetermine the target release window; when there is no other window focus range within the same candidate release segment, the corresponding candidate release segment is marked as an insufficient receiving segment, and the set of candidate release segments is returned to reselect the next candidate release segment.

[0099] S4.5. Perform release linkage and timing integration processing on the receiving and switching state group to form a release execution state set.

[0100] It should be noted that the release linkage process is performed on the acceptance switching state group: the timing position where the acceptance entry state corresponding to the acceptance entry position and the release adaptive parameters are connected is determined as the release linkage entry position; the timing position where the acceptance continuity state corresponding to the acceptance continuity position and the release adaptive parameters are continuously connected is determined as the release linkage continuity position; and the timing position where the acceptance stability state corresponding to the acceptance stability position and the release adaptive parameters are continued within the boundary is determined as the release linkage stability position. According to the timing sequence of the release linkage entry position, the release linkage continuity position, and the release linkage stability position, the release switching content of each timing position within the target release window is correspondingly linked, so that the acceptance switching process and the release switching process maintain synchronous entry, synchronous continuity, and synchronous stability at the same timing position.

[0101] Perform timing integration processing on each timing position after release linkage: Along the timing direction of the target release window, organize the corresponding acceptance switching content and release switching content of each timing position in sequence, and sequentially connect the timing content that is continuous and maintains a corresponding relationship. The timing position where acceptance or release changes occurs is retained as the switching adjustment position, and the corresponding content before and after the switching adjustment position is included in the integrated timing content. Arrange all the integrated timing content according to the order of each timing position in the target release window, so that each timing position corresponds to a clear acceptance switching state and release switching state, forming a release execution state set.

[0102] S5. Based on the release execution state set, monitor the flight status of the aircraft and perform consistency comparison and stability control processing to generate a cooperative taxiing control command table.

[0103] S5.1. According to the time sequence position within the target release window, perform continuous sampling and time sequence connection processing on the flight status of the aircraft after entering the flight transition phase to form a flight status sequence.

[0104] It should be noted that, around the release execution state set, along the time sequence direction corresponding to the target release window, the propulsion changes, attitude changes, and power supply changes of the aircraft at each time sequence position are collected sequentially and organized accordingly to form the flight state content at that time sequence position. For flight state content that maintains continuity between adjacent time sequence positions, their continuous change relationship is retained. For content where propulsion switching, attitude adjustment, or power supply change occurs between adjacent time sequence positions, the corresponding time sequence position is determined as the state change position, and the flight state content before and after the state change position is retained.

[0105] Perform time-series connection processing on the flight status content formed at each time sequence position: according to the order of each time sequence position within the target release window, sequentially connect the flight status content of the previous time sequence position with the flight status content of the next time sequence position, so that the propulsion change content, attitude change content, and power supply connection change content are continuously arranged along the flight transition phase to form a flight status sequence.

[0106] S5.2. Perform a consistency comparison between the flight state sequence and the release execution state set, identify the state deviation direction and deviation expansion interval corresponding to each time position, and form a state deviation group.

[0107] It should be noted that, following the sequence of each time position within the target release window, the propulsion changes, attitude changes, and power supply transfer changes corresponding to each time position in the flight state sequence are compared with the transfer switching and release switching states corresponding to the same time position in the release execution state set. Time content with inconsistent correspondences is considered as state deviation content. The direction of change of state deviation content between adjacent time positions is compared along the time sequence direction. A gradual deviation of the flight state sequence relative to the release execution state set is determined as a positive deviation direction, and a backward deviation of the flight state sequence relative to the release execution state set is determined as a negative deviation direction. State deviation content that maintains the same deviation direction and is continuously transferred between adjacent time positions is sequentially chained together, and the corresponding continuous time sequence range is determined as the deviation extension interval. According to the order of each deviation extension interval, the corresponding state deviation direction and deviation extension interval are associated and arranged to form a state deviation group.

[0108] S5.3 Perform stability control tuning and instruction arrangement processing on the state deviation group to form a cooperative taxiing control instruction table.

[0109] It should be noted that the stability control tuning process is performed on the state deviation group: along the time sequence direction of each deviation extension interval, the corresponding state deviation direction, deviation extension interval range, and the corresponding propulsion change content, power supply acceptance change content, and attitude change content within the deviation extension interval are read sequentially; when the state deviation within a certain deviation extension interval corresponds to the power supply acceptance change content, the deviation extension interval is organized into an acceptance correction interval, and the corresponding acceptance correction content is determined; when the state deviation within a certain deviation extension interval corresponds to the propulsion change content, the deviation extension interval is organized into an propulsion correction interval, and the corresponding propulsion correction content is determined; when the state deviation within a certain deviation extension interval corresponds to the attitude change content, the deviation extension interval is organized into an attitude correction interval, and the corresponding stability maintenance content is determined; the acceptance correction content, propulsion correction content, and stability maintenance content are organized according to the order of each deviation extension interval to form a control correction group.

[0110] The control correction group executes instruction scheduling and processing as follows: Following the sequential order of each time position in the flight state sequence, the corresponding take-off correction content, propulsion correction content, and stability maintenance content in each deviation extension interval of the control correction group are linked to their respective time positions. Specifically, the take-off correction content is organized into a power supply take-off instruction record, which includes the power supply switching direction, power supply switching amount, take-off entry time position, take-off duration cycle number, and take-off exit condition. The propulsion correction content is organized into a propulsion correction instruction record, which includes the propulsion correction direction, propulsion correction amount, propulsion correction start time position, propulsion correction duration cycle number, and propulsion correction exit condition. The stability maintenance content is organized into an attitude maintenance instruction record, which includes the attitude maintenance direction, attitude maintenance amount, attitude maintenance start time position, attitude maintenance duration cycle number, and attitude maintenance exit condition.

[0111] For control corrections covering a single deviation extension range, the corresponding power supply take-off command record, propulsion correction command record, or attitude maintenance command record is directly arranged as the control command corresponding to that deviation extension range. For multiple consecutive deviation extension ranges, execution sequence markers are configured for the corresponding control commands according to the order of each deviation extension range in the flight state sequence, so that the control command corresponding to the previous deviation extension range enters the execution state only after the exit condition is met. All control commands are tabulated according to timing position, command type, target, control quantity, number of duration cycles, execution sequence markers, and exit conditions to form a coordinated taxiing control command table.

[0112] This embodiment also provides a computer device applicable to the ground power supply taxiing method based on cooperative control, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the ground power supply taxiing method based on cooperative control as proposed in the above embodiment. The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0113] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the ground-powered taxiing method based on cooperative control as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0114] In summary, this invention improves the predictability of the power supply process by generating a shadow power supply trajectory, making the power supply take-off process before release no longer dependent on a single state trigger. This facilitates the timing control of the power supply coordination process between the ground power supply trolley and the aircraft by combining it with industrial control software. Furthermore, by identifying the releasable segments in the release discrimination sequence, the release action can be carried out in a more suitable segment, improving the accuracy of the release timing determination, enhancing the stability of the release window, and improving the smoothness of the transition after the aircraft releases.

[0115] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A ground-powered taxiing method based on cooperative control, characterized in that, include: Collect the taxiing operation parameters corresponding to the current ground power supply taxiing mission, and perform collaborative reference compilation processing to form a collaborative taxiing reference set; Extract the taxiing control constraints of the cooperative taxiing reference set and perform state deduction and trajectory convergence processing to generate the cooperative taxiing trajectory; The power supply requirements after release at each time position in the coordinated sliding trajectory are analyzed, and power supply mapping is performed to generate a shadow power supply trajectory. Based on the coordinated sliding trajectory and the shadow power supply trajectory, coordinated sliding adjustment and release judgment processing are performed to form a release judgment sequence. Identify the releasable segments in the release discrimination sequence, perform release adaptability comparison processing to form a target release window, perform power supply switching and release switching processing on the target release window, and generate a release execution state set; Based on the release execution state set, monitor the flight status of the aircraft and perform consistency comparison and stability control processing to generate a cooperative taxiing control command table.

2. The ground power supply gliding method based on cooperative control as described in claim 1, characterized in that, The specific steps for forming the cooperative gliding reference set are as follows: Collect the traction parameters of the taxiway, ground power parameters, flight propulsion parameters, flight attitude parameters and release boundary parameters corresponding to the current ground power supply taxiing mission, and merge them according to the cooperative relationship under the same taxiing phase to form a taxiing operation parameter group; Perform collaborative constraint identification and constraint mapping processing on the taxiing operation parameter set to form a collaborative taxiing reference set.

3. The ground power supply gliding method based on cooperative control as described in claim 2, characterized in that, The specific steps for generating the cooperative gliding trajectory are as follows: Extract the taxiing propulsion constraints, power supply connection constraints, and release switching constraints from the collaborative taxiing reference set, and arrange the constraints according to the timing relationship to form a taxiing control constraint group; Perform segment state extrapolation processing on the taxiing control constraint group to obtain the propulsion state, power supply state and release state in different taxiing segments, and form a set of candidate trajectory segments; Identify the state succession relationship between adjacent candidate trajectory segments in the candidate trajectory segment set, perform trajectory convergence processing, and generate a cooperative gliding trajectory.

4. The ground power supply gliding method based on cooperative control as described in claim 3, characterized in that, The specific steps for generating the shadow power supply trajectory are as follows: Extract the power supply switching status, propulsion response status and release switching status corresponding to each time position in the coordinated sliding trajectory to form a set of demand-accepting parameters. Perform connection relationship identification processing on the connection demand parameter group to obtain the power supply connection sequence, connection strength and connection buffer relationship corresponding to each time position, and form a connection mapping parameter group; The connection mapping relationship corresponding to each time position in the connection mapping parameter group is associated with the time position in the cooperative sliding trajectory to form a shadow power supply trajectory.

5. The ground power supply gliding method based on cooperative control as described in claim 3 or 4, characterized in that, The specific steps for forming the release discrimination sequence are as follows: The actual sliding state corresponding to each time position is obtained from the cooperative sliding trajectory, and time-aligned with the connection mapping relationship in the shadow power supply trajectory to form a dual-track cooperative state set. By performing skid offset suppression and convergence aggregation on the dual-track cooperative state set, the release convergence relationship corresponding to each time position is extracted to form a release convergence fragment set. The set of release-approaching fragments is subjected to continuous merging and fragmentation resolution processes to form a release discrimination sequence.

6. The ground power supply taxiing method based on cooperative control as described in claim 5, characterized in that, The specific steps for forming the target release window are as follows: The time sequence positions in the segment aggregation release discrimination sequence that have the same release tendency direction and continuous discrimination state are used to form a set of releaseable segments; Boundary tuning is performed on the set of releaseable segments to eliminate the influence of state oscillations at the beginning and end positions of each releaseable segment, and the internal stable release boundary is reconstructed to form a set of candidate release segments. Extract the attitude disturbance changes, handover changes, and taxiing margin changes corresponding to each time position within each candidate release segment in the candidate release segment set, and perform window focusing processing to form the target release window.

7. The ground power supply gliding method based on cooperative control as described in claim 6, characterized in that, The specific steps for generating the release execution state set are as follows: Extract the acceptance mapping relationship and release adaptability parameters corresponding to each time position within the target release window, and perform acceptance gradual entry processing to form an acceptance switching state group; The release linkage and timing integration processing are performed on the receiving and switching state group to form a release execution state set.

8. The ground-powered gliding method based on cooperative control as described in claim 6 or 7, characterized in that, The specific steps for generating the cooperative gliding control instruction table are as follows: According to the temporal position sequence within the target release window, the flight status of the aircraft after entering the flight transition phase is continuously sampled and time-series coupled to form a flight status sequence. A consistency comparison is performed between the flight state sequence and the release execution state set to identify the state deviation direction and deviation extension range corresponding to each time position, forming a state deviation group. Stability control tuning and instruction arrangement are performed on the state deviation group to form a coordinated taxiing control instruction table.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the ground power supply gliding method based on cooperative control as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the ground power supply gliding method based on cooperative control as described in any one of claims 1 to 8.

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