Three-channel rudder command amplitude limiting control distribution method, device, equipment and storage medium

Abstract

The application discloses a three-channel rudder instruction amplitude limiting control distribution method and device, equipment and a storage medium, the method obtains the three-channel rudder instruction of flight control system, the roll channel rudder instruction is limited and smooth processing, and the remaining rudder resource of pitch yaw channel is calculated based on the amplitude of the roll rudder instruction after smooth processing;According to the remaining rudder resource of pitch yaw channel and the proportional relationship of the amplitude of pitch channel rudder instruction and yaw channel rudder instruction, the adaptive amplitude limiting processing is carried out on the pitch channel rudder instruction and yaw channel rudder instruction, and the corrected three-channel rudder instruction after amplitude limiting is obtained;Based on adaptive parameter, the corrected three-channel rudder instruction is dynamically distributed to four physical rudders, four physical rudder instructions are obtained, and the aircraft is controlled according to the four physical rudder instructions, which can ensure the stability of aircraft attitude control, and the aircraft can significantly improve the aircraft's maneuverability and attack envelope by fully utilizing the rudder surface resource.

Description

Technical Field

[0001] This invention relates to the field of flight control technology, and in particular to a three-channel rudder command amplitude limiting control allocation method, device, equipment, and storage medium. Background Technology

[0002] Aircraft with an "X"-shaped four-blade evenly distributed control surface layout generally employ a three-channel stability control system for roll, pitch, and yaw. That is, the three-channel attitude or overload commands are calculated by the control loop to obtain three-channel rudder commands. Then, according to a certain rudder command limiting and control distribution method, the three-channel digital rudder commands are mapped to four physical rudder commands. By manipulating the deflection of the four rudders, the force on the control surface is changed, thereby enabling the aircraft to obtain the required control torque and control the aircraft to change its attitude and achieve the required flight attitude or overload.

[0003] The allowable deflection angle of a single physical control surface is limited by the mechanical limit of the control system and the capability of the servo control system. When the single control command exceeds the maximum control deflection angle limit, the control surface deflection response reaches saturation, which has an adverse effect on the control system. In order to ensure that the commands of the four physical control surfaces meet the limit constraints and avoid the saturation of a single control surface, it is necessary to perform limiting and four-control surface control allocation processing on the three-channel digital control commands.

[0004] Existing three-channel rudder command limiting technologies often employ a roll rudder priority strategy to ensure roll stability. The roll rudder command limiting value is selected as the maximum required roll rudder deflection within the entire flight envelope of the aircraft, and the remaining control capability is then evenly distributed to the pitch and yaw channels for limiting.

[0005] The existing four-blade control distribution generally adopts a balanced fixed distribution method.

[0006] The existing technical solution uses a constant rudder command limit and a static control allocation method. The solution is simple, but it fails to fully utilize the control capabilities of the four rudder blades.

[0007] If the maximum deflection angle capability of a single rudder is 30°, and considering that the roll, pitch, and yaw channel rudder commands are 10°, 10°, and 15° respectively, then the four rudder commands allocated by the existing technical solution are 35°, 5°, -15°, and 15°, of which one rudder command exceeds the 30° limit.

[0008] Based on the aerodynamic characteristics of the aircraft, it is known that the combination of four rudders at 25°, 15°, -25°, and 25° can realize the three-channel command.

[0009] However, existing technology requires sacrificing the capability of the three-channel rudder by using enhanced amplitude limiting due to the rudder exceeding the limit value.

[0010] Modern aircraft have increasingly higher requirements for maneuverability and available angle of attack, which leads to a greater demand for pitch and yaw rudders, exacerbating the conflict between the requirements of the three rudder channels.

[0011] Existing technologies require comprehensive consideration of the conflict between the three-channel rudder resources and the global roll stability and pitch and yaw maneuverability. By reducing part of the flight envelope to ensure the control stability of the entire flight envelope, the aircraft's attack zone is actually sacrificed, and the flight control system's capabilities are not fully utilized.

[0012] Existing three-channel rudder command limiting and control allocation methods adopt a static scheme, resulting in a narrow feasible domain for the three-channel rudder commands, which limits the aircraft's maneuverability and sacrifices flight and attack envelope. Summary of the Invention

[0013] The main objective of this invention is to provide a three-channel rudder command limiting control allocation method, device, equipment, and storage medium, aiming to solve the technical problems in the prior art where the use of static limiting and fixed allocation strategies leads to insufficient utilization of rudder surface resources, easy saturation of single rudder pieces, and thus limiting the aircraft's maneuver envelope and anti-interference capability, and multi-channel command coupling easily causes unstable rudder surface resource allocation.

[0014] In a first aspect, the present invention provides a three-channel rudder command amplitude limiting control allocation method, the three-channel rudder command amplitude limiting control allocation method comprising the following steps: The system acquires three-channel rudder commands from the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll rudder commands are limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. Based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the pitch channel rudder command and the yaw channel rudder command amplitude, adaptive amplitude limiting processing is performed on the pitch channel rudder command and the yaw channel rudder command to obtain the amplitude-limited corrected three-channel rudder command. Based on adaptive parameters, the modified three-channel rudder commands are dynamically allocated to the four physical rudders to obtain four physical rudder commands, and the aircraft is controlled according to the four physical rudder commands.

[0015] Optionally, the acquisition of the three-channel rudder commands from the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands, involves limiting and stabilizing the roll rudder commands, and calculating the remaining rudder resources for the pitch and yaw channels based on the amplitude of the stabilized roll rudder commands, including: The system acquires three-channel rudder commands output by the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll channel rudder command is subjected to a limiting process based on the roll rudder demand in a typical flight envelope. This ensures roll control capability while reserving rudder resources for the pitch and yaw channels, thereby reducing the impact of roll coupling. The roll channel rudder command after amplitude limiting is smoothed to obtain a smoothed roll rudder command. The remaining rudder resources for the pitch and yaw channels are obtained based on the amplitude of the roll rudder command after smooth processing.

[0016] Optionally, obtaining the remaining rudder resources in the pitch and yaw channels based on the amplitude of the roll rudder command after smoothing includes: Based on the coupling relationship of the aircraft's control surface layout, the resources occupied by the amplitude of the roll control command after smoothing are deducted from the maximum available deflection angle of a single control surface, and the remaining control resources of the pitch and yaw channels that are used by both channels at the current moment are calculated.

[0017] Optionally, the step of subtracting the resources occupied by the amplitude of the roll rudder command after smoothing from the maximum available deflection angle of a single rudder based on the coupling relationship of the aircraft's control surface layout, and calculating the remaining rudder resources of the pitch and yaw channels for use by both channels at the current moment, includes: Compare the magnitude of the roll command after smoothing the current frame with the magnitude of the roll command after smoothing the previous frame. When the amplitude of the roll rudder command after the current frame is stabilized is greater than the amplitude of the roll rudder command after the previous frame is stabilized, the amplitude of the stabilized roll rudder command is determined to be the amplitude of the stabilized roll rudder command after the current frame is stabilized, and the time of the stabilized roll rudder command update information is updated to the current time. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, the difference between the current time and the roll command update time after the previous frame is stabilized is compared with the stabilization duration parameter. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, and the difference between the current time and the update time of the roll command after the previous frame is stabilized is not greater than the stabilization duration parameter, the amplitude of the stabilized roll command and the update time are kept unchanged from the previous frame. When the difference between the current time and the roll rudder command update information time after the previous frame's smooth processing is greater than the smooth duration parameter, the amplitude of the smoothed roll rudder command is determined to be the sum of the amplitude of the smoothed roll rudder command in the current frame and the roll rudder sensitivity parameter, and the smoothed roll rudder command update information time is updated to the current time. The remaining rudder resources for the pitch and yaw channels, which are shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll command after smoothing from the maximum available deflection angle of a single rudder piece.

[0018] in, To utilize the remaining rudder resources in the pitch and yaw channels This represents the maximum deflection angle of a single rudder. The amplitude of the roll rudder command after smooth processing.

[0019] Optionally, the step of adaptively limiting the pitch and yaw rudder commands based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the amplitudes of the pitch and yaw rudder commands to obtain the limited corrected three-channel rudder commands includes: Using the remaining rudder resources in the pitch and yaw channels as the overall constraint boundary, the ratio of the larger of the pitch channel rudder command and the yaw channel rudder command to the sum of their amplitudes is calculated using the following formula to establish a proportional relationship to determine the variables:

[0020] in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; Based on the comparison result between the variable and the preset ratio threshold, the limiting mode is dynamically selected, and adaptive limiting processing is performed according to the limiting mode. The pitch and yaw rudder commands obtained from the amplitude limiting process are integrated with the roll rudder command obtained from the stabilization process to form the corrected three-channel rudder command after amplitude limiting.

[0021] Optionally, the step of dynamically selecting a limiting mode based on the comparison result between the variable determined by the proportional relationship and the preset ratio threshold, and performing adaptive limiting processing based on the limiting mode, includes: The ratio relationship determination variable is compared with a preset ratio threshold. When the ratio relationship judgment variable is greater than the preset ratio threshold, the primary priority amplitude limiting mode is adopted to compare the amplitude of the pitch channel rudder command and the yaw channel rudder command. The channel rudder command with the largest amplitude is determined as the primary channel rudder command, and the channel rudder command with the smallest amplitude is determined as the non-primary channel rudder command. The remaining rudder resources of the pitch and yaw channels are preferentially allocated to the primary channel rudder command, and then the remaining resources after allocation are allocated to the non-primary channel rudder command. When the ratio determination variable is not greater than the preset ratio threshold, the balanced amplitude limiting mode is adopted to evenly distribute the remaining rudder resources of the pitch and yaw channels between the pitch channel rudder commands and the yaw channel rudder commands.

[0022] Optionally, the step of dynamically allocating the modified three-channel rudder commands to the four physical rudders based on adaptive parameters to obtain four physical rudder commands, and controlling the aircraft according to the four physical rudder commands, includes: Based on the corrected three-channel rudder command after amplitude limiting, the dynamic rudder allocation adaptive parameters are calculated in real time using the following formula:

[0023]

[0024]

[0025]

[0026]

[0027] in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The dynamic control allocation matrix is ​​constructed using the adaptive parameters according to the following formula:

[0028] in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The roll channel rudder command, pitch channel rudder command, and yaw channel rudder command are mapped to four physical control surfaces according to the dynamic control allocation matrix, and the commands of the four physical control surfaces are calculated to ensure that the saturation of a single control surface is avoided while meeting the combined torque requirements. The aircraft is controlled according to the commands of the four physical control surfaces.

[0029] Secondly, to achieve the above objectives, the present invention also proposes a three-channel rudder command limiting control allocation device, the three-channel rudder command limiting control allocation device comprising: The remaining rudder resource calculation module is used to obtain the three-channel rudder commands of the flight control system. The three-channel rudder commands include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands. The roll channel rudder commands are limited and stabilized, and the remaining rudder resources of the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. An adaptive amplitude limiting module is used to adaptively limit the pitch and yaw channel rudder commands based on the remaining rudder resources in the pitch and yaw channels and the ratio of the amplitudes of the pitch channel rudder commands to the yaw channel rudder commands, so as to obtain the corrected three-channel rudder commands after amplitude limiting. The physical rudder command generation module is used to dynamically allocate the modified three-channel rudder command to the four physical rudders based on adaptive parameters, thereby obtaining the four physical rudder commands, and controlling the aircraft according to the four physical rudder commands.

[0030] Thirdly, to achieve the above objectives, the present invention also proposes a three-channel rudder command limiting control allocation device, the three-channel rudder command limiting control allocation device comprising: a memory, a processor, and a three-channel rudder command limiting control allocation program stored in the memory and executable on the processor, the three-channel rudder command limiting control allocation program being configured to implement the steps of the three-channel rudder command limiting control allocation method described above.

[0031] Fourthly, to achieve the above objectives, the present invention also proposes a storage medium storing a three-channel rudder command amplitude limiting control allocation program, wherein when the three-channel rudder command amplitude limiting control allocation program is executed by a processor, the program implements the steps of the three-channel rudder command amplitude limiting control allocation method described above.

[0032] The three-channel rudder command amplitude limiting control allocation method proposed in this invention acquires three-channel rudder commands from the flight control system, including roll, pitch, and yaw rudder commands. The roll rudder command is amplitude-limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder command. According to the remaining pitch and yaw channel rudder resources and the proportional relationship between the amplitudes of the pitch and yaw rudder commands, adaptive amplitude limiting processing is performed on the pitch and yaw rudder commands to obtain the amplitude-limited corrected three-channel rudder commands. Based on adaptive parameters, the corrected three-channel rudder commands are dynamically allocated to four control surfaces. The system obtains commands from four physical rudders and controls the aircraft based on these commands. This approach fully utilizes rudder resources and effectively prevents single-rudder saturation. By prioritizing amplitude limiting and smoothing the roll channel, it eliminates interference from high-frequency fluctuations in resource calculations and accurately calculates the remaining rudder resources for the pitch and yaw channels. Then, based on the ratio of pitch and yaw channel command amplitudes, it dynamically selects the amplitude limiting mode, achieving optimized allocation of remaining rudder resources between primary and non-primary channels. Finally, based on adaptive parameters, it dynamically distributes the amplitude-limited three-channel commands to the four physical rudders. Thus, while ensuring the stability of the aircraft's attitude control, the aircraft significantly improves its maneuverability and attack envelope by fully utilizing rudder resources. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention; Figure 2 This is a flowchart illustrating the first embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention; Figure 3 This is a flowchart illustrating the second embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention; Figure 4 This is a schematic diagram of the overall process of the three-channel rudder command amplitude limiting control allocation method of the present invention; Figure 5 This is a schematic diagram of the dynamic amplitude limiting process of three-channel commands based on roll channel priority in the three-channel rudder command amplitude limiting control allocation method of the present invention; Figure 6 is a schematic diagram comparing the first effect of three-channel rudder command tracking between the prior art and the existing technology in the three-channel rudder command amplitude limiting control allocation method of the present invention. Figure 7 is a schematic diagram comparing the second effect of three-channel rudder command tracking between the prior art and existing technologies in the three-channel rudder command amplitude limiting control allocation method of the present invention. Figure 8 This is a functional block diagram of the first embodiment of the three-channel rudder command amplitude limiting control and distribution device of the present invention.

[0034] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0035] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0036] The solution of this invention mainly involves: acquiring three-channel control system commands, including roll, pitch, and yaw commands; performing amplitude limiting and stabilization processing on the roll command; and calculating the remaining control resources for the pitch and yaw channels based on the amplitude of the stabilized roll command; adaptively limiting the pitch and yaw commands based on the remaining control resources and the proportional relationship between the amplitudes of the pitch and yaw commands to obtain the limited corrected three-channel control commands; dynamically allocating the corrected three-channel control commands to four physical control surfaces based on adaptive parameters to obtain four physical control surface commands; and controlling the aircraft according to these four physical control surface commands, which fully utilizes control surface resources and has… To effectively prevent single-blade saturation, priority limiting and smoothing processing of the roll channel eliminates interference from high-frequency fluctuations in resource calculation and accurately calculates the remaining rudder resources for the pitch and yaw channels. Then, based on the ratio of the pitch and yaw channel command amplitudes, the limiting mode is dynamically selected, achieving optimized allocation of remaining rudder resources between the primary and non-primary channels. Finally, based on adaptive parameters, the three-channel commands after limiting are dynamically allocated to the four physical rudders. Thus, while ensuring the stability of the aircraft's attitude control, the aircraft significantly improves its maneuverability and attack envelope by making full use of rudder surface resources. This solves the technical problems in existing technologies where static limiting and fixed allocation strategies lead to insufficient utilization of rudder surface resources, easy saturation of single rudders, and thus limit the aircraft's maneuver envelope and anti-interference capabilities, and multi-channel command coupling easily causes unstable allocation of rudder surface resources.

[0037] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0038] like Figure 1As shown, the device may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0039] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0040] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating device, a network communication module, a user interface module, and a three-channel rudder command amplitude limiting control allocation program.

[0041] The device of the present invention calls the three-channel rudder instruction limiting control allocation program stored in the memory 1005 through the processor 1001, and performs the following operations: The system acquires three-channel rudder commands from the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll rudder commands are limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. Based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the pitch channel rudder command and the yaw channel rudder command amplitude, adaptive amplitude limiting processing is performed on the pitch channel rudder command and the yaw channel rudder command to obtain the amplitude-limited corrected three-channel rudder command. Based on adaptive parameters, the modified three-channel rudder commands are dynamically allocated to the four physical rudders to obtain four physical rudder commands, and the aircraft is controlled according to the four physical rudder commands.

[0042] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: The system acquires three-channel rudder commands output by the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll channel rudder command is subjected to a limiting process based on the roll rudder demand in a typical flight envelope. This ensures roll control capability while reserving rudder resources for the pitch and yaw channels, thereby reducing the impact of roll coupling. The roll channel rudder command after amplitude limiting is smoothed to obtain a smoothed roll rudder command. The remaining rudder resources for the pitch and yaw channels are obtained based on the amplitude of the roll rudder command after smooth processing.

[0043] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: Based on the coupling relationship of the aircraft's control surface layout, the resources occupied by the amplitude of the roll control command after smoothing are deducted from the maximum available deflection angle of a single control surface, and the remaining control resources of the pitch and yaw channels that are used by both channels at the current moment are calculated.

[0044] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: Compare the magnitude of the roll command after smoothing the current frame with the magnitude of the roll command after smoothing the previous frame. When the amplitude of the roll rudder command after the current frame is stabilized is greater than the amplitude of the roll rudder command after the previous frame is stabilized, the amplitude of the stabilized roll rudder command is determined to be the amplitude of the stabilized roll rudder command after the current frame is stabilized, and the time of the stabilized roll rudder command update information is updated to the current time. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, the difference between the current time and the roll command update time after the previous frame is stabilized is compared with the stabilization duration parameter. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, and the difference between the current time and the update time of the roll command after the previous frame is stabilized is not greater than the stabilization duration parameter, the amplitude of the stabilized roll command and the update time are kept unchanged from the previous frame. When the difference between the current time and the roll rudder command update information time after the previous frame's smooth processing is greater than the smooth duration parameter, the amplitude of the smoothed roll rudder command is determined to be the sum of the amplitude of the smoothed roll rudder command in the current frame and the roll rudder sensitivity parameter, and the smoothed roll rudder command update information time is updated to the current time. The remaining rudder resources for the pitch and yaw channels, which are shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll command after smoothing from the maximum available deflection angle of a single rudder piece.

[0045] in, To utilize the remaining rudder resources in the pitch and yaw channels This represents the maximum deflection angle of a single rudder. The amplitude of the roll rudder command after smooth processing.

[0046] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: Using the remaining rudder resources in the pitch and yaw channels as the overall constraint boundary, the ratio of the larger of the pitch channel rudder command and the yaw channel rudder command to the sum of their amplitudes is calculated using the following formula to establish a proportional relationship to determine the variables:

[0047] in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; Based on the comparison result between the variable and the preset ratio threshold, the limiting mode is dynamically selected, and adaptive limiting processing is performed according to the limiting mode. The pitch and yaw rudder commands obtained from the amplitude limiting process are integrated with the roll rudder command obtained from the stabilization process to form the corrected three-channel rudder command after amplitude limiting.

[0048] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: The ratio relationship determination variable is compared with a preset ratio threshold. When the ratio relationship judgment variable is greater than the preset ratio threshold, the primary priority amplitude limiting mode is adopted to compare the amplitude of the pitch channel rudder command and the yaw channel rudder command. The channel rudder command with the largest amplitude is determined as the primary channel rudder command, and the channel rudder command with the smallest amplitude is determined as the non-primary channel rudder command. The remaining rudder resources of the pitch and yaw channels are preferentially allocated to the primary channel rudder command, and then the remaining resources after allocation are allocated to the non-primary channel rudder command. When the ratio determination variable is not greater than the preset ratio threshold, the balanced amplitude limiting mode is adopted to evenly distribute the remaining rudder resources of the pitch and yaw channels between the pitch channel rudder commands and the yaw channel rudder commands.

[0049] The device of the present invention, through processor 1001 calling the three-channel rudder instruction amplitude limiting control allocation program stored in memory 1005, also performs the following operations: Based on the corrected three-channel rudder command after amplitude limiting, the dynamic rudder allocation adaptive parameters are calculated in real time using the following formula:

[0050]

[0051]

[0052]

[0053]

[0054] in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The dynamic control allocation matrix is ​​constructed using the adaptive parameters according to the following formula:

[0055] in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The roll channel rudder command, pitch channel rudder command, and yaw channel rudder command are mapped to four physical control surfaces according to the dynamic control allocation matrix, and the commands of the four physical control surfaces are calculated to ensure that the saturation of a single control surface is avoided while meeting the combined torque requirements. The aircraft is controlled according to the commands of the four physical control surfaces.

[0056] This embodiment, through the above-described scheme, acquires three-channel rudder commands from the flight control system, including roll, pitch, and yaw rudder commands. The roll rudder commands are limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. According to the remaining pitch and yaw channel rudder resources and the proportional relationship between the amplitudes of the pitch and yaw channel rudder commands, adaptive limiting processing is performed on the pitch and yaw channel rudder commands to obtain the limited, corrected three-channel rudder commands. Based on adaptive parameters, the corrected three-channel rudder commands are dynamically allocated to the four physical rudders to obtain… The four physical control surfaces control the aircraft, making full use of control surface resources and effectively preventing single-surface saturation. By prioritizing amplitude limiting and smoothing the roll channel, the interference of high-frequency fluctuations on resource calculation is eliminated, and the remaining control surface resources in the pitch and yaw channels are accurately calculated. Then, the amplitude limiting mode is dynamically selected according to the ratio of the amplitude of the pitch and yaw channel commands, realizing the optimized allocation of remaining control surface resources between the primary and non-primary channels. Finally, based on adaptive parameters, the amplitude-limited three-channel commands are dynamically allocated to the four physical control surfaces. Thus, while ensuring the stability of the aircraft's attitude control, the aircraft significantly improves its maneuverability and attack envelope by making full use of control surface resources.

[0057] Based on the above hardware structure, an embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention is proposed.

[0058] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention.

[0059] In the first embodiment, the three-channel rudder command amplitude limiting control allocation method includes the following steps: Step S10: Obtain the three-channel rudder commands from the flight control system. The three-channel rudder commands include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands. Perform amplitude limiting and stabilization processing on the roll channel rudder commands, and calculate the remaining rudder resources for the pitch and yaw channels based on the amplitude of the stabilized roll rudder commands.

[0060] It should be noted that the three-channel rudder commands of the flight control system are obtained. These three-channel rudder commands include roll rudder commands, pitch rudder commands, and yaw rudder commands. First, the roll rudder commands are limited and stabilized to eliminate the interference of high-frequency fluctuations in the commands on resource calculations and ensure the stability of roll resource occupation. Then, the remaining rudder resources of the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands, thereby providing a clear constraint benchmark for the subsequent limited allocation of pitch and yaw commands.

[0061] Step S20: Based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the pitch channel rudder command and the yaw channel rudder command amplitude, adaptive amplitude limiting processing is performed on the pitch channel rudder command and the yaw channel rudder command to obtain the amplitude-limited corrected three-channel rudder command.

[0062] It should be understood that the remaining rudder resources are used as a safety constraint boundary, and the amplitude ratio of pitch and yaw commands is combined to make intelligent decisions on the amplitude limiting strategy, forming a complete and safe amplitude limiting correction three-channel rudder command.

[0063] Step S30: Based on the adaptive parameters, the modified three-channel rudder command is dynamically allocated to the four physical rudders to obtain the four physical rudder commands, and the aircraft is controlled according to the four physical rudder commands.

[0064] Understandably, the safety three-channel commands, after amplitude limiting, are dynamically distributed to the four physical rudders to obtain commands from the four physical rudders, ensuring that the resultant torque requirement is met while avoiding saturation of a single rudder. The final generated commands from the four physical rudders directly drive the servo motors to generate corresponding aerodynamic torques, thereby completing precise closed-loop control of the aircraft's attitude.

[0065] This embodiment, through the above-described scheme, acquires three-channel rudder commands from the flight control system, including roll, pitch, and yaw rudder commands. The roll rudder commands are limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. According to the remaining pitch and yaw channel rudder resources and the proportional relationship between the amplitudes of the pitch and yaw channel rudder commands, adaptive limiting processing is performed on the pitch and yaw channel rudder commands to obtain the limited, corrected three-channel rudder commands. Based on adaptive parameters, the corrected three-channel rudder commands are dynamically allocated to the four physical rudders to obtain… The four physical control surfaces control the aircraft, making full use of control surface resources and effectively preventing single-surface saturation. By prioritizing amplitude limiting and smoothing the roll channel, the interference of high-frequency fluctuations on resource calculation is eliminated, and the remaining control surface resources in the pitch and yaw channels are accurately calculated. Then, the amplitude limiting mode is dynamically selected according to the ratio of the amplitude of the pitch and yaw channel commands, realizing the optimized allocation of remaining control surface resources between the primary and non-primary channels. Finally, based on adaptive parameters, the amplitude-limited three-channel commands are dynamically allocated to the four physical control surfaces. Thus, while ensuring the stability of the aircraft's attitude control, the aircraft significantly improves its maneuverability and attack envelope by making full use of control surface resources.

[0066] Furthermore, Figure 3 This is a flowchart illustrating the second embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention, as shown below. Figure 3 As shown, based on the first embodiment, a second embodiment of the three-channel rudder command amplitude limiting control allocation method of the present invention is proposed. In this embodiment, step S10 specifically includes the following steps: Step S11: Obtain the three-channel rudder commands output by the flight control system, which include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands.

[0067] It should be noted that the raw rudder commands representing the aircraft's attitude maneuvering requirements are collected in real time from the flight control system. This set of commands consists of components corresponding to the three attitude axes (roll, pitch, and yaw) of the aircraft.

[0068] Step S12: Perform amplitude limiting processing on the roll channel rudder command based on the amplitude limiting value designed for the typical flight envelope roll rudder demand, so as to reserve rudder resources for the pitch and yaw channels while ensuring roll control capability and reducing the impact of roll coupling.

[0069] It is understandable that the roll channel rudder command is subjected to amplitude limiting processing based on the physical limits of the rudder surface. That is, the amplitude of the original roll rudder command is constrained according to the maximum physical deflection angle of a single rudder surface to ensure that the issued control command does not exceed the physical travel limit of the actuator, thus avoiding the servo motor from entering the saturation nonlinear region and failing to respond effectively due to excessive command demand. Step S13: Smooth the roll channel rudder command after the amplitude limit is applied to obtain a smoothed roll rudder command.

[0070] It should be understood that the roll channel rudder command after amplitude limiting is smoothed to obtain a relatively stable smooth roll rudder command, ensuring that the remaining rudder resources of the pitch and yaw channels calculated based on its amplitude have temporal continuity and stability.

[0071] Step S14: Obtain the remaining rudder resources for the pitch and yaw channels based on the amplitude of the roll rudder command after smoothing.

[0072] It should be noted that the remaining rudder resources in the pitch and yaw channels can be calculated based on the amplitude of the roll rudder command after smoothing.

[0073] Furthermore, step S14 specifically includes the following steps: Based on the coupling relationship of the aircraft's control surface layout, the resources occupied by the amplitude of the roll control command after smoothing are deducted from the maximum available deflection angle of a single control surface, and the remaining control resources of the pitch and yaw channels that are used by both channels at the current moment are calculated.

[0074] Understandably, based on the coupling relationship of a single rudder in the aircraft's control surface layout responding to three channels of commands simultaneously, the amplitude of the roll rudder command after smooth processing is regarded as the occupied resource and deducted from the maximum available deflection angle of a single rudder, thereby accurately calculating the remaining rudder resources available for both pitch and yaw channels at the current moment.

[0075] Furthermore, based on the coupling relationship of the aircraft's control surface layout, the step involves subtracting the resources occupied by the amplitude of the roll control command after smoothing from the maximum available deflection angle of a single control plate, and calculating the remaining control resources of the pitch and yaw channels currently used by both channels. This specifically includes the following steps: Compare the magnitude of the roll command after smoothing the current frame with the magnitude of the roll command after smoothing the previous frame. When the amplitude of the roll rudder command after the current frame is stabilized is greater than the amplitude of the roll rudder command after the previous frame is stabilized, the amplitude of the stabilized roll rudder command is determined to be the amplitude of the stabilized roll rudder command after the current frame is stabilized, and the time of the stabilized roll rudder command update information is updated to the current time. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, the difference between the current time and the roll command update time after the previous frame is stabilized is compared with the stabilization duration parameter. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, and the difference between the current time and the update time of the roll command after the previous frame is stabilized is not greater than the stabilization duration parameter, the amplitude of the stabilized roll command and the update time are kept unchanged from the previous frame. When the difference between the current time and the roll rudder command update information time after the previous frame's smooth processing is greater than the smooth duration parameter, the amplitude of the smoothed roll rudder command is determined to be the sum of the amplitude of the smoothed roll rudder command in the current frame and the roll rudder sensitivity parameter, and the smoothed roll rudder command update information time is updated to the current time. The remaining rudder resources for the pitch and yaw channels, which are shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll command after smoothing from the maximum available deflection angle of a single rudder piece.

[0076] in, To utilize the remaining rudder resources in the pitch and yaw channels This represents the maximum deflection angle of a single rudder. The amplitude of the roll rudder command after smooth processing.

[0077] It should be noted that when the amplitude increases, it is directly tracked to ensure the response speed. When the amplitude does not increase, it is corrected by combining the time difference, the stable duration parameter and the sensitivity parameter, and the update time reference remains unchanged, so as to filter out high-frequency fluctuation interference. Then, based on the above formula, the roll rudder command amplitude after stabilization is subtracted from the maximum available deflection angle of a single rudder, and the remaining rudder resources available for both pitch and yaw channels at the current moment are accurately calculated.

[0078] Accordingly, step S20 specifically includes the following steps: Using the remaining rudder resources in the pitch and yaw channels as the overall constraint boundary, the ratio of the larger of the pitch channel rudder command and the yaw channel rudder command to the sum of their amplitudes is calculated using the following formula to establish a proportional relationship to determine the variables:

[0079] in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; Based on the comparison result between the variable and the preset ratio threshold, the limiting mode is dynamically selected, and adaptive limiting processing is performed according to the limiting mode. The pitch and yaw rudder commands obtained from the amplitude limiting process are integrated with the roll rudder command obtained from the stabilization process to form the corrected three-channel rudder command after amplitude limiting.

[0080] It should be noted that, taking the remaining rudder resources of the pitch and yaw channels as the overall constraint boundary, the normalized proportional relationship is used to determine the degree of imbalance between pitch and yaw commands. By comparing with preset thresholds, the main priority or balanced amplitude limiting mode is dynamically selected, thereby optimizing the command amplitude of the two channels under the constraint of remaining rudder resources. Finally, it is integrated with the roll command to form the amplitude-limited corrected three-channel rudder command, ensuring the rational allocation of resources and the maximum preservation of control intentions under multi-channel maneuvering requirements.

[0081] Furthermore, the step of dynamically selecting a limiting mode based on the comparison result between the variable and the preset ratio threshold according to the proportional relationship, and performing adaptive limiting processing according to the limiting mode, specifically includes the following steps: The ratio relationship determination variable is compared with a preset ratio threshold. When the ratio relationship judgment variable is greater than the preset ratio threshold, the primary priority amplitude limiting mode is adopted to compare the amplitude of the pitch channel rudder command and the yaw channel rudder command. The channel rudder command with the largest amplitude is determined as the primary channel rudder command, and the channel rudder command with the smallest amplitude is determined as the non-primary channel rudder command. The remaining rudder resources of the pitch and yaw channels are preferentially allocated to the primary channel rudder command, and then the remaining resources after allocation are allocated to the non-primary channel rudder command. When the ratio determination variable is not greater than the preset ratio threshold, the balanced amplitude limiting mode is adopted to evenly distribute the remaining rudder resources of the pitch and yaw channels between the pitch channel rudder commands and the yaw channel rudder commands.

[0082] Understandably, the remaining rudder resources are adaptively optimized based on the differences in demand between channels. The imbalance between the two channels is identified by comparing the judgment variables with the preset thresholds: when the imbalance is high, the primary priority limiting mode is triggered, and the remaining resources are allocated to the primary channel with the larger amplitude to ensure the key maneuver intentions, and the surplus is then allocated to the non-primary channel; when the imbalance is low, the equalization limiting mode is triggered, so that the remaining resources are shared evenly between the two channels.

[0083] Accordingly, step S30 specifically includes the following steps: Based on the corrected three-channel rudder command after amplitude limiting, the dynamic rudder allocation adaptive parameters are calculated in real time using the following formula:

[0084]

[0085]

[0086]

[0087]

[0088] in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The dynamic control allocation matrix is ​​constructed using the adaptive parameters according to the following formula:

[0089] in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The roll channel rudder command, pitch channel rudder command, and yaw channel rudder command are mapped to four physical control surfaces according to the dynamic control allocation matrix, and the commands of the four physical control surfaces are calculated to ensure that the saturation of a single control surface is avoided while meeting the combined torque requirements. The aircraft is controlled according to the commands of the four physical control surfaces.

[0090] It should be understood that, based on the corrected three-channel rudder commands after amplitude limiting, the dynamic rudder allocation adaptive parameters are calculated in real time using a specific formula to quantify the rudder surface resource margin. This parameter is then used to construct a dynamic control allocation matrix, mapping the roll, pitch, and yaw channel commands to four physical rudder surfaces. The commands for the four physical rudder surfaces are calculated, ensuring that the combined torque requirements are met while avoiding saturation of a single rudder surface. Finally, the servo motors are driven according to the commands of the four physical rudder surfaces to complete the precise attitude control of the aircraft, demonstrating the dynamic adaptability and execution safety of the control allocation.

[0091] In the specific implementation, see Figure 4 , Figure 4 This is a schematic diagram of the overall process of the three-channel rudder command amplitude limiting control allocation method of the present invention, as shown below. Figure 4 As shown, dynamic limiting based on roll channel rudder priority is adopted for three-channel rudder commands, followed by dynamic limiting of pitch and yaw channel rudder. The problem of conflicting channel rudder command resources is solved by dynamically allocating four rudder commands.

[0092] In the specific implementation, see Figure 5 , Figure 5 This is a schematic diagram of the dynamic amplitude limiting process of the three-channel rudder command based on roll channel priority in the three-channel rudder command amplitude limiting control allocation method of the present invention, as shown below. Figure 5 As shown, after limiting the maximum roll rudder capacity of the roll channel rudder commands, the roll rudder commands after historical limiting are recorded and smoothed to obtain the maximum remaining rudder resources for the pitch and yaw channels, thereby reducing the coupling effect of roll rudder changes on the pitch and yaw channel rudders. The pitch and yaw rudder command limiting method is selected based on the proportional relationship of the pitch and yaw channel rudder commands. If it is a primary priority mode, the pitch and yaw channel rudder uses primary priority limiting; otherwise, a balanced limiting method is used. After obtaining new three-channel rudder commands through dynamic limiting processing, adaptive dynamic allocation processing from three-channel digital rudders to four physical rudders is performed to achieve full utilization of rudder surface resources.

[0093] In the specific implementation, step one is to limit the roll channel rudder command amplitude. The three-channel rudder commands are respectively the roll channel rudder command. Yaw channel rudder command Pitch channel rudder commands The maximum capacity limit of the roll rudder is designed based on the roll channel rudder requirements within the flight envelope. Then, after limiting the amplitude, roll the channel rudder command. The calculation formula is as follows.

[0094]

[0095] Step 2: Smooth the roll rudder command after amplitude limiting to reduce the remaining rudder resources in the pitch and yaw channels during roll coupling calculation. The maximum amplitude of a single rudder is defined as follows: Let the roll rudder sensitivity parameter be... The stationary duration parameter is The amplitude of the roll rudder command after smoothing is The amplitude of the roll rudder command after smoothing the previous frame is The remaining rudder resources in the pitch and yaw channels are Let the current time be denoted as . The roll rudder command update information after the previous frame's smooth processing is at the following time. The calculation method for remaining rudder resources in the pitch and yaw channels is as follows: (1) If the current frame ,but and update variable; (2) If the current frame Then we can further determine: (3) If ,but and update variable; (4) Otherwise ,and The variable remains unchanged; (5) Remaining rudder resources in pitch and yaw channels .

[0096] Step 3: Determine the pitch and yaw channel rudder command limiting mode Construct pitch and yaw channel rudder command limiting mode judgment variables The calculation formula is as follows.

[0097]

[0098] in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; like If the value is greater than a certain threshold (e.g., 0.75), the pitch and yaw channel rudder will be judged as the primary priority limiting mode; otherwise, the pitch and yaw channel rudder will be judged as the balanced limiting mode.

[0099] Step 4: If pitch and yaw channel rudder are the primary priority limiting mode, then execute this step; otherwise, skip it.

[0100] Sort the pitch and yaw channel rudder commands by amplitude and record them. The one with the larger amplitude, i.e., the main rudder. The one with the smaller amplitude is the non-primary rudder.

[0101] The calculation method is as follows: (Note: The original text contains some formatting errors and inconsistencies. A more accurate translation would require the full context.) ,right Sort the data in descending order and record the sort number as Ind. That is, if the pitch channel rudder command amplitude is large, then Ind=[1,2], otherwise Ind=[2,1]. , ; The remaining rudder resources are allocated preferentially to the main rudder, calculated as follows:

[0102] The remaining rudder is redistributed to non-primary rudders, calculated using the following formula:

[0103] The calculated rudder commands are then redistributed to the pitch and yaw channels according to their amplitude order, resulting in the limited pitch and yaw channel rudder commands. and .

[0104] The calculation method is as follows: (Note: The original text contains some formatting errors and inconsistencies. A more accurate translation would require the full context.) ,but , .

[0105] Step 5: If the pitch and yaw channel rudder is in balanced limiting mode, then execute this step; otherwise, skip it.

[0106] (1) Sort the pitch and yaw channel rudder commands by amplitude and record them. The one with the larger amplitude, i.e., the main rudder. For the smaller amplitude, i.e., the non-primary rudder, the calculation method is as follows: [Denote...] ,right Sort the data in descending order and record the sort number as Ind. That is, if the pitch channel rudder command amplitude is large, then Ind=[1,2], otherwise Ind=[2,1]. , ; (2) The remaining rudder resources are evenly distributed, and the calculation formula is as follows:

[0107]

[0108] (3) The rudder commands calculated above are redistributed to the pitch and yaw channels in the order of pitch and yaw channel rudder command amplitude to obtain the pitch and yaw channel rudder commands after amplitude limiting. and The calculation method is as follows: (The rest of the text is missing.) ,but , .

[0109] Step Six: Dynamic Allocation of Commands to the Four Rudder Plates The three-channel digital rudder commands, after the above-mentioned amplitude limiting processing, are adaptively and dynamically allocated to the four physical rudders, so as to make full use of the rudder surface resources.

[0110] (1) Calculate the adaptive parameters for dynamic rudder allocation The calculation formula is as follows:

[0111]

[0112]

[0113]

[0114]

[0115] in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is the pitch channel rudder command after amplitude limiting.

[0116] (2) Adaptive parameters are used Dynamic rudder allocation three-channel rudder commands, the dynamic rudder allocation framework is executed according to the following formula.

[0117]

[0118] in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is the pitch channel rudder command after amplitude limiting.

[0119] In specific implementation, refer to Figure 6. Figure 6 is a schematic diagram comparing the first effect of three-channel rudder command tracking between the prior art and the existing technology in the three-channel rudder command limiting control allocation method of the present invention. As shown in Figure 6, Figure 6(a) is a schematic diagram comparing the effect of the patented solution and the existing technology solution for the roll channel rudder command, Figure 6(b) is a schematic diagram comparing the effect of the patented solution and the existing technology solution for the pitch channel rudder command, and Figure 6(c) is a schematic diagram comparing the effect of the patented solution and the existing technology solution for the yaw channel rudder command. The comparison of the three-channel rudder command tracking between the present technology solution and the existing technology solution under the same maximum roll rudder capability limiting condition shows that the feasible domain of the pitch and yaw channel rudder commands of the present technology solution is significantly larger, which can give full play to the maneuverability of the aircraft.

[0120] In the specific implementation, refer to Figure 7. Figure 7 is a schematic diagram comparing the second effect of the three-channel rudder command tracking of the prior art and the existing technology in the three-channel rudder command limiting control allocation method of the present invention. As shown in Figure 7, Figure 7(a) is a schematic diagram comparing the effect of the patented solution and the existing technology solution of the roll channel rudder command, Figure 7(b) is a schematic diagram comparing the effect of the patented solution and the existing technology solution of the pitch channel rudder command, and Figure 7(c) is a schematic diagram comparing the effect of the patented solution and the existing technology solution of the yaw channel rudder command. After adjusting the maximum capability limiting value of the roll rudder of the present technology solution and the existing technology solution, when the tracking situation of the pitch and yaw channel rudder commands of the two are similar, it can be seen from the figure that the feasible domain of the roll channel rudder command of the present technology solution is significantly larger and the anti-roll interference capability is stronger.

[0121] It should be noted that this embodiment adopts a three-channel rudder command dynamic limiting based on roll channel rudder priority. After limiting the maximum roll rudder capability of the roll channel rudder command, the maximum remaining rudder resources of the pitch and yaw channels are calculated based on the limited roll rudder command after stabilization processing. This reduces the coupling effect of the roll priority strategy. Based on the characteristics of the pitch and yaw channel rudder command, the primary priority or balanced limiting method is dynamically selected. The limiting method is optimized based on the four-rudder command dynamic allocation scheme. Under the condition of limited control surface resources, the three-channel rudder command is realized as much as possible. Then, an adaptive dynamic rudder command allocation scheme is used to obtain four physical rudder commands, making full use of the single rudder control surface resources, improving the feasible domain of control system rudder commands, and giving full play to the aircraft's maneuverability and anti-roll interference capability.

[0122] Understandably, unlike the existing technology which uses a static allocation method that maps fixed parameters from three-channel rudder to four-blade rudder, this embodiment adopts a dynamic rudder command allocation scheme. It introduces an adaptive allocation parameter k to dynamically adjust the mapping calculation method of three-channel rudder to four-blade rudder commands, so as to ensure the full utilization of four-blade rudder resources. Compared with the existing technology, it can improve the feasible domain of rudder commands of the control system and give full play to the aircraft's maneuverability and anti-roll interference capability. This embodiment adopts a three-channel rudder command dynamic limiting scheme based on roll channel rudder priority. On the basis of conventional channel rudder limiting measures, a roll rudder limiting post-command smoothing processing measure is introduced to calculate the remaining rudder resources in the pitch and yaw channels. This can reduce the coupling effect of the roll rudder priority dynamic limiting strategy on the pitch and yaw channel rudder. Based on the characteristics of the pitch and yaw channel rudder commands, the primary priority or balanced limiting method is dynamically selected. The limiting method is optimized based on the four-finger command dynamic allocation scheme to realize three-channel rudder commands as much as possible under the condition of limited rudder surface resources. The patented solution has a simple structure and is easy to implement; the three-channel rudder command amplitude limiting calculation only depends on the calculation characteristics of the original three-channel command, without the need to introduce other flight state-related observations, and the calculation complexity of the four-blade rudder command dynamic allocation scheme is comparable to that of existing technical solutions, making it easy to implement in engineering. This patented solution has a wide range of applications and can be applied to aircraft with an "X"-shaped four-blade evenly distributed control surface layout. It is not dependent on different control schemes such as overload control or attitude control used in flight control systems. It only achieves full utilization of control surface resources by adjusting and optimizing the amplitude limiting and distribution scheme of the three-channel control system output, thereby improving the flight envelope of the aircraft.

[0123] This embodiment, through the above-described scheme, acquires three-channel rudder commands output by the flight control system, including roll, pitch, and yaw rudder commands. The roll rudder commands undergo amplitude limiting processing based on typical flight envelope roll rudder requirements, ensuring roll control capability while reserving rudder resources for the pitch and yaw channels, reducing roll coupling effects. The amplitude-limited roll rudder commands are then smoothed to obtain smoothed roll rudder commands. The remaining rudder resources for the pitch and yaw channels are obtained based on the amplitude of the smoothed roll rudder commands. This ensures the physical executability and signal stability of the commands, eliminates interference from fluctuations on resource planning, and provides a reliable resource constraint benchmark for multi-channel collaborative control, thereby improving the control stability, control surface resource utilization efficiency, and overall flight safety of the aircraft under high-maneuver conditions.

[0124] Accordingly, the present invention further provides a three-channel rudder command amplitude limiting control distribution device.

[0125] Reference Figure 8 , Figure 8 This is a functional block diagram of the first embodiment of the three-channel rudder command amplitude limiting control and distribution device of the present invention.

[0126] In a first embodiment of the three-channel rudder command amplitude limiting control allocation device of the present invention, the three-channel rudder command amplitude limiting control allocation device includes: The remaining rudder resource calculation module 10 is used to obtain the three-channel rudder commands of the flight control system. The three-channel rudder commands include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands. The roll channel rudder commands are limited and stabilized, and the remaining rudder resources of the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands.

[0127] The adaptive amplitude limiting module 20 is used to adaptively limit the pitch and yaw channel rudder commands based on the remaining rudder resources in the pitch and yaw channels and the ratio of the amplitudes of the pitch channel rudder commands and the yaw channel rudder commands, so as to obtain the corrected three-channel rudder commands after amplitude limiting.

[0128] The physical rudder command generation module 30 is used to dynamically allocate the modified three-channel rudder command to the four physical rudders based on adaptive parameters, thereby obtaining the four physical rudder commands, and controlling the aircraft according to the four physical rudder commands.

[0129] The remaining rudder resource calculation module 10 is also used to acquire the three-channel rudder commands output by the flight control system, which include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands; to perform amplitude limiting processing on the roll channel rudder commands based on the typical roll rudder demand within the flight envelope, so as to reserve rudder resources for the pitch and yaw channels while ensuring roll control capability and reducing the impact of roll coupling; to perform stabilization processing on the amplitude-limited roll channel rudder commands to obtain the stabilized roll rudder commands; and to obtain the remaining rudder resources for the pitch and yaw channels based on the amplitude of the stabilized roll rudder commands.

[0130] The remaining rudder resource calculation module 10 is also used to calculate the remaining rudder resources of the pitch and yaw channels that are used by both the pitch and yaw channels at the current moment, by deducting the resources occupied by the amplitude of the roll rudder command after smoothing from the maximum available deflection angle of a single rudder based on the coupling relationship of the aircraft rudder surface layout.

[0131] The remaining rudder resource calculation module 10 is further configured to compare the amplitude of the roll rudder command after smoothing the current frame with the amplitude of the roll rudder command after smoothing the previous frame; when the amplitude of the roll rudder command after smoothing the current frame is greater than the amplitude of the roll rudder command after smoothing the previous frame, the amplitude of the smoothed roll rudder command is determined to be the amplitude of the smoothed roll rudder command after smoothing the current frame, and the time of the smoothed roll rudder command update information is updated to the current time; when the amplitude of the roll rudder command after smoothing the current frame is not greater than the amplitude of the smoothed roll rudder command after smoothing the previous frame, the difference between the current time and the time of the smoothed roll rudder command update information is calculated with the smoothing duration parameter. The following comparisons are made: If the amplitude of the roll command after the current frame's smoothing process is not greater than the amplitude of the roll command after the previous frame's smoothing process, and the difference between the current time and the update time of the roll command after the previous frame's smoothing process is not greater than the smoothing duration parameter, then the amplitude of the smoothed roll command and the update time are both kept unchanged from the previous frame. If the difference between the current time and the update time of the roll command after the previous frame's smoothing process is greater than the smoothing duration parameter, then the amplitude of the smoothed roll command is determined to be the sum of the amplitude of the smoothed roll command in the current frame and the roll sensitivity parameter, and the update time of the smoothed roll command is updated to the current time. The remaining rudder resources for the pitch and yaw channels, which are shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll command after smoothing from the maximum available deflection angle of a single rudder piece.

[0132] in, To utilize the remaining rudder resources in the pitch and yaw channels This represents the maximum deflection angle of a single rudder. The amplitude of the roll rudder command after smooth processing.

[0133] The adaptive amplitude limiting module 20 is further configured to use the remaining rudder resources of the pitch and yaw channels as the overall constraint boundary, and to calculate the ratio of the larger of the amplitudes of the pitch channel rudder command and the yaw channel rudder command to the sum of their amplitudes using the following formula to construct a proportional relationship to determine variables:

[0134] in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; Based on the comparison result between the variable and the preset ratio threshold, the limiting mode is dynamically selected, and adaptive limiting processing is performed according to the limiting mode. The pitch and yaw rudder commands obtained from the amplitude limiting process are integrated with the roll rudder command obtained from the stabilization process to form the corrected three-channel rudder command after amplitude limiting.

[0135] The adaptive limiting module 20 is also used to compare the proportional relationship judgment variable with a preset ratio threshold. When the ratio relationship judgment variable is greater than the preset ratio threshold, the primary priority amplitude limiting mode is adopted to compare the amplitude of the pitch channel rudder command and the yaw channel rudder command. The channel rudder command with the largest amplitude is determined as the primary channel rudder command, and the channel rudder command with the smallest amplitude is determined as the non-primary channel rudder command. The remaining rudder resources of the pitch and yaw channels are preferentially allocated to the primary channel rudder command, and then the remaining resources after allocation are allocated to the non-primary channel rudder command. When the ratio determination variable is not greater than the preset ratio threshold, the balanced amplitude limiting mode is adopted to evenly distribute the remaining rudder resources of the pitch and yaw channels between the pitch channel rudder commands and the yaw channel rudder commands.

[0136] The physical rudder command generation module 30 is also used to calculate the dynamic rudder allocation adaptive parameters in real time based on the corrected three-channel rudder command after amplitude limiting using the following formula:

[0137]

[0138]

[0139]

[0140]

[0141] in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The dynamic control allocation matrix is ​​constructed using the adaptive parameters according to the following formula:

[0142] in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The roll channel rudder command, pitch channel rudder command, and yaw channel rudder command are mapped to four physical control surfaces according to the dynamic control allocation matrix, and the commands of the four physical control surfaces are calculated to ensure that the saturation of a single control surface is avoided while meeting the combined torque requirements. The aircraft is controlled according to the commands of the four physical control surfaces.

[0143] The steps for implementing each functional module of the three-channel rudder command amplitude limiting control allocation device can be referred to in the various embodiments of the three-channel rudder command amplitude limiting control allocation method of the present invention, and will not be repeated here.

[0144] Furthermore, this embodiment of the invention also proposes a storage medium storing a three-channel rudder command amplitude limiting control allocation program. When the three-channel rudder command amplitude limiting control allocation program is executed by a processor, it implements the operations described in the above embodiment of the three-channel rudder command amplitude limiting control allocation method.

[0145] Those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. The program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium is a computer-readable storage medium, including: USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program code.

[0146] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0147] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0148] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A three-channel rudder command amplitude limiting control allocation method, characterized in that, The three-channel rudder command amplitude limiting control allocation method includes: The system acquires three-channel rudder commands from the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll rudder commands are limited and stabilized, and the remaining rudder resources for the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. Based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the pitch channel rudder command and the yaw channel rudder command amplitude, adaptive amplitude limiting processing is performed on the pitch channel rudder command and the yaw channel rudder command to obtain the amplitude-limited corrected three-channel rudder command. Based on adaptive parameters, the modified three-channel rudder commands are dynamically allocated to the four physical rudders to obtain four physical rudder commands, and the aircraft is controlled according to the four physical rudder commands.

2. The three-channel rudder command amplitude limiting control allocation method as described in claim 1, characterized in that, The process involves acquiring three-channel rudder commands from the flight control system, including roll, pitch, and yaw rudder commands. The roll rudder commands are then limited and stabilized. Based on the stabilized roll rudder command amplitude, the remaining rudder resources for the pitch and yaw channels are calculated, including: The system acquires three-channel rudder commands output by the flight control system, including roll rudder commands, pitch rudder commands, and yaw rudder commands. The roll channel rudder command is subjected to a limiting process based on the roll rudder demand in a typical flight envelope. This ensures roll control capability while reserving rudder resources for the pitch and yaw channels, thereby reducing the impact of roll coupling. The roll channel rudder command after amplitude limiting is smoothed to obtain a smoothed roll rudder command. The remaining rudder resources for the pitch and yaw channels are obtained based on the amplitude of the roll rudder command after smooth processing.

3. The three-channel rudder command amplitude limiting control allocation method as described in claim 2, characterized in that, The process of obtaining the remaining rudder resources for the pitch and yaw channels based on the amplitude of the roll rudder command after smoothing includes: Based on the coupling relationship of the aircraft's control surface layout, the resources occupied by the amplitude of the roll control command after smoothing are deducted from the maximum available deflection angle of a single control surface, and the remaining control resources of the pitch and yaw channels that are used by both channels at the current moment are calculated.

4. The three-channel rudder command amplitude limiting control allocation method as described in claim 3, characterized in that, Based on the coupling relationship of the aircraft's control surface layout, the remaining control resources for the pitch and yaw channels, which are currently shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll control command after smoothing from the maximum available deflection angle of a single control plate. These resources include: Compare the magnitude of the roll command after smoothing the current frame with the magnitude of the roll command after smoothing the previous frame. When the amplitude of the roll rudder command after the current frame is stabilized is greater than the amplitude of the roll rudder command after the previous frame is stabilized, the amplitude of the stabilized roll rudder command is determined to be the amplitude of the stabilized roll rudder command after the current frame is stabilized, and the time of the stabilized roll rudder command update information is updated to the current time. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, the difference between the current time and the roll command update time after the previous frame is stabilized is compared with the stabilization duration parameter. When the amplitude of the roll command after the current frame is stabilized is not greater than the amplitude of the roll command after the previous frame is stabilized, and the difference between the current time and the update time of the roll command after the previous frame is stabilized is not greater than the stabilization duration parameter, the amplitude of the stabilized roll command and the update time are kept unchanged from the previous frame. When the difference between the current time and the roll rudder command update information time after the previous frame's smooth processing is greater than the smooth duration parameter, the amplitude of the smoothed roll rudder command is determined to be the sum of the amplitude of the smoothed roll rudder command in the current frame and the roll rudder sensitivity parameter, and the smoothed roll rudder command update information time is updated to the current time. The remaining rudder resources for the pitch and yaw channels, which are shared by the pitch and yaw channels, are calculated by subtracting the resources occupied by the amplitude of the roll command after smoothing from the maximum available deflection angle of a single rudder piece. in, To utilize the remaining rudder resources in the pitch and yaw channels This represents the maximum deflection angle of a single rudder. The amplitude of the roll rudder command after smooth processing.

5. The three-channel rudder command amplitude limiting control allocation method as described in claim 1, characterized in that, The step involves adaptively limiting the pitch and yaw rudder commands based on the remaining rudder resources in the pitch and yaw channels and the proportional relationship between the amplitudes of the pitch and yaw channel rudder commands, to obtain the limited and corrected three-channel rudder commands, including: Using the remaining rudder resources in the pitch and yaw channels as the overall constraint boundary, the ratio of the larger of the pitch channel rudder command and the yaw channel rudder command to the sum of their amplitudes is calculated using the following formula to establish a proportional relationship to determine the variables: in, To determine the variables for proportional relationships, For pitch control rudder commands. This is a yaw channel rudder command; Based on the comparison result between the variable and the preset ratio threshold, the limiting mode is dynamically selected, and adaptive limiting processing is performed according to the limiting mode. The pitch and yaw rudder commands obtained from the amplitude limiting process are integrated with the roll rudder command obtained from the stabilization process to form the corrected three-channel rudder command after amplitude limiting.

6. The three-channel rudder command amplitude limiting control allocation method as described in claim 5, characterized in that, The step of dynamically selecting a limiting mode based on the comparison result between the variable determined by the proportional relationship and the preset ratio threshold, and performing adaptive limiting processing based on the limiting mode, includes: The ratio relationship determination variable is compared with a preset ratio threshold. When the ratio relationship judgment variable is greater than the preset ratio threshold, the primary priority amplitude limiting mode is adopted to compare the amplitude of the pitch channel rudder command and the yaw channel rudder command. The channel rudder command with the largest amplitude is determined as the primary channel rudder command, and the channel rudder command with the smallest amplitude is determined as the non-primary channel rudder command. The remaining rudder resources of the pitch and yaw channels are preferentially allocated to the primary channel rudder command, and then the remaining resources after allocation are allocated to the non-primary channel rudder command. When the ratio determination variable is not greater than the preset ratio threshold, the balanced amplitude limiting mode is adopted to evenly distribute the remaining rudder resources of the pitch and yaw channels between the pitch channel rudder commands and the yaw channel rudder commands.

7. The three-channel rudder command amplitude limiting control allocation method as described in claim 1, characterized in that, The process of dynamically allocating the modified three-channel rudder commands to the four physical rudders based on adaptive parameters to obtain four physical rudder commands, and controlling the aircraft according to the four physical rudder commands, includes: Based on the corrected three-channel rudder command after amplitude limiting, the dynamic rudder allocation adaptive parameters are calculated in real time using the following formula: in, Assign adaptive parameters to the dynamic rudder. As the first allocation factor, As the second allocation factor, This is a command to roll the rudder after limiting the amplitude. These are the required parameters for the first channel. For the second channel requirement parameters, This represents the maximum deflection angle of a single rudder. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The dynamic control allocation matrix is ​​constructed using the adaptive parameters according to the following formula: in, , , , Commands for four physical control rudders. Assign adaptive parameters to the dynamic rudder. This is a command to roll the rudder after limiting the amplitude. This is a yaw channel rudder command after amplitude limiting. This is a pitch control rudder command after amplitude limiting; The roll channel rudder command, pitch channel rudder command, and yaw channel rudder command are mapped to four physical control surfaces according to the dynamic control allocation matrix, and the commands of the four physical control surfaces are calculated to ensure that the saturation of a single control surface is avoided while meeting the combined torque requirements. The aircraft is controlled according to the commands of the four physical control surfaces.

8. A three-channel rudder command limiting control distribution device, characterized in that, The three-channel rudder command amplitude limiting control distribution device includes: The remaining rudder resource calculation module is used to obtain the three-channel rudder commands of the flight control system. The three-channel rudder commands include roll channel rudder commands, pitch channel rudder commands, and yaw channel rudder commands. The roll channel rudder commands are limited and stabilized, and the remaining rudder resources of the pitch and yaw channels are calculated based on the amplitude of the stabilized roll rudder commands. An adaptive amplitude limiting module is used to adaptively limit the pitch and yaw channel rudder commands based on the remaining rudder resources in the pitch and yaw channels and the ratio of the amplitudes of the pitch channel rudder commands to the yaw channel rudder commands, so as to obtain the corrected three-channel rudder commands after amplitude limiting. The physical rudder command generation module is used to dynamically allocate the modified three-channel rudder command to the four physical rudders based on adaptive parameters, thereby obtaining the four physical rudder commands, and controlling the aircraft according to the four physical rudder commands.

9. A three-channel rudder command limiting control distribution device, characterized in that, The three-channel rudder command amplitude limiting control allocation device includes: a memory, a processor, and a three-channel rudder command amplitude limiting control allocation program stored in the memory and executable on the processor, wherein the three-channel rudder command amplitude limiting control allocation program is configured to implement the steps of the three-channel rudder command amplitude limiting control allocation method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a three-channel rudder command amplitude limiting control allocation program, which, when executed by a processor, implements the steps of the three-channel rudder command amplitude limiting control allocation method as described in any one of claims 1 to 7.

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