Control method and system for altitude-hold flight of hydrofoil vehicle, and vehicle

Abstract

A control method and system for altitude-hold flight of a hydrofoil vehicle, and a vehicle. The control method comprises: acquiring dynamic data of a current hydrofoil vehicle and a preset target altitude (S100); outputting flight state determination on the basis of the dynamic data and the target altitude (S200); acquiring a throttle command, and outputting a throttle gain command on the basis of the dynamic data, the flight state determination and the throttle command (S300); and generating a throttle output on the basis of the throttle command and the throttle gain command (S400). By means of the control method, the throttle output is controlled by means of the acquired dynamic data of the hydrofoil vehicle, thereby achieving the control effect of increasing the throttle when the altitude of the hydrofoil vehicle is lower than a set value, and decreasing the throttle when the altitude of the hydrofoil vehicle is higher than the set value, without the need to provide a conventional apparatus for controlling the attitude of a vehicle on the hydrofoil vehicle, so that the hydrofoil vehicle has a simpler structure and is more stable during use.

Description

Control method, vehicle and system for fixed-height flight of hydrofoil vehicle TECHNICAL FIELD

[0001] The present application relates to the field of vehicle motion state control, in particular to a control method, vehicle and system for fixed-height flight of hydrofoil vehicle. BACKGROUND

[0002] Currently, in general flight control of electric hydrofoil boards, the flight pitch angle of the electric hydrofoil board needs to be controlled by the rider standing on the board body by adjusting the center of gravity position of the rider. This method has the following disadvantages: the stable flight of the electric hydrofoil board requires a high center of gravity position, and the adjustment of the center of gravity position needs to be fine, rapid and accurate, which requires the rider to have rich experience and skills; the rider needs to frequently adjust the center of gravity during flight to make the electric hydrofoil board fly at a suitable height, and the rider bears a heavy burden, especially when flying for a long time, which easily causes the rider to be tired and the experience to be poor; in the flight control of electric hydrofoil boards with a control system, the flight pitch angle of the electric hydrofoil board is generally controlled by a rudder surface (elevator), which has the following disadvantages: the electric hydrofoil board must increase the rudder surface, driver, transmission system and other components, which greatly increases the structural complexity and product weight of the electric hydrofoil board; the transmission system increases the waterproof requirement of the product; and additional maintenance workload and maintenance cost are increased. SUMMARY

[0003] The main purpose of the present application is to provide a control method, vehicle and system for fixed-height flight of hydrofoil vehicle, so as to control the fixed-height flight state of the electric hydrofoil vehicle by controlling the throttle and power output.

[0004] In order to achieve the above purpose, the present application provides a control method for fixed-height flight of hydrofoil vehicle, which comprises:

[0005] obtaining dynamic data of the current hydrofoil vehicle and a preset target height;

[0006] outputting flight state judgment according to the dynamic data and the target height;

[0007] obtaining a throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction;

[0008] generating a throttle output according to the throttle instruction and the throttle gain instruction.

[0009] Further, the dynamic data includes height data, and the method of outputting flight state judgment according to the dynamic data and the target height, obtaining a throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction comprises:

[0010] determining whether the height data meets a preset target height, specifically:

[0011] when the height data meets or is higher than the target height, the flight state is determined as a flight state,

[0012] when the height data is lower than the target height, the flight state is determined as a non-flight state;

[0013] when the flight state is determined as the flight state, outputting a throttle gain instruction according to the dynamic data and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction, so as to maintain the flight height.

[0014] Further, the dynamic data includes height data and climb speed data, the method of obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state determination and the throttle instruction, and generating the throttle output according to the throttle instruction and the throttle gain instruction includes:

[0015] determining whether the height data meets a preset target height, specifically:

[0016] when the height data meets or is higher than the target height, the flight state is determined as a flight state,

[0017] when the height data is lower than the target height, the flight state is determined as a non-flight state;

[0018] outputting a climb speed instruction according to the height data and the preset target height;

[0019] when the flight state is determined as the flight state, outputting a throttle gain instruction according to the climb speed data and the climb speed instruction, in combination with the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction, so as to maintain the flight height.

[0020] Further, the dynamic data includes height data, climb speed data and climb acceleration data, the method of obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state determination and the throttle instruction includes:

[0021] determining whether the height data meets a preset target height, specifically:

[0022] when the height data meets or is higher than the target height, the flight state is determined as a flight state,

[0023] when the height data is lower than the target height, the flight state is determined as a non-flight state;

[0024] outputting a climb speed instruction according to the height data and the preset target height;

[0025] outputting a climb acceleration instruction according to the climb speed data and the climb speed instruction;

[0026] When the flight state is determined as the flight state, an output throttle gain instruction is output according to the climb acceleration instruction and the climb acceleration data, and a throttle output is generated according to the throttle instruction and the output throttle gain instruction, so as to maintain the flight height.

[0027] Further, the dynamic data includes height data and flight speed data, and the method of outputting the flight state determination according to the dynamic data and the target height comprises:

[0028] S1: Obtain the current throttle opening, and determine whether the current throttle is greater than the minimum throttle for completing the target height take-off. If yes, jump to S2, otherwise jump to S6;

[0029] S2: Determine whether the current flight speed is greater than the minimum take-off speed for completing the target height take-off according to the flight speed data. If yes, jump to S3, otherwise jump to S6;

[0030] S3: Determine whether the current flight height is greater than the minimum flight height for completing the target height take-off according to the height data. If yes, jump to S4, otherwise jump to S6;

[0031] S4: Determine whether the current flight height is greater than the target height according to the height data. If yes, jump to S7, otherwise jump to S5;

[0032] S5: If the target height determination timer is not initialized, record the current system time as the target height determination timer initialization time, and jump to S9. If the target height determination timer is initialized, calculate whether the time difference between the current system time and the target height determination timer initialization time is greater than the target height determination time period. If yes, jump to S7, otherwise jump to S9;

[0033] S6: If the non-target height determination timer is not initialized, record the current system time as the non-target height determination timer initialization time, and jump to S9. If the non-target height determination timer is initialized, calculate whether the time difference between the current system time and the non-target height determination timer initialization time is greater than the non-target height determination time period. If yes, jump to S8, otherwise jump to S9;

[0034] S7: Determine the flight state of the hydrofoil vehicle as the flight state, and set the non-target height determination timer as the non-initialization state, and jump to S9;

[0035] S8: Determine the flight state of the hydrofoil vehicle as the non-flight state, and set the target height determination timer as the non-initialization state, and jump to S9;

[0036] S9: Wait for the next round of determination.

[0037] Further, the dynamic data further comprises climb speed data, the method of obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction, and generating the throttle output according to the throttle instruction and the throttle gain instruction comprises:

[0038] When the flight state judgment is the flight state, the throttle gain instruction is output according to the climb speed data and the climb speed instruction in combination with the throttle instruction, and the throttle output is generated according to the throttle instruction and the throttle gain instruction, so as to realize the keeping of the flight height.

[0039] Further, the dynamic data further comprises climb speed data and climb acceleration data, the method of obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction, and generating the throttle output according to the throttle instruction and the throttle gain instruction comprises:

[0040] The climb speed instruction is output according to the height data and a preset target height;

[0041] The climb acceleration instruction is output according to the climb speed data and the climb speed instruction;

[0042] When the flight state judgment is the flight state, the throttle gain instruction is output according to the climb acceleration instruction and the climb acceleration data in combination with the throttle instruction, and the throttle output is generated according to the throttle instruction and the throttle gain instruction, so as to realize the keeping of the flight height.

[0043] Further, the dynamic data further comprises pitch data, the method of obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction comprises:

[0044] The target pitch angle instruction is output according to the height data and a preset target height;

[0045] The first pitch angle instruction is started or stopped according to the flight state judgment, and specifically:

[0046] The first pitch angle instruction is started and output when the flight state judgment is higher than a preset minimum take-off height;

[0047] The first pitch angle instruction is stopped, a preset pitch angle instruction is output, and the target pitch angle instruction is started and output after taking off to a height higher than the preset minimum take-off height when the flight state judgment is lower than the preset minimum take-off height;

[0048] The throttle instruction pitch angle gain is output according to the throttle instruction, the pitch data and the first pitch angle instruction;

[0049] The throttle gain instruction is output according to the throttle instruction and the throttle instruction pitch angle gain.

[0050] Further, the pitch data includes pitch angle data, pitch angle rate data and pitch angle acceleration data, and the method of outputting the throttle command pitch angle gain according to the throttle command, the pitch data and the first pitch angle command comprises:

[0051] outputting a pitch angle rate command according to the target pitch angle command and the pitch angle data;

[0052] outputting a pitch angle acceleration command according to the pitch angle rate command and the pitch angle rate data;

[0053] outputting a throttle command pitch angle acceleration gain according to the throttle command, the pitch angle acceleration command and the pitch angle acceleration data;

[0054] outputting a throttle gain command according to the throttle command and the throttle command pitch angle acceleration gain.

[0055] Further, the method of generating the throttle output according to the throttle command and the throttle gain command comprises:

[0056] obtaining position information Tlocation of the throttle trigger;

[0057] calculating a current maximum throttle gain command Ttri_max according to the position information Tlocation of the throttle trigger:

[0058] Ttri_max=Kt*Tlocation*Tcal_max,

[0059] wherein Kt is a preset proportional parameter, and Tcal_max is a preset maximum gain limit;

[0060] setting the throttle gain command Ttri∈(-Ttri_max, Ttri_max);

[0061] generating the throttle output according to the throttle command and the throttle gain command.

[0062] Further, the method of generating the throttle output according to the throttle command and the throttle gain command specifically comprises:

[0063] smoothing and filtering according to the throttle command and the throttle gain command according to a preset throttle curve, and generating the throttle output.

[0064] The embodiment further discloses an electric hydrofoil vehicle, comprising a carrier, a mast is arranged on a side of the carrier facing the water surface, a hydrofoil component for providing lift is arranged at an end of the mast, a power unit for driving the hydrofoil vehicle is arranged at an end of the mast close to the hydrofoil component or connected with the hydrofoil component;

[0065] Further comprising a controller, which is in communication connection with the power unit, for controlling the power unit to realize the control method of the constant height flight of the hydrofoil vehicle.

[0066] The embodiment further discloses a control system for the constant height flight of the electric hydrofoil vehicle, and the control system comprises:

[0067] a dynamic data acquisition module, which is used for the dynamic data of the current hydrofoil vehicle and the preset target height;

[0068] a flight state judgment module, which is used for outputting the flight state judgment according to the dynamic data and the target height;

[0069] a controller module, which is used for acquiring the throttle instruction, and outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction;

[0070] a throttle control module, which is used for generating the throttle output according to the throttle instruction and the throttle gain instruction.

[0071] The embodiment further discloses an electronic device, which comprises at least one processor and at least one memory; the memory is used for storing one or more program instructions; and the processor is used for running the one or more program instructions to execute the control method of the constant height flight.

[0072] The embodiment further discloses a computer readable storage medium, and the computer storage medium comprises one or more program instructions, and the one or more program instructions are used for executing the control method of the constant height flight.

[0073] The control method of the constant height flight of the hydrofoil vehicle, the hydrofoil vehicle and the system have the following beneficial effects compared with the prior art:

[0074] 1. In the overall control design, the obtained dynamic data of the hydrofoil vehicle is used to control the throttle output, so that the throttle is increased when the real-time height of the hydrofoil vehicle is lower than the set height, and the throttle is reduced when the height of the hydrofoil vehicle is higher than the set height, without the need to set a traditional device for controlling the attitude of the vehicle on the hydrofoil vehicle, so that the structure of the hydrofoil vehicle is simpler and more stable in use.

[0075] 2. Before the output throttle control, the flight state judgment of the vehicle is designed, the throttle gain is output in combination with the further dynamic data of the hydrofoil vehicle, the output of the throttle can be further controlled on the basis of the throttle instruction, and the accidents caused by the too large or too small throttle due to the operation error of the user are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0076] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The illustrations, together with the description, serve to explain the application, but are not intended to limit the application. In the drawings:

[0077] Fig. 1 is a flow chart of the control method of embodiment 1;

[0078] Fig. 2 is a schematic diagram of the system structure of embodiment 1;

[0079] Fig. 3 is a schematic diagram of the system structure of embodiment 2;

[0080] Fig. 4 is a schematic diagram of the system structure of embodiment 3;

[0081] Fig. 5 is a schematic diagram of the system structure of embodiment 4;

[0082] Fig. 6 is a schematic diagram of the structure of a hydrofoil vehicle;

[0083] Fig. 7 is a schematic diagram of the structure of a constant altitude flight control system. DETAILED DESCRIPTION

[0084] In order to enable persons skilled in the art to better understand the schemes of the present application, the technical schemes in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0085] It should be noted that the terms "first", "second", and the like in the specification of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0086] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0087] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned partial terms may also be used to indicate other meanings, for example, the term "upper" may also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0088] In addition, the meaning of the term "a plurality of" should be two and more than two.

[0089] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0090] Embodiment 1

[0091] With reference to FIGS. 1, 2 and 6, the present embodiment discloses a control method for constant-height flight of a hydrofoil vehicle, and the method specifically comprises:

[0092] S100: Obtain dynamic data of the current hydrofoil vehicle and a preset target height.

[0093] Among them, the dynamic data is a plurality of data of the relationship between the hydrofoil vehicle and the water body, such as height data and speed data of the hydrofoil vehicle. Through the dynamic data, the running state of the current hydrofoil vehicle can be known, for example, the height is lower or higher than the target height, and again, for example, the current hydrofoil vehicle will cause its height to be lower or higher than the target height.

[0094] S200: Output flight state judgment according to the dynamic data and the target height.

[0095] Specifically, the flight state judgment refers to the relationship between the current height of the hydrofoil vehicle and the target height. When the flight state judgment is performed, it can be determined whether the hydrofoil vehicle meets the target height or is lower or higher than the target height. The target height is a certain height or a height range. After obtaining the flight state judgment, the overall control effect of the embodiment is that when the flight state judgment is lower than the target height, it can also be understood that the minimum height of the hydrofoil vehicle is that it floats on the water surface. At this time, the user controls the throttle output of the hydrofoil vehicle to raise the height of the hydrofoil vehicle. When the flight state judgment is higher than the target height, the throttle needs to be reduced to lower the height of the hydrofoil vehicle. To assist the user in corresponding control, the embodiment proposes to use the throttle gain for auxiliary control. It should be noted that in the embodiment, the output of the sensor used to obtain the height data is inaccurate when the hydrofoil vehicle floats on the water surface. For example, the ultrasonic sensor is not output when it is submerged in water in the static or low-speed state of the hydrofoil vehicle. Or it is affected by waves and floats up and down and swings left and right. Therefore, in the non-flight state, the user needs to control the hydrofoil vehicle to take off to the target height. Relatively, the hydrofoil vehicle obtains lift in the water through the hydrofoil component at a certain speed, so that the carrier of the hydrofoil vehicle is lifted off the water surface, thereby making the dynamic data of the hydrofoil vehicle affected by the waves very small, and the sensor can output effectively and accurately in real time. Therefore, the target height can be preset by the user, or it can be at least the height at which the sensor can effectively output. It should be understood that when different dynamic data is obtained, the flight state judgment and the control effect are also different.

[0096] The embodiment discloses that when the dynamic data is the height data of the hydrofoil vehicle, the method for flight state judgment comprises:

[0097] judging whether the height data meets the preset target height, specifically:

[0098] when the height data meets or is higher than the target height, the flight state judgment is a flight state,

[0099] when the height data is lower than the target height, the flight state judgment is a non-flight state.

[0100] S300: Obtain a throttle instruction, output a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction.

[0101] Among them, the throttle instruction is a control instruction input by the user in real time. Since the user has high control requirements for controlling the throttle to achieve a constant height flight, the throttle gain instruction is used for auxiliary control to achieve accurate constant height flight control.

[0102] On the basis of step S200, the dynamic data is the height data of the hydrofoil vehicle, and the flight state is judged, the throttle command is obtained, and the method for outputting the throttle gain command according to the dynamic data, the flight state judgment and the throttle command is as follows:

[0103] S311: When the flight state is judged as the flight state, the throttle gain command is output according to the dynamic data and the throttle command, the throttle output is generated according to the throttle command and the throttle gain command, so as to realize the maintenance of the flight height; specifically, when the throttle command is too large, the throttle command gain is negative gain, so as to reduce the throttle output and realize the height maintenance; when the throttle command is too small, the throttle command gain is positive gain, so as to increase the throttle output and realize the height maintenance; when the throttle command is normal, the throttle command gain is zero gain, so as to increase the throttle output and realize the height maintenance.

[0104] Further, when the flight state is judged as the non-flight state, the hydrofoil vehicle cannot obtain the related accurate dynamic data at this time, the blind gain control cannot obtain the accurate control effect at this time, therefore, the user needs to control the throttle to adjust the flight height of the hydrofoil vehicle by himself until the flight height meets the target height, at this time, the flight state is automatically corrected as the flight state.

[0105] Further, the priority of the throttle command input by the user must be ensured during the throttle output, so that the user can perceive that the throttle can be completely controlled, and the confidence and safety of the user in the use process are improved, therefore, the generated throttle gain needs to be limited according to the size of the throttle command input by the user, so that the throttle gain generated will not have a great influence on the response of the manual adjustment of the throttle by the user, and the user can obtain appropriate feedback when adjusting the throttle, so that the user can perceive that the throttle is always controllable. Therefore, the throttle gain command needs to be limited as follows:

[0106] The position information Tlocation of the throttle trigger is obtained;

[0107] The maximum throttle gain command Ttri_max is calculated according to the position information Tlocation of the throttle trigger:

[0108] Ttri_max=Kt*Tlocation*Tcal_max,

[0109] Wherein, Kt is a preset proportional parameter, and Tcal_max is a preset maximum gain limit;

[0110] The throttle gain command Ttri is set to (-Ttri_max, Ttri_max).

[0111] S400: The throttle output is generated according to the throttle command and the throttle gain command.

[0112] The throttle gain instruction is used to directly act on the throttle instruction, so as to adjust the throttle instruction. Specifically, the throttle instruction and the throttle gain instruction are summed to obtain the final throttle output.

[0113] To further ensure the smoothness of the throttle output, in application, before the final throttle output, on the one hand, the user needs to perceive that the throttle is adequately responsive to the user's operation, and on the other hand, the rate of change of the throttle with time needs to be limited to avoid too rapid acceleration or deceleration caused by too intense throttle response, which affects the use experience and even causes safety accidents. Therefore, in the embodiment, the throttle output is also generated by smoothing and filtering the throttle instruction and the throttle gain instruction according to a preset throttle curve. Specifically:

[0114] The last throttle output Tlast, the time TIMlast of the last output throttle and the current time TIMnow are obtained.

[0115] The maximum and minimum throttle change amplitudes allowed are calculated:

[0116] The maximum throttle change amplitude is Tmax=f(TIMnow-TIMlast),

[0117] The minimum throttle change amplitude is Tmin=-f(TIMnow-TIMlast), wherein f is a self-defined function, and the function is to calculate the maximum change amount of the throttle according to the time period;

[0118] The current throttle instruction difference value Tdelta is calculated according to the user input throttle instruction Tuser, the throttle gain instruction Ttri and the last throttle output Tlast: Tdelta=Tuser+Ttri-Tlast.

[0119] If the current throttle instruction difference value Tdelta is less than the minimum throttle change amplitude Tmin, the current throttle instruction difference value Tdelta is set to the minimum throttle change amplitude Tmin.

[0120] If the current throttle instruction difference value Tdelta is greater than the maximum throttle change amplitude Tmax, the current throttle instruction difference value Tdelta is set to the maximum throttle change amplitude Tmax.

[0121] The current throttle instruction difference value and the last throttle output Tlast are calculated to obtain the current output throttle Tnow: Tnow=Tlast+Tdelta.

[0122] The current output throttle Tnow is set to Tlast.

[0123] Finally, the final throttle output is generated by summing the throttle gain instruction Ttri obtained by the above calculation and the current output throttle Tnow.

[0124] Referring to FIG. 6, the embodiment further discloses an electric hydrofoil vehicle, comprising a carrier 1 for carrying a driver, the carrier 1 is provided with a mast 2 on the side facing the water surface, the end of the mast 2 is provided with a hydrofoil component 3 for providing lift, the mast 2 is provided with a power unit 4 for driving the hydrofoil vehicle at one end close to or connected with the hydrofoil component 3, the power unit 4 is a propeller or other structure applied to underwater driving, the driving side of the power unit 4 faces the hydrofoil component 3, so as to control the action of the carrier by driving the mast 2 to push the hydrofoil component 3. Further, the hydrofoil vehicle further comprises a controller (not shown in the figure), which is in communication connection with the power unit 4, for controlling the power unit to realize the control method of the constant height flight of the hydrofoil vehicle as described above.

[0125] Referring to FIG. 2 and FIG. 7, the embodiment further discloses a control system for constant height flight of an electric hydrofoil vehicle, specifically comprising:

[0126] A dynamic data acquisition module acquires dynamic data of the current hydrofoil vehicle and a preset target height. Illustratively, the dynamic data acquisition module comprises a GPS and a water pressure gauge, the flight speed data of the hydrofoil vehicle is acquired by the GPS, and the height data of the hydrofoil vehicle is acquired by the water pressure gauge, wherein the water pressure gauge can also be replaced by a range finder or other distance measuring equipment. In order to acquire more dynamic data, the dynamic data acquisition module is adaptively provided with more sensors.

[0127] A flight state judgment module is used to output a flight state judgment according to the dynamic data and the target height; for example, when the height data of the hydrofoil vehicle is acquired, the relationship between the height data and the target height is judged. In the embodiment, when the dynamic data is the height data of the hydrofoil vehicle, the method of flight state judgment is to judge whether the height data conforms to the preset target height, specifically: when the height data conforms to or is higher than the target height, the flight state is judged as a flight state, and when the height data is lower than the target height, the flight state is judged as a non-flight state.

[0128] The controller module is used to acquire throttle commands and output throttle gain commands based on dynamic data, flight status judgment, and throttle commands. In this embodiment, the controller module includes an altitude controller, which generates throttle gain commands. For example, when the flight status is determined to be in flight mode, the altitude controller outputs throttle gain commands based on dynamic data and throttle commands, and generates throttle output based on the throttle commands and throttle gain commands to maintain flight altitude. It is also used to respond to user control of the throttle in non-flight mode, adjusting the hydrofoil vehicle's flight altitude until it meets the preset target altitude. Since the environmental factors are complex during vehicle use, and equipment damage may occur, the controller module also includes an anomaly protection controller to acquire system anomalies. After generating throttle output, the anomaly protection controller needs to detect system anomalies. If an anomaly is received, such as throttle loss, the power output will be shut off until the throttle command is restored. For example, if sensor or dynamic data anomalies are detected, the throttle gain command is set to zero, and only user throttle commands are responded to. These throttle restrictions protect user safety during use.

[0129] A throttle control module is configured to generate a throttle output according to a throttle instruction and a throttle gain instruction. The throttle control module includes a control gain limiter and a throttle curve controller. The control gain limiter is configured to output the throttle gain instruction according to the throttle instruction. Specifically, position information Tlocation of a throttle trigger is obtained. A current maximum throttle gain instruction Ttri_max is calculated according to the position information Tlocation of the throttle trigger. Ttri_max = Kt*Tlocation*Tcal_max, where Kt is a preset proportional parameter, and Tcal_max is a preset maximum gain limit. The throttle gain instruction Ttri is set to be within a range of (-Ttri_max, Ttri_max). The throttle curve controller is configured to smooth and filter the throttle instruction and the throttle gain according to a preset throttle curve, and generate the throttle output. Specifically, a last throttle output Tlast, a time TIMlast of the last throttle output, and a current time TIMnow are obtained. A maximum and a minimum throttle change amplitude are calculated. The maximum throttle change amplitude is Tmax = f(TIMnow-TIMlast), and the minimum throttle change amplitude is Tmin = -f(TIMnow-TIMlast), where f is a self-defined function configured to calculate a maximum throttle change according to a time period. A current throttle instruction difference Tdelta is calculated according to a user input throttle instruction Tuser, the throttle gain instruction Ttri, and the last throttle output Tlast. If the current throttle instruction difference Tdelta is less than the minimum throttle change amplitude Tmin, the current throttle instruction difference Tdelta is set to the minimum throttle change amplitude Tmin. If the current throttle instruction difference Tdelta is greater than the maximum throttle change amplitude Tmax, the current throttle instruction difference Tdelta is set to the maximum throttle change amplitude Tmax. The current throttle instruction difference and the last throttle output Tlast are calculated to obtain a current output throttle Tnow. Tnow = Tlast+Tdelta. The current output throttle Tnow is set to Tlast. Finally, the throttle gain instruction Ttri and the current output throttle Tnow are summed to generate a final throttle output.

[0130] The embodiment further discloses an electronic device, which includes at least one processor and at least one memory. The memory is configured to store one or more program instructions. The processor is configured to execute the one or more program instructions to perform the method as above.

[0131] The embodiment further discloses a computer readable storage medium, which includes one or more program instructions. The one or more program instructions are configured to perform the method as above.

[0132] Embodiment 2

[0133] With reference to FIG. 2 and FIG. 3, the embodiment is different from embodiment 1 in that, in order to further ensure the accuracy of the output throttle gain instruction, in step S100: dynamic data of the current hydrofoil vehicle and a preset target height are obtained; wherein the dynamic data further includes climb speed data of the hydrofoil vehicle, the climb speed data is obtained by calculating the height data of the hydrofoil vehicle, and can also be obtained by other detection means of the sensor. Then, the method of obtaining the flight state judgment in the embodiment is different from the method of obtaining the flight state judgment in step S300 of embodiment 1: obtaining the throttle instruction, outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction.

[0134] S321: outputting the climb speed instruction according to the height data and the preset target height;

[0135] S322: when the flight state judgment is the flight state, outputting the throttle gain instruction according to the climb speed data and the climb speed instruction, combining the throttle instruction, generating the throttle output according to the throttle instruction and the throttle gain instruction, so as to realize the keeping of the flight height.

[0136] The embodiment further proposes an optimization scheme, that is, the dynamic data further includes climb acceleration data, the next step of the hydrofoil vehicle can be accurately predicted by the climb acceleration data, then the method of obtaining the flight state judgment in the embodiment is further as follows after obtaining the flight state judgment:

[0137] S324: outputting the climb speed instruction according to the height data and the preset target height;

[0138] S325: outputting the climb acceleration instruction according to the climb speed data and the climb speed instruction;

[0139] S326: when the flight state judgment is the flight state, outputting the throttle gain instruction according to the climb acceleration instruction and the climb acceleration data, combining the throttle instruction, generating the throttle output according to the throttle instruction and the throttle gain instruction, so as to realize the keeping of the flight height.

[0140] The embodiment is further different from embodiment 1 in that, in the control system of the electric hydrofoil vehicle for constant height flight, the controller module in the embodiment further includes a climb rate controller and a climb acceleration controller. Specifically, in the embodiment, the height controller is used to output the climb speed instruction according to the height data and the preset target height, the climb rate controller is used to output the climb acceleration instruction according to the climb rate instruction and the climb speed, and the climb acceleration controller is used to output the throttle gain instruction according to the climb acceleration instruction and the climb acceleration.

[0141] Embodiment 3

[0142] With reference to FIG. 2, FIG. 4 and FIG. 5, the embodiment is different from embodiment 1 in that, in order to further ensure the accuracy of the output throttle gain command, in step S100: dynamic data of the current hydrofoil vehicle and a preset target height are obtained; wherein the dynamic data further includes flight speed data and pitch data. Step S200: output flight state judgment according to the dynamic data and the target height, the method in this embodiment specifically includes:

[0143] S1: obtain the current throttle opening, and judge whether the current throttle is greater than the minimum throttle for completing the target height take-off, if yes, jump to S2, otherwise jump to S6;

[0144] S2: according to the flight speed data, judge whether the current flight speed is greater than the minimum take-off speed for completing the target height take-off, if yes, jump to S3, otherwise jump to S6;

[0145] S3: according to the height data, judge whether the current flight height is greater than the minimum flight height for completing the target height take-off, if yes, jump to S4, otherwise jump to S6;

[0146] S4: according to the height data, judge whether the current flight height is greater than the target height, if yes, jump to S7, otherwise jump to S5;

[0147] S5: if the target height judgment timer is not initialized, record the current system time as the target height judgment timer initialization time, and jump to S9, if the target height judgment timer is initialized, calculate whether the time difference between the current system time and the target height judgment timer initialization time is greater than the target height judgment time period, if yes, jump to S7, otherwise jump to S9;

[0148] S6: if the non-target height judgment timer is not initialized, record the current system time as the non-target height judgment timer initialization time, and jump to S9, if the non-target height judgment timer is initialized, calculate whether the time difference between the current system time and the non-target height judgment timer initialization time is greater than the non-target height judgment time period, if yes, jump to S8, otherwise jump to S9;

[0149] S7: set the flight state judgment of the hydrofoil vehicle to flight state, set the non-target height judgment timer to non-initialization state, and jump to S9;

[0150] S8: set the flight state judgment of the hydrofoil vehicle to non-flight state, set the target height judgment timer to non-initialization state, and jump to S9;

[0151] S9: wait for the next round of judgment.

[0152] On this basis, the method of the embodiment and step S300 of embodiment 1: obtaining throttle instruction, outputting throttle gain instruction according to dynamic data, flight state judgment and throttle instruction is further as follows after obtaining the flight state judgment:

[0153] S331: output target pitch angle instruction according to height data and preset target height;

[0154] S332: turn on or off the target pitch angle instruction according to the flight state judgment, specifically:

[0155] S333: turn on the target pitch angle instruction and output when the flight state judgment is flight state;

[0156] S334: turn off the target pitch angle instruction and output preset pitch angle instruction when the flight state judgment is non-flight state, and turn on the target pitch angle instruction and output after taking off to a height higher than the preset minimum take-off height through the preset pitch angle instruction;

[0157] S335: output throttle instruction pitch angle gain according to throttle instruction, pitch data and target pitch angle instruction;

[0158] S336: output throttle gain instruction according to throttle instruction and throttle instruction pitch angle gain.

[0159] As can be seen from the above, the introduction of pitch data and preset pitch instruction in dynamic data can effectively solve the problem that the hydrofoil vehicle can only fly to the target height by using the user to control the throttle in the non-flight state, further improving the fine control of flight.

[0160] Further, the embodiment optimizes the pitch data scheme, specifically, the pitch data includes pitch angle data, pitch angle rate data and pitch angle acceleration data, then after obtaining the target pitch angle instruction, the method of step S335: outputting throttle instruction pitch angle gain according to throttle instruction, pitch data and target pitch angle instruction includes:

[0161] S337: output pitch angle rate instruction according to target pitch angle instruction and pitch angle data;

[0162] S338: output pitch angle acceleration instruction according to pitch angle rate instruction and pitch angle rate data;

[0163] S339: output throttle instruction pitch angle acceleration gain according to throttle instruction, pitch angle acceleration instruction and pitch angle acceleration data;

[0164] S3310: output throttle gain instruction according to throttle instruction and throttle instruction pitch angle acceleration gain.

[0165] The embodiment is further different from the embodiment 1 in that the controller module in the control system of the electric hydrofoil vehicle in the fixed height flight further comprises a pitch angle controller, a pitch angle rate controller and a pitch angle acceleration controller. Specifically, in the embodiment, the height controller is configured to output a target pitch angle instruction according to the height data and a preset target height, the pitch angle controller is configured to output a pitch angle rate instruction according to the target pitch angle instruction and the pitch angle data, the pitch angle rate controller is configured to output a pitch angle acceleration instruction according to the pitch angle rate instruction and the pitch angle rate data, and the pitch angle acceleration controller is configured to output a throttle instruction pitch angle acceleration gain according to the pitch angle acceleration instruction and the pitch angle acceleration data. The control gain limiter is configured to output a throttle gain instruction according to the throttle instruction and the throttle instruction pitch angle acceleration gain.

[0166] Embodiment 4

[0167] The embodiment is another implementation of the scheme in which the dynamic data in the embodiment 2 further comprises the climb speed data or further comprises the climb speed data and the climb acceleration data on the basis of the flight state judgment in the embodiment 3. Specifically, when the dynamic data comprises the height data, the flight speed data and the climb speed data, the step S300 of obtaining the throttle instruction and outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction further comprises the following steps after obtaining the flight state judgment by the flight state judgment method in the embodiment:

[0168] S341: When the flight state judgment is the flight state, the throttle gain instruction is output according to the climb speed data and the climb speed instruction in combination with the throttle instruction, and the throttle output is generated according to the throttle instruction and the throttle gain instruction to realize the maintaining of the flight height.

[0169] Further, referring to FIG. 5, when the dynamic data comprises the height data, the flight speed data, the climb speed data and the climb acceleration data, the step S300 of obtaining the throttle instruction and outputting the throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction further comprises the following steps after obtaining the flight state judgment by the flight state judgment method in the embodiment:

[0170] S343: The climb speed instruction is output according to the height data and a preset target height.

[0171] S344: The climb acceleration instruction is output according to the climb speed data and the climb speed instruction.

[0172] S345: When the flight state judgment is the flight state, the throttle gain instruction is output according to the climb acceleration instruction and the climb acceleration data in combination with the throttle instruction, and the throttle output is generated according to the throttle instruction and the throttle gain instruction to realize the maintaining of the flight height.

[0173] The specific ways in which the units in the above embodiments perform operations have been described in detail in the embodiments related to the method, and will not be described in detail here.

[0174] The above only is the preferred embodiment of the present application, and is not used to limit the present application, and the present application can have various changes and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A control method for a hydrofoil vehicle to fly at a constant height, characterized by, The method comprises: acquiring dynamic data of a current hydrofoil vehicle and a preset target height; outputting a flight state judgment according to the dynamic data and the target height; acquiring a throttle instruction, and outputting a throttle gain instruction according to the dynamic data, the flight state judgment, and the throttle instruction; generating a throttle output according to the throttle instruction and the throttle gain instruction.

2. The method of controlling the height of flight of a hydrofoil vehicle according to claim 1, characterized in that, The dynamic data comprises height data, and the method of outputting a flight state judgment according to the dynamic data and the target height, acquiring a throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment, and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction comprises: judging whether the height data conforms to the preset target height, and specifically: when the height data conforms to or is higher than the target height, the flight state judgment is a flight state, when the height data is lower than the target height, the flight state judgment is a non-flight state; when the flight state judgment is the flight state, a throttle gain instruction is output according to the dynamic data and the throttle instruction, and a throttle output is generated according to the throttle instruction and the throttle gain instruction, so as to maintain the flight height.

3. The method of controlling the height of flight of a hydrofoil vehicle according to claim 1, characterized in that, The dynamic data comprises height data and climb speed data, and the method of acquiring a throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment, and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction comprises: judging whether the height data conforms to the preset target height, and specifically: when the height data conforms to or is higher than the target height, the flight state judgment is a flight state, when the height data is lower than the target height, the flight state judgment is a non-flight state; outputting a climb speed instruction according to the height data and the preset target height; when the flight state judgment is the flight state, a throttle gain instruction is output according to the climb speed data and the climb speed instruction in combination with the throttle instruction, and a throttle output is generated according to the throttle instruction and the throttle gain instruction, so as to maintain the flight height.

4. The method of controlling the height of flight of a hydrofoil vehicle according to claim 1, characterized in that, The dynamic data comprises height data, climb speed data, and climb acceleration data, and the method of acquiring a throttle instruction and outputting a throttle gain instruction according to the dynamic data, the flight state judgment, and the throttle instruction comprises: judging whether the height data conforms to the preset target height, and specifically: when the height data conforms to or is higher than the target height, the flight state judgment is a flight state, when the height data is lower than the target height, the flight state judgment is a non-flight state; outputting a climb speed instruction according to the height data and the preset target height; outputting a climb acceleration instruction according to the climb speed data and the climb speed instruction; when the flight state judgment is the flight state, a throttle gain instruction is output according to the climb acceleration instruction and the climb acceleration data in combination with the throttle instruction, and a throttle output is generated according to the throttle instruction and the throttle gain instruction, so as to maintain the flight height.

5. The method of controlling the height of a hydrofoil vehicle in flight as claimed in claim 1, wherein, The dynamic data comprises height data and flight speed data, and the method of outputting a flight state judgment according to the dynamic data and the target height comprises: S1: acquiring a current throttle opening, judging whether the current throttle is greater than a minimum throttle for completing takeoff of the target height, jumping to S2 if yes, and jumping to S6 if no; S2: judging whether the current flight speed is greater than the minimum take-off speed for completing the target height take-off according to the flight speed data, if yes, jumping to S3, otherwise jumping to S6; S3: judging whether the current flight height is greater than the minimum flight height for completing the target height take-off according to the height data, if yes, jumping to S4, otherwise jumping to S6; S4: judging whether the current flight height is greater than the target height according to the height data, if yes, jumping to S7, otherwise jumping to S5; S5: if the target height judgment timer is not initialized, recording the current system time as the target height judgment timer initialization time, and jumping to S9, if the target height judgment timer is initialized, calculating whether the time difference between the current system time and the target height judgment timer initialization time is greater than the target height judgment period, if yes, jumping to S7, otherwise jumping to S9; S6: if the non-target height judgment timer is not initialized, recording the current system time as the non-target height judgment timer initialization time, and jumping to S9, if the non-target height judgment timer is initialized, calculating whether the time difference between the current system time and the non-target height judgment timer initialization time is greater than the non-target height judgment period, if yes, jumping to S8, otherwise jumping to S9; S7: setting the flight state judgment of the hydrofoil vehicle to the flight state, setting the non-target height judgment timer to the non-initialization state, and jumping to S9; S8: setting the flight state judgment of the hydrofoil vehicle to the non-flight state, setting the target height judgment timer to the non-initialization state, and jumping to S9; S9: waiting for the next round of judgment.

6. The method of controlling the height of flight of a hydrofoil craft according to claim 5, characterized in that, The dynamic data further includes climb speed data, the method for obtaining the throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction includes: When the flight state judgment is the flight state, outputting the throttle gain instruction according to the climb speed data and the climb speed instruction in combination with the throttle instruction, and generating the throttle output according to the throttle instruction and the throttle gain instruction to realize the maintaining of the flight height.

7. The method of controlling the height of a hydrofoil craft in flight according to claim 5, wherein, The dynamic data further includes climb speed data and climb acceleration data, the method for obtaining the throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction, and generating a throttle output according to the throttle instruction and the throttle gain instruction includes: Outputting a climb speed instruction according to the height data and the preset target height; Outputting a climb acceleration instruction according to the climb speed data and the climb speed instruction; When the flight state judgment is the flight state, outputting the throttle gain instruction according to the climb acceleration instruction and the climb acceleration data in combination with the throttle instruction, and generating the throttle output according to the throttle instruction and the throttle gain instruction to realize the maintaining of the flight height.

8. The method of controlling the height of a hydrofoil craft in flight according to claim 5, wherein, The dynamic data further includes pitch data, the method for obtaining the throttle instruction, outputting a throttle gain instruction according to the dynamic data, the flight state judgment and the throttle instruction includes: Outputting a target pitch angle instruction according to the height data and the preset target height; Turning on or off the target pitch angle instruction according to the flight state judgment, specifically: open the target pitch angle command and output when the flight state is determined as the flight state; close the target pitch angle command and output the preset pitch angle command when the flight state is determined as the non-flight state, and open the target pitch angle command and output after taking off to a height higher than the preset minimum take-off height through the preset pitch angle command; output the throttle command pitch angle gain according to the throttle command, the pitch data and the target pitch angle command; output the throttle gain command according to the throttle command and the throttle command pitch angle gain.

9. The method of controlling the height of a hydrofoil craft in flight according to claim 8, characterized in that, The pitch data includes pitch angle data, pitch angle rate data and pitch angle acceleration data, and the method of outputting the throttle command pitch angle gain according to the throttle command, the pitch data and the target pitch angle command comprises: output the pitch angle rate command according to the target pitch angle command and the pitch angle data; output the pitch angle acceleration command according to the pitch angle rate command and the pitch angle rate data; output the throttle command pitch angle acceleration gain according to the throttle command, the pitch angle acceleration command and the pitch angle acceleration data; output the throttle gain command according to the throttle command and the throttle command pitch angle acceleration gain.

10. A method of controlling the height of a hydrofoil craft in flight as claimed in any one of claims 1 to 9 wherein, The calculation method of generating the throttle output according to the throttle command and the throttle gain command comprises: obtain the position information Tlocation of the throttle trigger; calculate the current maximum throttle gain command Ttri_max according to the position information Tlocation of the throttle trigger: Ttri_max = Kt * Tlocation * Tcal_max, wherein Kt is a preset proportional parameter, and Tcal_max is a preset maximum gain limit; set the throttle gain command Ttri ∈ (-Ttri_max, Ttri_max); generate the throttle output according to the throttle command and the throttle gain command.

11. The method of controlling the height of flight of a hydrofoil craft according to claim 1, characterized in that, The method of generating the throttle output according to the throttle command and the throttle gain command comprises: smooth and filter according to the throttle command and the throttle gain command according to a preset throttle curve, and generate the throttle output.

12. An electric hydrofoil vehicle, characterized by The control system comprises: a dynamic data acquisition module for the dynamic data of the current hydrofoil vehicle and the preset target height; 13. A control system for the constant height flight of a hydrofoil vehicle, characterized in that, a flight state judgment module for outputting the flight state judgment according to the dynamic data and the target height; a controller module for obtaining the throttle command, outputting the throttle gain command according to the dynamic data, the flight state judgment and the throttle command; a throttle control module for generating the throttle output according to the throttle command and the throttle gain command. The electronic device comprises at least one processor and at least one memory; the memory is used to store one or more program instructions; the processor is used to run one or more program instructions to execute the method according to any one of claims 1-11. ​ 14. An electronic device, comprising: ​ 15. A computer-readable storage medium, characterized in that, The computer storage medium contains one or more program instructions for performing the method of any of claims 1-11.

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