CN114104267A - Variable pitch control method and device for aircraft and aircraft - Google Patents
Variable pitch control method and device for aircraft and aircraft Download PDFInfo
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- CN114104267A CN114104267A CN202111552798.7A CN202111552798A CN114104267A CN 114104267 A CN114104267 A CN 114104267A CN 202111552798 A CN202111552798 A CN 202111552798A CN 114104267 A CN114104267 A CN 114104267A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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Abstract
The application discloses a pitch control method and a control device of an aircraft and the aircraft, wherein the method comprises the following steps: the flight controller obtains pitch information according to the received flight control instruction; identifying the pitch information by the pitch controller to obtain target pitch information; calculating according to the target pitch information to obtain displacement information of each steering engine, and sending the displacement information to the corresponding steering engine; and the steering engine moves according to the displacement information to control the movement of the blades of the aircraft. According to the method and the device, the pitch information is processed by adopting the pitch controller, the flight controller is not required to process, the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified, and the flight control efficiency is improved. Moreover, each steering engine is controlled by the variable-pitch controller based on displacement information, so that the steering engines of different types and structures can be controlled, the universality is high, the probability of program errors is reduced, and the accuracy and the reliability of flight control are improved.
Description
Technical Field
The application relates to the technical field of aircrafts, in particular to a pitch control method and a pitch control device of an aircraft and the aircraft.
Background
The aircraft can be divided into a fixed-pitch aircraft and a variable-pitch aircraft; the pitch control is to adjust the flight attitude of the aircraft by adjusting the angle of the blades, and is a focus of research because the flight attitude of the aircraft can be controlled more stably.
At present, a variable-pitch aircraft mainly changes the pitch through a flight controller, so that the flight attitude of the variable-pitch aircraft is adjusted; the flight controller is a main control unit of the aircraft and integrates functions of direct solution type variable distance control and manual mechanical variable distance control. However, the pitch change in the above-described manner has at least the following problems: on one hand, as all functions are integrated in the flight controller, the complexity of a control program of the flight controller is increased, and meanwhile, the flight controller is used as the most critical part on the aircraft and the external connection is more complicated; on the other hand, aircrafts of different models correspond to different pitch structures, so that an adaptive algorithm program needs to be adjusted correspondingly, the operation is complicated, and meanwhile, the error probability of key codes is increased.
Disclosure of Invention
In view of the above problems, the present invention provides a pitch control method and a pitch control device for an aircraft, and an aircraft, so as to improve the above problems.
In a first aspect, an embodiment of the present application provides a pitch control method for an aircraft, where the aircraft includes a flight controller, at least one pitch controller, and multiple steering engines; the method comprises the following steps: the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the variable pitch controller; identifying the pitch information by the pitch controller to obtain target pitch information; calculating to obtain displacement information of each steering engine according to the target pitch information, and sending the displacement information to the corresponding steering engine; and the steering engine moves according to the displacement information to control the movement of the blades of the aircraft.
In a second aspect, the present application provides another method for controlling a pitch of an aircraft, where the aircraft includes at least one pitch controller and a flight controller connected to the pitch controller, and the method is applied to the pitch controller, and the method includes: receiving pitch information sent by a flight controller; identifying the pitch information to obtain target pitch information; calculating to obtain displacement information of each steering engine according to the target pitch information; and sending the displacement information to corresponding steering engines to control the steering engines to move according to the displacement information so as to control the blades of the aircraft to move.
In a third aspect, an embodiment of the present application further provides a pitch control apparatus for an aircraft, where the aircraft includes at least one pitch controller and a flight controller connected to the pitch controller, and the apparatus is applied to the pitch controller, and the apparatus includes: the pitch information receiving module is used for receiving pitch information sent by the flight controller; the target pitch information acquisition module is used for identifying the pitch information to acquire the target pitch information; the displacement information acquisition module is used for calculating and acquiring displacement information of each steering engine according to the target pitch information; and the steering engine control module is used for sending the displacement information to the corresponding steering engine so as to control the steering engine to move according to the displacement information to control the blades of the aircraft to move.
In a fourth aspect, an embodiment of the present application further provides an aircraft, including: the flight controller is used for acquiring pitch information according to the received flight control instruction; the variable pitch controller is connected with the flight controller and used for identifying pitch information to obtain target pitch information; the system is used for calculating and obtaining the displacement information of each steering engine according to the target pitch information; and the steering engines are connected with the variable-pitch controller and are used for moving according to the displacement information so as to control the blades of the aircraft to move.
According to the pitch control method and device for the aircraft and the aircraft, pitch information sent by the flight controller is identified through the pitch controller to obtain target pitch information, displacement information of each steering engine is calculated according to the target pitch information, each steering engine is controlled to move according to the displacement information, so that the pitch of the aircraft is adjusted, and then the flight attitude of the aircraft is adjusted. On one hand, the pitch information is processed by the pitch controller, so that the processing of a main control part flight controller of the aircraft is not needed, the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified to a certain extent, and the flight control efficiency is improved. On the other hand, the displacement information of each steering engine is calculated through the variable-pitch controller, and each steering engine is controlled based on the displacement information, so that the control can be performed on the steering engines of different types and structures, the adaptability and the universality are strong, algorithm programs do not need to be adjusted for different steering engines, the error probability of the programs is reduced, and the accuracy and the reliability of flight control are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments, not all embodiments, of the present application. All other embodiments and drawings obtained by a person skilled in the art based on the embodiments of the present application without any inventive step are within the scope of the present invention.
Fig. 1 is a schematic diagram illustrating an application environment according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of an aircraft according to an exemplary embodiment of the present application.
Fig. 3 is an enlarged view at E in fig. 2.
Fig. 4 shows a schematic flowchart of a pitch control method of an aircraft according to an embodiment of the present application.
Fig. 5 is a schematic flow chart illustrating another method for controlling the pitch of an aircraft according to an embodiment of the present application.
Fig. 6 shows a block diagram of a pitch control device of an aircraft according to an embodiment of the present application.
Fig. 7 shows a block diagram of an aircraft according to an embodiment of the present application.
Fig. 8 shows a block diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In the related art, the pitch-variable aircraft mainly adjusts the pitch through a flight controller, so as to adjust the flight attitude of the aircraft, and the traditional flight controller integrates the functions of direct solution type pitch control and manual mechanical pitch control. However, the inventor finds that the flight controller is a main control unit of the aircraft, and the pitch is adjusted through the flight controller, so that the control program and external wiring of the flight controller are more complicated; in addition, the flight controller needs to adjust the algorithm programs of different steering engines, the universality is poor, and the error probability of the programs is high.
In order to solve the above problems, the inventor provides a pitch control method, a control device and an aircraft of an aircraft provided by the present application, in which pitch information sent by a flight controller is identified by a pitch controller to obtain target pitch information, and displacement information of each steering engine is calculated according to the target pitch information to control each steering engine to move according to the displacement information, so as to adjust the pitch of the aircraft, and further adjust the flight attitude of the aircraft. On one hand, the pitch information is processed by the pitch controller without being processed by a main control part flight controller of the aircraft, so that the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified, and the flight control efficiency is improved. On the other hand, the displacement information of each steering engine is calculated through the variable-pitch controller, and each steering engine is controlled based on the displacement information, so that the control can be performed on the steering engines of different types and structures, the adaptability and the universality are strong, algorithm programs do not need to be adjusted for different steering engines, the error probability of the programs is reduced, and the accuracy and the reliability of flight control are improved.
The following description is directed to an application environment of a pitch control method for an aircraft, provided by the implementation of the present invention:
referring to fig. 1, the pitch control method for an aircraft according to the present invention may be applied to an aircraft a, which may be an aircraft, an airplane, an unmanned plane, or the like. The aircraft A comprises a flight controller B, a steering engine C and at least one variable-pitch controller D, wherein each variable-pitch controller D is in communication connection with the flight controller B and the corresponding steering engine C respectively so as to carry out information interaction; flight controller B may be referred to as fcu (flight Control unit), or flight Control cpu (central processing unit), among others.
In the embodiment of the application, the number of the pitch controllers D of the aircraft a is determined according to the number of the rotors of the aircraft, specifically, the number of the pitch controllers D of the aircraft a is equal to the number of the rotors of the aircraft a, and each pitch controller D is connected with three steering engines C. Exemplarily, if aircraft A is N rotors, aircraft A corresponds and is provided with N variable pitch controller D, and every variable pitch controller D is connected with 3 steering engines. Of course, the present application is not limited to each pitch controller D being connected to three steering engines C, and the number of the steering engines C connected to one pitch controller D may be other.
In some embodiments, the aircraft a may be provided with at least one pitch controller D. Each pitch controller D may be connected to three steering engines C. Optionally, when the aircraft a is a single-rotor aircraft, the aircraft may be provided with one pitch controller D and three steering engines C. Optionally, when aircraft A is two rotor crafts, aircraft A can set up two displacement controller D and six steering wheel C, and each displacement controller D is connected with three steering wheel C. Optionally, when the aircraft a is a three-rotor aircraft, the aircraft a may be provided with three pitch controllers D and nine steering engines C.
Exemplarily, as shown in fig. 1, an aircraft a including one flight controller B, three pitch controllers D, and nine steering engines C is provided, where the flight controller B is connected to the three pitch controllers D, respectively, and each pitch controller D is connected to a corresponding three steering engines C, respectively.
In some embodiments, fig. 2, 3 illustrate another aircraft 100 of an embodiment of the present application, as shown in fig. 2, 3; specifically, the rotor structure of the aircraft 100 includes a first blade 101, a second blade 102, an automatic tilting disk 103, a first control pull rod 104, a second control pull rod (not shown in the figure), and three steering engines 105, wherein an end of the first blade 101 is connected with an end of the second blade 102 through a connector 106, one end of a rotating shaft 107 penetrates through the automatic tilting disk 103 and is rotatably connected with the connector 106, and the three steering engines 105 are uniformly arranged on the bottom periphery of the automatic tilting disk 103; the first operating rod 104 and the second operating rod are symmetrically arranged on the top periphery of the automatic tilting disk 103, specifically, one end of the first operating rod 104 and one end of the second operating rod are respectively connected to the top periphery of the automatic tilting disk 103, the other end of the first operating rod 104 is connected with the end of the first blade 101, and the other end of the second operating rod is connected with the end of the second blade 102. Of course, fig. 1 to fig. 3 are only an exemplary application scenario, and the method provided in the embodiment of the present application may also be executed in other application scenarios.
Referring to fig. 4, an embodiment of the present application provides a pitch control method for an aircraft, where the aircraft includes a flight controller, at least one pitch controller, and a plurality of steering engines, and the method may include:
step S110, the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the pitch controller;
step S120, identifying pitch information by the pitch controller to obtain target pitch information; calculating to obtain displacement information of each steering engine according to the target pitch information, and sending the displacement information to the corresponding steering engine;
and S130, the steering engine moves according to the displacement information to control the blades of the aircraft to move.
Specifically, in step S110, the pitch information includes a collective pitch, a transverse cyclic pitch, and a longitudinal cyclic pitch, and the flight controller obtains the pitch information according to the received flight control command, including:
and the flight controller determines the total pitch, the transverse periodic pitch and the longitudinal periodic pitch corresponding to each pitch controller through a flight control algorithm according to the received flight control instruction.
In this embodiment, when the flight attitude of the aircraft needs to be adjusted, a corresponding flight control instruction may be sent to the flight controller, and the flight controller obtains pitch information through a flight control algorithm according to the flight control instruction, that is, obtains the total pitch provided by the blades of the aircraft and the lateral and longitudinal cyclic pitches required to be allocated to each propeller; the flight control algorithm may be a kalman filter algorithm, a flight control PID algorithm, a strapdown inertial navigation algorithm, etc., which is not limited in the present invention.
In some embodiments, a master communication link and a slave communication link are arranged between the variable pitch controller and the flight controller; the method further comprises the following steps:
the pitch controller receives pitch information sent by the flight controller through the main communication link and the slave communication link respectively.
According to the embodiment, the pitch information is sent to the variable pitch controller through the main communication link and the slave communication link respectively, so that the information received by the variable pitch controller from the two communication links can be backed up mutually, the problem that the flight cannot be controlled normally due to the fact that a single communication link fails is effectively solved, and the reliability and the stability of the flight control are improved.
In addition, it should be noted that the master communication link and the slave communication link respectively adopt any one of communication protocols of RS485, RS422, CAN, single-ended PWM and differential PWM. Preferably, the master communication link and the slave communication link use different communication protocols, for example, the master communication link may use a CAN communication protocol, and the slave communication link may use an RS422 communication protocol.
Further, in step S120, the pitch controller identifies pitch information to obtain target pitch information, and specifically includes the following steps:
step S121, if the pitch controller receives pitch information sent by the flight controller through the main communication link, the pitch controller takes the pitch information received by the main communication link as target pitch information;
and step S122, if the pitch controller receives the pitch information sent by the flight controller from the communication link, the pitch controller takes the pitch information received from the communication link as target pitch information.
In another embodiment, the pitch controller identifies pitch information to obtain target pitch information, and specifically includes the following steps:
step S123, if the pitch controller receives pitch information sent by the flight controller through the main communication link and the pitch information is successfully verified, taking the pitch information received by the main communication link as target pitch information;
and step S124, if the pitch controller receives the pitch information sent by the flight controller from the communication link and the pitch information is verified successfully, the pitch controller takes the pitch information received from the communication link as target pitch information.
Further, in step S120, after obtaining the target pitch information, calculating and obtaining displacement information of each steering engine according to the target pitch information, which specifically includes:
and the variable pitch controller calculates and obtains the displacement information of each steering engine by adopting a structure analysis algorithm of the automatic tilting disk according to the target pitch information.
In some embodiments, at least two steering engine communication links are provided between the pitch controller and each steering engine; therefore, in step S120, after obtaining the displacement information of each steering engine, the displacement information is sent to the steering engine through each steering engine communication link.
This embodiment is through setting up two at least steering wheel communication links between displacement controller and steering wheel for the information that sends from each steering wheel communication link can be backed up each other, has avoided single communication link to break down effectively and has leaded to the problem of unable normal control steering wheel, has consequently further improved flight control's reliability and stability.
In addition, it should be noted that the steering engine communication link may adopt any one of RS485, RS422, CAN, single-ended PWM and differential PWM, but is not limited thereto.
In one embodiment, the aircraft further comprises an auto-tilt disk coupled to the steering engine, and the method further comprises:
and S140, adjusting the inclined position of the automatic inclined disc through the movement of the plurality of steering engines so as to adjust the pitch of the aircraft.
In this embodiment, when the steering engine receives the displacement information, the steering engine performs corresponding push-pull motion according to the displacement information, and finally the automatic tilting disk is positioned at the correct position, so that the pitch of the aircraft is adjusted, and therefore adjustment of the flight attitude is achieved.
In one embodiment, the method for pitch control of an aircraft further comprises the following steps S150-S160:
s150, acquiring state information of each steering engine by the variable-pitch controller; the state information comprises steering engine temperature, steering engine working voltage, steering engine working current and steering engine rotating speed;
and step S160, when the state information does not meet any preset working condition, the pitch controller judges that the steering engine has a fault and sends corresponding fault information to the flight controller.
Further, the preset working conditions include:
the temperature of the steering engine is within a preset temperature range, the working voltage of the steering engine is within a preset voltage range, the working current of the steering engine is within a preset current range, and the rotating speed of the steering engine is within a preset rotating speed range.
In the embodiment, the state information of each corresponding steering engine is obtained through the pitch controller so as to monitor the state of the steering engine in real time, so that when the steering engine fails, the state information can be obtained and fed back to the flight controller in time, and the reliability and safety of flight control are further improved; in addition, the corresponding steering engine is monitored through the corresponding variable pitch controller, the flight controller is not needed for monitoring, the algorithm program of the flight controller is further simplified, and meanwhile the monitoring efficiency is improved.
In addition, it should be noted that the flight controller may further collect data of each sensor on the aircraft, and based on the collected data, obtain the flight attitude of the aircraft through a flight algorithm, thereby monitoring the flight attitude of the aircraft, and assisting in controlling the flight state of the aircraft in real time.
According to the pitch control method of the aircraft provided by the embodiment, the pitch information is processed by the pitch controller, so that the flight controller is not required to process, the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified, and the flight control efficiency is improved. In addition, the displacement information of each steering engine is calculated through the variable-pitch controller, and each steering engine is controlled based on the displacement information, so that the control can be performed on the steering engines of different types and structures, the adaptability and the universality are strong, algorithm programs do not need to be adjusted for different steering engines, the error probability of the programs is reduced, and the accuracy of flight control is improved.
Referring to fig. 5, another embodiment of the present application provides a pitch control method for an aircraft, where the aircraft includes at least one pitch controller and a flight controller connected to the pitch controller, and the method is applied to the pitch controller, and the method may include:
and step S210, receiving pitch information sent by the flight controller.
And step S220, identifying the pitch information to obtain target pitch information.
And step S230, calculating and obtaining displacement information of each steering engine according to the target pitch information.
And S240, transmitting the displacement information to corresponding steering engines to control the steering engines to move according to the displacement information so as to control the blades of the aircraft to move.
Specifically, in step S210, the pitch information includes collective pitch, lateral cyclic pitch, and longitudinal cyclic pitch; the pitch information is obtained by the flight controller from the received flight control instructions. It can be understood that when the flight attitude of the aircraft needs to be adjusted, a corresponding flight control instruction can be input, and after the flight controller receives the flight control instruction, pitch information is obtained through a flight control algorithm according to the flight control instruction, namely, the total pitch provided by the blades of the aircraft and the transverse periodic variable pitch and the longitudinal periodic variable pitch which need to be allocated to each propeller are obtained; the flight control algorithm may be a kalman filter algorithm, a flight control PID algorithm, a strapdown inertial navigation algorithm, etc., which is not limited in the present invention.
In some embodiments, a master communication link and a slave communication link are arranged between the variable pitch controller and the flight controller; therefore, in step S210, receiving pitch information sent by the flight controller specifically includes: the pitch information sent by the flight controller is received through the master communication link and the slave communication link respectively.
The pitch controller of the embodiment receives the pitch information through the main communication link and the slave communication link respectively, so that the information received by the two communication links can be backed up mutually, namely double redundancy backup is realized, the problem that the flight cannot be controlled normally due to the failure of a single communication link is effectively solved, and the reliability and the stability of the flight control are improved.
In addition, it should be noted that the master communication link and the slave communication link respectively adopt any one of communication protocols of RS485, RS422, CAN, single-ended PWM and differential PWM. Preferably, the master communication link and the slave communication link use different communication protocols, for example, the master communication link may use a CAN communication protocol, and the slave communication link may use an RS422 communication protocol.
Further, in an embodiment, the step S220 of identifying pitch information and obtaining target pitch information specifically includes the following steps S221 to S222:
step S221, if the main communication link receives the pitch information sent by the flight controller, taking the pitch information received by the main communication link as target pitch information;
and step S222, if the pitch information sent by the flight controller is received from the communication link, taking the pitch information received from the communication link as target pitch information.
It can be understood that the pitch controller is capable of receiving pitch information sent by the flight controller via the main communication link and the slave communication link, respectively, and when both communication links are not faulty, the pitch controller receives the pitch information from the main communication link and the slave communication link, respectively, and when either communication link is faulty, the information transmitted from the communication link is lost. The pitch controller of this embodiment performs corresponding processing on the received information by using a mechanism in which information transmitted by a main communication link is used as a main and information transmitted by a slave communication link is used as an auxiliary; specifically, when the pitch controller receives pitch information transmitted from the main communication link, the pitch information is used as target pitch information, and the step of subsequently calculating the displacement information of each steering engine is executed based on the target pitch information, and at the moment, the pitch information transmitted from the communication link is not processed; when the pitch controller does not receive the pitch information transmitted by the main communication link but receives the pitch information transmitted by the slave communication link, the pitch information received by the slave communication link is used as target pitch information; when the pitch controller does not receive the pitch information transmitted by the main communication link and the slave communication link, the pitch controller does not process the pitch information.
Preferably, in order to further improve the reliability of flight control, after the flight controller sends the pitch information, when the pitch controller does not receive the pitch information transmitted by the master communication link and the slave communication link, the master communication link and the slave communication link are monitored continuously; and when the monitoring time is greater than a preset time threshold value, if the pitch controller still does not receive the pitch information transmitted from the main communication link and the slave communication link, sending corresponding fault information to the flight controller to inform the flight controller that the pitch information is not received.
In another embodiment, the step S220 of identifying the pitch information and obtaining the target pitch information specifically includes the following steps.
Step S223, if the main communication link receives the pitch information sent by the flight controller and the pitch information is successfully verified, taking the pitch information received by the main communication link as target pitch information;
and S224, if the pitch information sent by the flight controller is received from the communication link and the pitch information is verified successfully, taking the pitch information received from the communication link as target pitch information.
The pitch controller of the embodiment adds an information checking mechanism to check the received information on the basis of mainly using the information transmitted by the main communication link and secondarily using the information transmitted by the auxiliary communication link; specifically, when the pitch controller receives pitch information transmitted from the main communication link, the pitch information is verified, and the pitch information which is successfully verified is used as target pitch information; when the pitch controller does not receive the pitch information transmitted from the main communication link or fails to verify the pitch information transmitted from the main communication link, if the pitch information transmitted from the communication link is received, the pitch information is verified, and the successfully verified pitch information is used as target pitch information; and when the pitch controller does not receive the pitch information transmitted by the main communication link and the slave communication link, or the pitch information transmitted by the main communication link and the slave communication link fails to be verified, the pitch controller does not process the pitch information.
Further, after the flight controller sends the pitch information, when the pitch controller does not receive the pitch information transmitted by the main communication link and the slave communication link, the main communication link and the slave communication link are monitored continuously; and when the monitoring time is greater than a preset time threshold value, if the pitch controller still does not receive the pitch information transmitted by the main communication link and the slave communication link, sending corresponding fault information to the flight controller to inform the flight controller that the pitch information is not received. In addition, the received pitch information can be verified for multiple times, and when the number of times of verification failure is larger than a preset number threshold value, corresponding fault information is sent to the flight controller to inform the flight controller of the failure of the verification of the pitch information.
In step S230, calculating and obtaining displacement information of each steering engine according to the target pitch information, specifically including:
and calculating to obtain the displacement information of each steering engine by adopting a structure analysis algorithm of the automatic tilting disk according to the target pitch information.
Referring to fig. 3, in the process of actually adjusting the pitch of the aircraft, each steering engine can be controlled to move by a corresponding stroke amount, so that the automatic tilting disk is driven to tilt, and the pitch of the blades is changed by operating the pull rod. Therefore, when the pitch information is obtained, the displacement information of each steering engine can be calculated and obtained by adopting a structure analysis algorithm of the automatic tilting disk based on the pitch information.
In some embodiments, at least two steering engine communication links are provided between the pitch controller and each steering engine; in step S240, the displacement information is sent to a corresponding steering engine to control the steering engine to move according to the displacement information so as to control the movement of the blades of the aircraft, and the method specifically includes:
and respectively sending the displacement information to the steering engines through each steering engine communication link so as to control the steering engines to move according to the displacement information.
It can be understood that after the displacement information of each steering engine is obtained by the variable-pitch controller, the displacement information is sent to the corresponding steering engine through the steering engine communication link to control the steering engine to perform corresponding push-pull motion according to the displacement information, and finally the automatic tilting disk is positioned at the corresponding position, so that the adjustment of the aircraft pitch is realized, and the adjustment of the flight attitude is further realized. This embodiment is through setting up two at least steering wheel communication links between displacement controller and steering wheel for the information through each steering wheel communication link transmission can be backed up each other, has avoided single communication link to break down effectively and has leaded to the problem of unable normal control steering wheel, has consequently further improved flight control's reliability and stability.
In addition, it should be noted that the steering engine communication link may adopt any one of RS485, RS422, CAN, single-ended PWM and differential PWM, but is not limited thereto.
In one embodiment, the method for pitch control of an aircraft further comprises the following steps S250-S260:
s250, acquiring state information of each steering engine; the state information comprises steering engine temperature, steering engine working voltage, steering engine working current and steering engine rotating speed;
and step S260, when the state information does not meet any preset working condition, judging that the steering engine has a fault, and sending corresponding fault information to the flight controller.
Specifically, the preset working conditions include:
the temperature of the steering engine is within a preset temperature range, the working voltage of the steering engine is within a preset voltage range, the working current of the steering engine is within a preset current range, and the rotating speed of the steering engine is within a preset rotating speed range.
In the embodiment, the state information of each corresponding steering engine is acquired through the pitch controller so as to monitor the state of the steering engine in real time, so that when the steering engine fails, the state information can be timely acquired and fed back to the flight controller, and the reliability and safety of flight control are further improved; in addition, the corresponding steering engine is monitored through the corresponding variable pitch controller, the flight controller is not needed for monitoring, the algorithm program of the flight controller is further simplified, and meanwhile the monitoring efficiency is improved.
According to the another method for controlling the variable pitch of the aircraft, the pitch information is processed by the variable pitch controller, so that the flight controller is not required to process the pitch information, the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified, and the flight control efficiency is improved. In addition, the displacement information of each steering engine is calculated through the variable-pitch controller, and each steering engine is controlled based on the displacement information, so that the control can be performed on the steering engines of different types and structures, the adaptability and the universality are strong, algorithm programs do not need to be adjusted for different steering engines, the error probability of the programs is reduced, and the accuracy of flight control is improved.
Referring to fig. 6, a pitch control device 300 of an aircraft according to an embodiment of the present invention is shown, where the aircraft includes at least one pitch controller and a flight controller connected to the pitch controller, the pitch control device 300 is applied to the pitch controller, and the pitch control device 300 includes a pitch information receiving module 310, a target pitch information acquiring module 320, a displacement information acquiring module 330, and a steering engine control module 340. Wherein:
the pitch information receiving module 310 is configured to receive pitch information sent by the flight controller;
the target pitch information acquisition module 320 is configured to identify pitch information and acquire target pitch information;
the displacement information acquisition module 330 is used for calculating and acquiring displacement information of each steering engine according to the target pitch information;
and the steering engine control module 340 is used for sending the displacement information to corresponding steering engines so as to control the steering engines to move according to the displacement information to control the blades of the aircraft to move.
Furthermore, a main communication link and a slave communication link are arranged between the variable pitch controller and the flight controller; then the process of the first step is carried out,
the pitch information receiving module 310 is specifically configured to receive pitch information sent by the flight controller through the master communication link and the slave communication link, respectively.
Preferably, the pitch information comprises collective pitch, transverse cyclic pitch and longitudinal cyclic pitch; the pitch information is obtained by the flight controller from the received flight control instructions.
Further, in one embodiment, target pitch information acquisition module 320 includes:
the first main acquisition unit is used for taking the pitch information received by the main communication link as target pitch information if the main communication link receives the pitch information sent by the flight controller;
and the first slave acquisition unit is used for taking the pitch information received from the communication link as the target pitch information when the master communication link does not receive the pitch information sent by the flight controller and the slave communication link receives the pitch information sent by the flight controller.
In another embodiment, target pitch information acquisition module 320 includes:
the second main acquisition unit is used for taking the pitch information received by the main communication link as target pitch information if the main communication link receives the pitch information sent by the flight controller and the pitch information is successfully verified;
and the second slave acquisition unit is used for taking the pitch information received from the communication link as the target pitch information if the slave communication link receives the pitch information sent by the flight controller and the pitch information verification is successful when the master communication link does not receive the pitch information sent by the flight controller or the master communication link fails to receive the pitch information verification.
Further, the pitch control device further includes:
the steering engine state acquisition module is used for acquiring state information of each steering engine; the state information comprises steering engine temperature, steering engine working voltage, steering engine working current and steering engine rotating speed;
and the fault identification module is used for judging that the steering engine has a fault when the state information does not meet any preset working condition, and sending corresponding fault information to the flight controller.
Wherein, the preset working conditions comprise:
the temperature of the steering engine is within a preset temperature range, the working voltage of the steering engine is within a preset voltage range, the working current of the steering engine is within a preset current range, and the rotating speed of the steering engine is within a preset rotating speed range.
Furthermore, at least two steering engine communication links are arranged between the variable-pitch controller and each steering engine; the steering engine control module 340 is specifically configured to send the displacement information to a corresponding steering engine through the steering engine communication link, so as to control the steering engine to move according to the displacement information.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling or direct coupling or communication connection between the modules shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be in an electrical, mechanical or other form.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
An embodiment of the present application further provides an aircraft, including: flight controller, at least one variable pitch controller and a plurality of steering engines.
The flight controller is used for obtaining pitch information according to the received flight control instruction;
the variable pitch controller is connected with the flight controller and is used for identifying pitch information to obtain target pitch information; and the displacement information of each steering engine is obtained by calculation according to the target pitch information.
The steering engine is connected with the variable-pitch controller and used for moving according to the displacement information.
It should be noted that the specific number of the pitch controllers and the steering engines may be set according to actual use requirements, and this embodiment does not limit this.
Preferably, each pitch controller is connected to three steering engines, as shown in fig. 1.
Further, in one embodiment, the aircraft includes one pitch controller and three steering engines. In the aircraft, three steering engines are controlled to move by one pitch controller, so that the pitch of the aircraft is adjusted. It will be appreciated that the aircraft may be a helicopter.
In another embodiment, an aircraft includes two pitch controllers and six steering engines. In the aircraft, one pitch controller is connected with three corresponding steering engines, and the six steering engines are controlled to move by the two pitch controllers, so that the pitch of the aircraft is adjusted. It will be appreciated that the aircraft is a dual rotor aircraft.
In yet another embodiment, an aircraft includes three pitch controllers and nine steering engines. In the aircraft, one pitch controller is connected with three corresponding steering engines, and nine steering engines are controlled to move through the three pitch controllers, so that the pitch of the aircraft is adjusted. It will be appreciated that the aircraft is a multi-rotor aircraft.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the above-described apparatus or module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Referring to fig. 7, based on the above-mentioned pitch control method for an aircraft, the embodiment of the present application further provides another aircraft 400 including a processor 410 that can execute the above-mentioned pitch control method for an aircraft, where the aircraft 400 further includes a memory 420. The memory 420 stores therein a program that can execute the contents of the foregoing embodiments, and the processor 410 can execute the program stored in the memory 420.
The Memory 420 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 420 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 420 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described below, and the like.
Referring to fig. 8, a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure is shown. The computer readable medium 500 has stored therein a program code which can be called by a processor to execute the method described in the above method embodiments.
The computer-readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable and programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 500 includes a non-volatile computer-readable storage medium. The computer readable storage medium 500 has storage space for program code 510 for performing any of the method steps described above. The program code can be read from or written to one or more computer program products. The program code 510 may be compressed, for example, in a suitable form.
In summary, according to the pitch control method and device for the aircraft and the aircraft provided by the application, the pitch information sent by the flight controller is identified through the pitch controller to obtain the target pitch information, the displacement information of each steering engine is calculated according to the target pitch information, and each steering engine is controlled to move according to the displacement information, so that the pitch of the aircraft is adjusted, and the flight attitude of the aircraft is adjusted. Because the pitch controller is adopted to calculate and process the pitch information, and the main control part of the aircraft is not needed to process the pitch information, the control program of the flight controller and the complexity of external wiring are reduced, the structure of the aircraft is simplified, and the flight control efficiency is improved. In addition, the displacement information of each steering engine is calculated through the variable-pitch controller, and each steering engine is controlled based on the displacement information, so that the control can be performed on the steering engines of different types and structures, the adaptability and the universality are strong, algorithm programs do not need to be adjusted for different steering engines, the error probability of the programs is reduced, and the accuracy of flight control is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (11)
1. The method is characterized in that the aircraft comprises a flight controller, at least one pitch controller and a plurality of steering engines; the method comprises the following steps:
the flight controller obtains pitch information according to the received flight control command and sends the pitch information to the variable pitch controller;
the pitch controller identifies the pitch information to obtain target pitch information; calculating to obtain displacement information of each steering engine according to the target pitch information, and sending the displacement information to the corresponding steering engine;
and the steering engine moves according to the displacement information to control the movement of the blades of the aircraft.
2. The method of claim 1, wherein the flight controller obtains pitch information from the received flight control commands, comprising:
and the flight controller determines the total pitch, the transverse periodic pitch and the longitudinal periodic pitch corresponding to each pitch controller through a flight control algorithm according to the received flight control instruction.
3. The method of claim 1, wherein the aircraft further comprises an auto-tilt disk, the auto-tilt disk being coupled to the steering engine; the method further comprises the following steps:
the automatic tilting disk adjusts the tilting position through the movement of the steering engines, so that the pitch of the aircraft is adjusted.
4. The method of claim 1, wherein a master communication link and a slave communication link are provided between the pitch controller and the flight controller; the method further comprises the following steps:
the pitch controller receives pitch information sent by the flight controller through the main communication link and the slave communication link respectively;
the pitch controller identifies the pitch information to obtain target pitch information, and the method comprises the following steps:
if the pitch controller receives the pitch information sent by the flight controller through the main communication link, the pitch controller takes the pitch information received by the main communication link as target pitch information;
otherwise, if the pitch controller receives the pitch information sent by the flight controller from the slave communication link, the pitch controller takes the pitch information received from the slave communication link as target pitch information.
5. The method according to any one of claims 1-4, further comprising:
the variable-pitch controller acquires state information of each steering engine; the state information comprises steering engine temperature, steering engine working voltage, steering engine working current and steering engine rotating speed;
and when the state information does not meet any preset working condition, the variable pitch controller judges that the steering engine fails and sends corresponding failure information to the flight controller.
6. The method of claim 5, wherein the preset operating conditions comprise:
the steering engine temperature is in a preset temperature range, the steering engine working voltage is in a preset voltage range, the steering engine working current is in a preset current range, and the steering engine rotating speed is in a preset rotating speed range.
7. A method for controlling the variable pitch of an aircraft, wherein the aircraft comprises at least one variable pitch controller and a flight controller connected with the variable pitch controller, and the method is applied to the variable pitch controller, and comprises the following steps:
receiving pitch information sent by the flight controller;
identifying the pitch information to obtain target pitch information;
calculating to obtain displacement information of each steering engine according to the target pitch information;
and sending the displacement information to the corresponding steering engine to control the steering engine to move according to the displacement information so as to control the blades of the aircraft to move.
8. A pitch control device for an aircraft, the aircraft comprising at least one pitch controller and a flight controller connected to the pitch controller, the device being applied to the pitch controller, the device comprising:
the pitch information receiving module is used for receiving pitch information sent by the flight controller;
the target pitch information acquisition module is used for identifying the pitch information to acquire target pitch information;
the displacement information acquisition module is used for calculating and acquiring displacement information of each steering engine according to the target pitch information;
and the steering engine control module is used for sending the displacement information to the corresponding steering engine so as to control the steering engine to move according to the displacement information so as to control the blades of the aircraft to move.
9. An aircraft, characterized in that it comprises:
the flight controller is used for acquiring pitch information according to the received flight control instruction;
the variable pitch controller is connected with the flight controller and is used for identifying the pitch information to obtain target pitch information; the displacement information of each steering engine is obtained through calculation according to the target pitch information;
and the steering engines are connected with the variable-pitch controller and used for moving according to the displacement information so as to control the movement of the blades of the aircraft.
10. The aircraft of claim 9, wherein the number of pitch controllers is equal to the number of rotors of the aircraft, and each pitch controller is connected to three steering engines.
11. The aircraft of claim 10, wherein said aircraft comprises one said pitch controller and three said steering engines;
or the aircraft comprises two pitch controllers and six steering engines;
or the aircraft comprises three pitch controllers and nine steering engines.
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| CN202111552798.7A CN114104267A (en) | 2021-12-17 | 2021-12-17 | Variable pitch control method and device for aircraft and aircraft |
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| CN202111552798.7A CN114104267A (en) | 2021-12-17 | 2021-12-17 | Variable pitch control method and device for aircraft and aircraft |
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Application publication date: 20220301 |