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CN-121973940-A - Control distribution method and device, electronic equipment and electric vertical take-off and landing aircraft

CN121973940ACN 121973940 ACN121973940 ACN 121973940ACN-121973940-A

Abstract

The invention discloses a control distribution method, a control distribution device, electronic equipment and an electric vertical take-off and landing aircraft. The method comprises the steps of determining the current state of an electric vertical take-off and landing aircraft based on current data of the electric vertical take-off and landing aircraft, determining a current predictive control equation corresponding to a trimming working point from a predictive control equation set when the current state is the trimming state corresponding to any trimming working point, performing power distribution on the current predictive control equation by adopting a predictive control distribution strategy, determining the target rotating speed of a distributed power unit, and performing power distribution by adopting a convex optimization control distribution strategy when the current state is not the trimming state corresponding to any trimming working point, and determining the target rotating speed of the distributed power unit. The method not only gives consideration to the immunity and the robustness of the steady-state stage, but also gives consideration to the real-time performance of the dynamic stage.

Inventors

  • ZHANG NING
  • SU QINGPENG
  • XU JIAWEN

Assignees

  • 广东高域科技有限公司

Dates

Publication Date
20260505
Application Date
20251231

Claims (10)

  1. 1. A control distribution method, comprising: Determining a current state of an electric vertical takeoff and landing aircraft based on current data of the electric vertical takeoff and landing aircraft; When the current state is a trimming state corresponding to any trimming working point, determining a current prediction control equation corresponding to the trimming working point from a prediction control equation set, and adopting a prediction control allocation strategy to perform power allocation on the current prediction control equation so as to determine the target rotating speed of the distributed power unit; And when the current state is not the trim state corresponding to any trim working point, adopting a convex optimization control distribution strategy to distribute power, and determining the target rotating speed of the distributed power unit.
  2. 2. The control distribution method according to claim 1, wherein the power distribution to the current predictive control equation using a predictive control distribution strategy, determining a target rotational speed of a distributed power unit, comprises: Determining a multi-time domain loss function corresponding to the predictive control allocation strategy and a target constraint, wherein the multi-time domain loss function is determined based on a predicted state variable, a rotating speed input variable, a penalty factor, a virtual force and a moment instruction from a kth moment to a kth+1 moment predicted by the current predictive control equation, and the target constraint is used for limiting a rotating speed threshold range corresponding to a target rotating speed obtained by solving; and solving the multi-time domain loss function, and determining the target rotating speed of the distributed power unit meeting the target constraint.
  3. 3. The control allocation method according to claim 2, wherein the multi-time domain loss function is ; The target constraint is that ; Wherein, the As a function of the loss of the multiple time domains, For a set of predicted state variables from time k to time k +1, A trim state variable set for the current trim operating point corresponding to the kth time, For a set of rotational speed input variables from time k to time k +1, For the penalty factor set from time k to time k +1, For a virtual force and moment instruction set from time k to time k +1, As a first matrix of weights, As a second matrix of weights, Distributing benefit matrix for control, N is prediction step length; for the input variable of the rotational speed, Is the minimum rotational speed threshold value, and the minimum rotational speed threshold value, Is the maximum rotational speed threshold.
  4. 4. The control distribution method according to claim 1, wherein the power distribution using the convex optimization control distribution strategy, determining the target rotation speed of the distributed power unit, comprises: Determining an objective function and an objective constraint corresponding to the convex optimization control allocation strategy, wherein the objective function is determined based on a rotational speed input variable, a penalty factor and a virtual force and moment instruction at the current moment; And solving the objective function to determine the target rotating speed of the distributed power unit meeting the target constraint.
  5. 5. The control distribution method according to claim 4, wherein the objective function is ; The target constraint is that ; Wherein, the As a function of the object to be processed, For the input variable of the rotational speed, In order to be a penalty factor, For the virtual force and moment command, In order to control the allocation of the benefit matrix, Is the minimum rotational speed threshold value, and the minimum rotational speed threshold value, Is the maximum rotational speed threshold.
  6. 6. The control distribution method according to any one of claims 1 to 5, characterized in that before the determination of the current state of the electric vertical takeoff and landing aircraft based on the current data of the electric vertical takeoff and landing aircraft, the control distribution method further comprises: constructing a dynamic physical model of the electric vertical take-off and landing aircraft; Based on a trim working condition point set of the electric vertical take-off and landing aircraft in a flight envelope, carrying out linearization treatment on the dynamic physical model, and determining a linearization equation corresponding to the dynamic physical model, wherein the trim working condition point set comprises a plurality of trim working condition points; Discretizing a linearization equation corresponding to the dynamic physical model, and determining a prediction control equation set of the electric vertical take-off and landing aircraft in a flight envelope, wherein the prediction control equation set comprises a plurality of prediction control equations, and each prediction control equation corresponds to one balancing working point.
  7. 7. The control distribution method according to claim 6, wherein the trim point set is , In order to trim the set of operating points, Is the first A trim state variable set for each trim operating point, ≤ ≤ ; The dynamic physical model is , , wherein, As a state variable, a state variable is used, For the input variable of the rotational speed, Is a state transfer function that is a function of the state, Is a constraint function; the linearization equation is , wherein, As a first partial derivative matrix of the matrix, As a second partial differential matrix, the first partial differential matrix, In the case of the third partial differential matrix, As a fourth partial derivative matrix, the first partial derivative matrix, As a small disturbance state variable, the phase change memory is provided with, Inputting a variable for a small disturbance rotation speed; The predictive control equation set is as follows , wherein, A set of small disturbance state variables at the k+1 time; A set of small disturbance state variables at the kth moment; Inputting a set of variables for a small disturbance rotation speed at a kth moment; A set of state matrices formed for the first partial differential matrix; A set of control matrices formed for the second partial differential matrix.
  8. 8. A control dispensing device, comprising: the current state determining module is used for determining the current state of the electric vertical take-off and landing aircraft based on the current data of the electric vertical take-off and landing aircraft; The predicted power distribution module is used for determining a current predicted control equation corresponding to any trim working point from a predicted control equation set when the current state is the trim state corresponding to any trim working point, and performing power distribution on the current predicted control equation by adopting a predicted control distribution strategy to determine the target rotating speed of the distributed power unit; and the convex optimal power distribution module is used for carrying out power distribution by adopting a convex optimal control distribution strategy when the current state is not the trim state corresponding to any trim working point, and determining the target rotating speed of the distributed power unit.
  9. 9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the control allocation method according to any one of claims 1 to 7 when executing the computer program.
  10. 10. An electric vertical takeoff and landing aircraft, characterized by comprising an electronic equipment according to claim 9.

Description

Control distribution method and device, electronic equipment and electric vertical take-off and landing aircraft Technical Field The invention relates to the technical field of aircraft control, in particular to a control distribution method, a control distribution device, electronic equipment and an electric vertical take-off and landing aircraft. Background The electric vertical take-off and landing aircraft (ELECTRIC VERTICAL Takeoff AND LANDING, eVTOL for short) is an important carrier for supporting urban air traffic development, is different from the traditional aircraft or helicopter, and eVTOL is provided with redundant distributed power units so as to meet the degree of freedom of required control, increase the design flexibility, increase the complexity of power control distribution and cannot guarantee the disturbance resistance and instantaneity of the power distribution process of the distributed power units. Disclosure of Invention The invention provides a control distribution method, a control distribution device, electronic equipment and an electric vertical take-off and landing aircraft, which are used for solving the problem of the control distribution method. A control allocation method, comprising: When the current state is a trimming state corresponding to any trimming working point, determining a current prediction control equation corresponding to the trimming working point from a prediction control equation set, and adopting a prediction control allocation strategy to perform power allocation on the current prediction control equation so as to determine the target rotating speed of the distributed power unit; And when the current state is not the trim state corresponding to any trim working point, adopting a convex optimization control distribution strategy to distribute power, and determining the target rotating speed of the distributed power unit. Preferably, the power distribution of the current predictive control equation by using a predictive control distribution strategy, and determining the target rotation speed of the distributed power unit, includes: Determining a multi-time domain loss function corresponding to the predictive control allocation strategy and a target constraint, wherein the multi-time domain loss function is determined based on a predicted state variable, a rotating speed input variable, a penalty factor, a virtual force and a moment instruction from a kth moment to a kth+1 moment predicted by the current predictive control equation, and the target constraint is used for limiting a rotating speed threshold range corresponding to a target rotating speed obtained by solving; and solving the multi-time domain loss function, and determining the target rotating speed of the distributed power unit meeting the target constraint. Preferably, the multi-time domain loss function is ; The target constraint is that; Wherein, the As a function of the loss of the multiple time domains,For a set of predicted state variables from time k to time k +1,A trim state variable set for the current trim operating point corresponding to the kth time,For a set of rotational speed input variables from time k to time k +1,For the penalty factor set from time k to time k +1,For a virtual force and moment instruction set from time k to time k +1,As a first matrix of weights,As a second matrix of weights,Distributing benefit matrix for control, N is prediction step length; for the input variable of the rotational speed, Is the minimum rotational speed threshold value, and the minimum rotational speed threshold value,Is the maximum rotational speed threshold. Preferably, the power distribution is performed by adopting a convex optimization control distribution strategy, and the determining of the target rotating speed of the distributed power unit comprises the following steps: Determining an objective function and an objective constraint corresponding to the convex optimization control allocation strategy, wherein the objective function is determined based on a rotational speed input variable, a penalty factor and a virtual force and moment instruction at the current moment; And solving the objective function to determine the target rotating speed of the distributed power unit meeting the target constraint. Preferably, the objective function is; The target constraint is that; Wherein, the As a function of the object to be processed,For the input variable of the rotational speed,In order to be a penalty factor,For the virtual force and moment command,In order to control the allocation of the benefit matrix,Is the minimum rotational speed threshold value, and the minimum rotational speed threshold value,Is the maximum rotational speed threshold. Preferably, before the determining of the current state of the electric vertical takeoff and landing aircraft based on the current data of the electric vertical takeoff and landing aircraft, the control allocation method further comprises: construct