Aircraft thrust vector control method and system based on double-ducted oscillating spray motor
Patent Information
- Application Number
- CN202611267552.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-20
- Publication Date
- 2026-09-25
AI Technical Summary
[0005]其二为单涵道摆喷电机控制方案，采用单个具备俯仰、滚转自由度的涵道摆喷电机作为唯一执行机构，控制指令仅需分配给单个电机，无需多执行机构指令分配；其指令分配策略单一，最主要的局限是无法实现偏航控制，即单涵道控制可以实现起飞和降落控制，但是无法控制位置，使用极大受限
[0039]在本发明中，通过对当前时刻获取到的油门指令值进行双线性变换，模拟飞行器推力滞后特性，得到推力滞后的油门开度量，并利用油门指令到推力的转换关系，得到摆喷电机的实际推力指令；同时利用实际推力指令对期望控制力矩进行限幅，并基于摆喷控制分配矩阵和限幅后的期望控制力矩，利用带正则化的最小二乘求解算法计算得到四个摆角并生成摆角控制指令，从而实现对双涵道摆喷电机的推力矢量控制分配。
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Figure CN122808970A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft control technology, specifically to an aircraft thrust vector control method and system based on a dual-ducted oscillating jet motor. Background Technology
[0002] Vertical takeoff and landing (VTOL) aircraft are widely used in low-altitude operations, emergency rescue, reconnaissance and monitoring due to their advantages of not requiring dedicated runways and being able to take off and land flexibly in complex terrain. One of their core technologies is thrust vector control, and the distribution strategy of control commands at the actuator (ducted jet motor) level directly determines the control accuracy, response speed and flight stability.
[0003] In existing technologies, there are two main types of thrust vector control schemes, and their core shortcomings are concentrated in the control command allocation strategy, as detailed below:
[0004] One approach is the multi-rotor (quadcopter, hexacopter) control scheme. This scheme achieves attitude control through the speed difference of multiple fixed ducted motors or rotors. The control commands are only speed adjustment commands for each motor, without a dedicated thrust vector deflection command allocation strategy. The command allocation logic is simple, allocating speed difference values only based on attitude error, without considering load balancing and torque coordination among various actuators (motors). The core relies on speed adjustment to achieve attitude control. Although some high-end models are equipped with simple vector deflection structures, a systematic deflection command allocation strategy has not been formed. Attitude control is still achieved by the speed difference of each propeller, resulting in deep coupling of roll / pitch / yaw. Under wind disturbance, the aircraft is prone to attitude oscillation and trajectory drift.
[0005] The second is the single-ducted jet motor control scheme, which uses a single ducted jet motor with pitch and roll degrees of freedom as the only actuator. Control commands only need to be assigned to a single motor, without the need for command assignment to multiple actuators. Its command assignment strategy is simple, and its main limitation is that it cannot achieve yaw control. That is, single-duct control can achieve takeoff and landing control, but it cannot control position, which greatly limits its use.
[0006] Therefore, the present invention aims to provide a thrust vector control method and system for aircraft based on a dual-ducted oscillating jet motor, in order to solve the aforementioned technical problems. Summary of the Invention
[0007] The technical problem to be solved by this invention is the lack of a control command allocation strategy for aircraft with dual-ducted jet motors in the existing technology. The purpose is to provide a thrust vector control method and system for aircraft based on dual-ducted jet motors. By performing a bilinear transformation on the throttle command value obtained at the current moment, the thrust lag characteristic of the aircraft is simulated to obtain the throttle opening value with thrust lag. The actual thrust command of the jet motor is obtained by using the conversion relationship between throttle command and thrust. At the same time, the desired control torque is limited by the actual thrust command. Based on the jet control allocation matrix and the limited desired control torque, four swing angles are calculated by a regularized least squares algorithm and swing angle control commands are generated, thereby realizing the thrust vector control allocation of the dual-ducted jet motor.
[0008] This invention is achieved through the following technical solution:
[0009] A thrust vector control method for an aircraft based on a dual-ducted jet motor, the method comprising:
[0010] The throttle command value is obtained, and a bilinear transformation is performed on the throttle command value using a first-order inertial function to simulate the thrust hysteresis characteristics of the aircraft and obtain the throttle opening value with thrust hysteresis.
[0011] The thrust coefficient of the propeller is used to convert the throttle opening to obtain the actual thrust command of the oscillating jet motor;
[0012] The three-axis rotational inertia and the three-channel desired attitude angular acceleration of the aircraft are obtained, and the desired control torque is calculated using the Newton-Euler equations.
[0013] Based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, the desired control torque is limited to obtain the limited desired control torque.
[0014] Construct a swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, use a regularized least squares solution algorithm to calculate the four swing angles and generate swing angle control commands.
[0015] Furthermore, after obtaining the throttle command value, the method also includes:
[0016] The throttle command value is limited to obtain a limited throttle command value.
[0017] The throttle command value after being limited is compared with the preset minimum value. The maximum value between the two is selected as the final throttle command value.
[0018] Furthermore, the three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft are obtained, and the desired control torque is calculated using the Newton-Euler equations, specifically:
[0019] The gyroscopic torque of the aircraft is obtained, and the desired control torque is calculated using the Newton-Euler equations, combined with the three-axis rotational inertia and the three-channel desired attitude angular acceleration of the aircraft.
[0020] Furthermore, based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, the desired control torque is torque-limited to obtain the limited desired control torque, specifically:
[0021] The upper limit of the three-axis torque is calculated using the actual thrust command, the aircraft's geometric parameters, and the maximum yaw angle;
[0022] The desired control torque is limited by using the upper limit of the three-axis torque to obtain the limited desired control torque.
[0023] Furthermore, after calculating the four pendulum angles, the specific details are as follows:
[0024] Obtain the maximum absolute value among the four swing angles and compare the maximum absolute value with the preset swing angle threshold;
[0025] If the maximum absolute value is greater than the preset swing angle threshold, the amplitude of the four swing angles is limited to obtain the four swing angles after the amplitude is limited.
[0026] The present invention also provides a thrust vector control system for an aircraft based on a dual-ducted jet motor, the system being used in the thrust vector control method for an aircraft based on a dual-ducted jet motor described in any one of the above claims, the system comprising:
[0027] The throttle calculation module is used to obtain the throttle command value, and performs a bilinear transformation on the throttle command value using a first-order inertial function to simulate the thrust lag characteristics of the aircraft and obtain the throttle opening value with thrust lag.
[0028] The thrust conversion module is used to convert the throttle opening using the propeller's thrust coefficient to obtain the actual thrust command of the oscillating jet motor;
[0029] The torque calculation module is used to obtain the three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft, and to calculate the desired control torque using the Newton-Euler equations.
[0030] The torque limiting module is used to limit the desired control torque based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, to obtain the limited desired control torque.
[0031] The swing angle calculation module is used to construct the swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, it uses a regularized least squares solution algorithm to calculate the swing angle and generate the swing angle control command.
[0032] Furthermore, after obtaining the throttle command value, the system also includes:
[0033] The throttle command value is limited to obtain a limited throttle command value.
[0034] The throttle command value after being limited is compared with the preset minimum value. The maximum value between the two is selected as the final throttle command value.
[0035] The present invention also provides a computer device, including a system memory and a processor, wherein the system memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.
[0036] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the methods described above.
[0037] The present invention also provides a computer program product containing instructions that, when executed by a cluster of computer devices, cause the cluster of computer devices to perform the method described in any of the preceding claims.
[0038] Compared with the prior art, the present invention has the following advantages and beneficial effects:
[0039] In this invention, the thrust lag characteristic of the aircraft is simulated by performing a bilinear transformation on the throttle command value obtained at the current moment to obtain the throttle opening value with thrust lag. The actual thrust command of the swivel jet motor is obtained by using the conversion relationship between throttle command and thrust. At the same time, the desired control torque is limited by the actual thrust command. Based on the swivel jet control allocation matrix and the limited desired control torque, the four swivel angles are calculated by the regularized least squares algorithm and the swivel angle control command is generated, thereby realizing the thrust vector control allocation of the dual-duct swivel jet motor. Attached Figure Description
[0040] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:
[0041] Figure 1 This is a flowchart of a thrust vector control method for an aircraft based on a dual-ducted jet motor, as described in this embodiment.
[0042] Figure 2This is a schematic diagram of the module connection of an aircraft thrust vector control system based on a dual-ducted jet motor in this embodiment;
[0043] Figure 3 This is a schematic diagram of the structure of a computer device in this embodiment. Detailed Implementation
[0044] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0045] In this disclosure, unless otherwise stated, the use of terms such as "first," "second," etc., to describe various elements is not intended to limit the positional, temporal, or importance relationships of these elements; such terms are merely used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of that element, while in other cases, based on the context, they may refer to different instances.
[0046] The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context explicitly indicates otherwise, an element may be one or more unless the number of elements is specifically limited. Furthermore, the term "and / or" as used in this disclosure covers any one of the listed items and all possible combinations thereof.
[0047] Example 1
[0048] A thrust vector control method for an aircraft based on dual-ducted jet motors is disclosed. This method is used for thrust vector control of an aircraft with dual-ducted jet motors. The aircraft includes two ducted jet motors, each with two degrees of freedom: roll and pitch. The thrust of the jet motors can be projected onto the aircraft platform coordinates through these two pitch angles. The thrust vector coordinate system of each ducted motor is the same as the aircraft's body coordinate system. One ducted jet motor is mounted on the y-axis of the aircraft body axis, and the other is mounted on the -y-axis of the aircraft body axis. The two ducted jet motors are symmetrically arranged longitudinally relative to the aircraft body. Furthermore, the blades of the two ducted jet motors rotate at the same speed but in opposite directions, thus canceling out gyroscopic torques. The takeoff and landing, hovering, horizontal movement, and attitude control of the vertical takeoff and landing aircraft are all controlled by the two ducted jet motors. (See also...) Figure 1 , Figure 1A flowchart of a thrust vector control method for an aircraft based on a dual-ducted jet motor is shown. The control method includes:
[0049] S1: Obtain the throttle command value, perform a bilinear transformation on the throttle command value using a first-order inertial function, simulate the thrust lag characteristics of the aircraft, and obtain the throttle opening value with thrust lag.
[0050] Specifically, in this embodiment, the throttle command value at the current moment is obtained, and the throttle command value is limited by 0 to 1 to obtain the limited throttle command value; the limited throttle command value is compared with a preset minimum value, and the maximum value between the limited throttle command value and the preset minimum value is selected as the final throttle command value.
[0051] Then, a bilinear transformation is performed on the throttle command value using a first-order inertial function to simulate the thrust hysteresis characteristics of the aircraft, obtaining the throttle opening value with thrust hysteresis. The transfer function expression of one inertial element is as follows: In this transfer function, m represents the hysteresis characteristic of the inertial element, and the larger the m, the more obvious the hysteresis; the throttle opening measure includes the throttle opening measure of the fixed motor group and the throttle opening measure of the swing injection motor group.
[0052] S2: The thrust coefficient of the propeller is used to convert the throttle opening to obtain the actual thrust command of the swing jet motor;
[0053] Specifically, in this embodiment, the thrust coefficient of the aircraft propeller is obtained, and the throttle opening of the oscillating jet motor is converted using the thrust coefficient to obtain the actual thrust command of the oscillating jet motor, specifically: In the formula, This indicates the actual thrust command of the swing-jet motor. This indicates the throttle opening of the swing-jet motor unit. This represents the thrust coefficient of the aircraft propeller, which is a constant determined by the aircraft's design parameters. Meanwhile, the two ducted jet motors share a single actual thrust command, which causes the gyroscopic torques of the two ducted jet motors to cancel each other out, making control more efficient.
[0054] S3: Obtain the three-axis rotational inertia and the three-channel desired attitude angular acceleration of the aircraft, and calculate the desired control torque using the Newton-Euler equations;
[0055] Specifically, in this embodiment, the gyroscopic torque of the aircraft is obtained, and combined with the three-axis rotational inertia and the three-channel desired attitude angular acceleration of the aircraft, the desired control torque is calculated using the Newton-Euler equations, as follows: In the formula, Indicates the desired control torque. This represents the three-axis rotational inertia of the aircraft. This represents the desired attitude angular acceleration of the aircraft via three channels. This represents the three-axis angular velocity vector of the aircraft. This represents the gyroscopic torque of the aircraft.
[0056] S4: Based on the actual thrust command, combined with the aircraft's geometric parameters and maximum sway angle, the desired control torque is limited to obtain the limited desired control torque;
[0057] Specifically, in this embodiment, the upper limit of the three-axis torque is calculated using the actual thrust command, the aircraft's geometric parameters, and the maximum yaw angle; the upper limit of the three-axis torque is then used to limit the desired control torque to obtain the limited desired control torque.
[0058] S5: Construct the swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, use the regularized least squares solution algorithm to calculate the four swing angles and generate swing angle control commands.
[0059] Specifically, in this embodiment, based on the geometric configuration of two two-degree-of-freedom oscillating jet motors, including pitch / roll arms, yaw arms, and installation angle compensation, a 3×4 control matrix (three-axis torque, four sway angles) is generated. Based on the oscillating jet control allocation matrix and the desired control torque after amplitude limiting, the four sway angles are calculated using a regularized least squares algorithm, and sway angle control commands are generated, specifically: In the formula, Represents the pendulum angle matrix. The matrix representing the distribution of rudder deflection angle to three-axis torque is directly related to the geometric relationship between the torque exerted by the jet mechanism on the aircraft. Represents the regularization coefficient. Represents a third-order identity matrix;
[0060] After calculating the four swing angles, the maximum absolute value of the four swing angles is obtained and compared with the preset swing angle threshold. If the maximum absolute value is greater than the preset swing angle threshold, the four swing angles are limited to obtain the four swing angles after the limit is obtained. Finally, the swing angle control command is output, which is the roll swing angle and pitch swing angle of the two ducted swing spray motors.
[0061] Example 2
[0062] See Figure 2 The present invention also provides a thrust vector control system for an aircraft based on a dual-ducted jet motor, which is used in the thrust vector control method for an aircraft based on a dual-ducted jet motor described in any one of the above claims, the system comprising:
[0063] Throttle calculation module 100 is used to obtain throttle command value, perform bilinear transformation on throttle command value using first-order inertial function, simulate the thrust hysteresis characteristics of aircraft, and obtain the thrust hysteresis throttle opening value.
[0064] The thrust conversion module 200 is used to convert the throttle opening using the propeller's thrust coefficient to obtain the actual thrust command of the oscillating jet motor.
[0065] The torque calculation module 300 is used to obtain the three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft, and to calculate the desired control torque using the Newton-Euler equations.
[0066] The torque limiting module 400 is used to limit the desired control torque based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, to obtain the limited desired control torque.
[0067] The swing angle calculation module 500 is used to construct the swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, it uses a regularized least squares solution algorithm to calculate the swing angle and generate the swing angle control command.
[0068] Furthermore, after obtaining the throttle command value, the system also includes:
[0069] The throttle command value is limited to obtain a limited throttle command value.
[0070] The throttle command value after being limited is compared with the preset minimum value. The maximum value between the two is selected as the final throttle command value.
[0071] It should be noted that the modules in the system of Embodiment 2 correspond to the steps in the method of Embodiment 1. The steps in the method of Embodiment 1 have been described in detail in Embodiment 1, and the module content in the system will not be described in detail in this Embodiment 2.
[0072] Example 3
[0073] This embodiment also provides a computer device, including a system memory 1005 and a processor 1001. The system memory 1005 stores a computer program, and the processor 1001 executes the computer program to implement the steps of any of the methods described above.
[0074] It should be noted that the processor 1001 is used to execute the steps in the above method embodiments according to the instructions in the program code. Alternatively, when the processor 1001 executes the computer program, it implements the functions of each module / unit in the above system / device embodiments.
[0075] Specifically, in this embodiment, the computer program can be divided into one or more modules / units, which are stored in the system memory 1005 and executed by the processor 1001 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the terminal device.
[0076] The terminal device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor 1001 and a system memory 1005. Those skilled in the art will understand that this does not constitute a limitation on the terminal device; it may include more or fewer components than shown in the figures, or a combination of certain components, or different components. For example, the terminal device may also include an input / output device 1003, a network access device 1002, a bus 1006, etc.
[0077] The processor 1001 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.
[0078] System memory 1005 can be an internal storage unit of the terminal device, such as a hard drive or RAM. System memory 1005 can also be a storage device 1004 of the terminal device, such as an external hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or FlashCard. Furthermore, system memory 1005 can include both internal storage units and storage device 1004. System memory 1005 is used to store computer programs and other programs and data required by the terminal device. System memory 1005 can also be used to temporarily store data that has been output or will be output.
[0079] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0080] Example 4
[0081] This embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.
[0082] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), registers, hard disks, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof, or any other form of computer-readable storage medium in the art.
[0083] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside within an application-specific integrated circuit (ASIC). In embodiments of the invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device.
[0084] Example 5
[0085] This embodiment also provides a computer program product containing instructions that, when executed by a cluster of computer devices, cause the cluster of computer devices to perform the method described in Embodiment 1.
[0086] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A thrust vector control method for an aircraft based on a dual-ducted jet motor, characterized in that the method... include: The throttle command value is obtained, and a bilinear transformation is performed on the throttle command value using a first-order inertial function to simulate the thrust lag characteristics of the aircraft and obtain the throttle opening value with thrust lag. The thrust coefficient of the propeller is used to convert the throttle opening to obtain the actual thrust command of the swing jet motor; The three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft are obtained, and the desired control torque is calculated using the Newton-Euler equations. Based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, the desired control torque is limited to obtain the limited desired control torque; Construct a swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, use a regularized least squares solution algorithm to calculate the four swing angles and generate swing angle control commands.
2. The thrust vector control method for an aircraft based on a dual-ducted oscillating jet motor according to claim 1, characterized in that, After obtaining the throttle command value, the method also includes: The throttle command value is limited to obtain a limited throttle command value. The throttle command value after being limited is compared with the preset minimum value. The maximum value between the two is selected as the final throttle command value.
3. The thrust vector control method for an aircraft based on a dual-ducted oscillating jet motor according to claim 1, characterized in that, The three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft are obtained, and the desired control torque is calculated using the Newton-Euler equations, specifically: The gyroscopic torque of the aircraft is obtained, and the desired control torque is calculated using the Newton-Euler equations, combined with the three-axis rotational inertia and the three-channel desired attitude angular acceleration of the aircraft.
4. The thrust vector control method for an aircraft based on a dual-ducted oscillating jet motor according to claim 1, characterized in that, Based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, the desired control torque is limited to obtain the limited desired control torque, specifically: The upper limit of the three-axis torque is calculated using the actual thrust command, the aircraft's geometric parameters, and the maximum yaw angle; The desired control torque is limited by using the upper limit of the three-axis torque to obtain the limited desired control torque.
5. The thrust vector control method for an aircraft based on a dual-ducted oscillating jet motor according to claim 1, characterized in that, After calculating the four pendulum angles, the specific details are as follows: Obtain the maximum absolute value among the four swing angles and compare the maximum absolute value with the preset swing angle threshold; If the maximum absolute value is greater than the preset swing angle threshold, the amplitude of the four swing angles is limited to obtain the four swing angles after the amplitude is limited.
6. A thrust vector control system for an aircraft based on a dual-ducted oscillating jet motor, characterized in that, This system is used in the thrust vector control method for an aircraft based on a dual-ducted jet motor as described in any one of claims 1-5, wherein the system comprises: The throttle calculation module is used to obtain the throttle command value, and performs a bilinear transformation on the throttle command value using a first-order inertial function to simulate the thrust lag characteristics of the aircraft and obtain the throttle opening value with thrust lag. The thrust conversion module is used to convert the throttle opening using the propeller's thrust coefficient to obtain the actual thrust command of the oscillating jet motor; The torque calculation module is used to obtain the three-axis rotational inertia and three-channel desired attitude angular acceleration of the aircraft, and to calculate the desired control torque using the Newton-Euler equations. The torque limiting module is used to limit the desired control torque based on the actual thrust command, combined with the aircraft's geometric parameters and maximum yaw angle, to obtain the limited desired control torque. The swing angle calculation module is used to construct the swing spray control allocation matrix, and based on the swing spray control allocation matrix and the expected control torque after amplitude limiting, it uses a regularized least squares solution algorithm to calculate the swing angle and generate the swing angle control command.
7. A thrust vector control system for an aircraft based on a dual-ducted jet motor according to claim 6, characterized in that, After obtaining the throttle command value, the system also includes: The throttle command value is limited to obtain a limited throttle command value. The throttle command value after being limited is compared with the preset minimum value. The maximum value between the two is selected as the final throttle command value.
8. A computer device comprising a system memory and a processor, wherein the system memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 5.
10. A computer program product containing instructions, characterized in that, When the instruction is executed by a cluster of computer devices, the cluster of computer devices causes the cluster of computer devices to perform the method as described in any one of claims 1 to 5.