CN-121979185-A - Aircraft control method, device, flight controller, aircraft and storage medium

CN121979185ACN 121979185 ACN121979185 ACN 121979185ACN-121979185-A

Abstract

The invention discloses an aircraft control method, an aircraft control device, an aircraft controller, an aircraft and a storage medium. The method comprises the steps of obtaining a link state of a first communication link, wherein the first communication link is a communication link between a main flight controller and a standby flight controller, the main flight controller is a flight controller which controls the operation of an actuating system at the current moment, obtaining feedback data sent by the actuating system through a second communication link when the link state of the first communication link is an abnormal state, wherein the feedback data is data formed in the process that the main flight controller controls the operation of the actuating system, and when the feedback data meets a flight control switching condition, the standby flight controller and the actuating system execute communication synchronization operation, and after the communication synchronization operation is completed, the standby flight controller is switched to control the operation of the actuating system.

Inventors

SU QINGPENG
XIE SHUCHUN
Chen Fayin

Assignees

广东高域科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. A method of controlling an aircraft, comprising the steps of: Acquiring a link state of a first communication link, wherein the first communication link is a communication link between a main flight controller and a standby flight controller, and the main flight controller is a flight controller for controlling the operation of the actuating system at the current moment; When the link state of the first communication link is abnormal, acquiring feedback data sent by an actuating system through a second communication link, wherein the feedback data is formed by controlling the working process of the actuating system by the main flight controller; When the feedback data meets the flight control switching condition, the standby flight controller and the actuating system execute communication synchronous operation, and after the communication synchronous operation is completed, the standby flight controller is switched to control the actuating system to work; wherein the standby flight controller and the main flight controller are two flight controllers with redundant design.
2. The aircraft control method of claim 1, wherein after obtaining feedback data sent by the actuation system over the second communication link, the aircraft control method further comprises: and when the feedback data does not meet the flight control switching condition, the standby flight controller and the main flight controller enter an independent control mode.
3. The aircraft control method of claim 1, wherein the actuation system includes a plurality of motor controllers; the feedback data comprises the current state of the main flight controller and the current packet loss number of the plurality of motor controllers; The flight control switching condition comprises that the current state of the main flight controller is an invalid state, or the number of controllers corresponding to the motor controllers with the current packet loss number larger than the first preset number is larger than the second preset number.
4. The aircraft control method according to claim 1, characterized in that after the acquisition of the link state of the first communication link, the aircraft control method comprises: when the link state of the first communication link is switched from a normal state to an abnormal state, a target message is formed based on a last frame effective message sent by the main flight controller through the first communication link and the current state of the standby flight controller, and the target message is sent to the actuating system.
5. The aircraft control method according to claim 1, characterized in that after the acquisition of the link state of the first communication link, the aircraft control method comprises: when the link state of the first communication link is a normal state, receiving first state information corresponding to a main flight controller through the first communication link, and receiving second state information corresponding to the main flight controller forwarded by an actuating system through a second communication link; Determining a current state corresponding to the main flight controller based on the first state information and the second state information corresponding to the main flight controller; When the current state corresponding to the main flight controller is an invalid state, the standby flight controller and the actuating system execute communication synchronous operation, and after the communication synchronous operation is completed, the standby flight controller is switched to control the actuating system to work; And when the current state corresponding to the main flight controller is not an invalid state, the standby flight controller and the main flight controller enter an independent control mode.
6. The aircraft control method according to claim 1 or 5, wherein the standby flight controller performs a communication synchronization operation with the actuation system, comprising: an initialization instruction sent to a plurality of motor controllers of the actuating system is received, and response information sent by the plurality of motor controllers is received; If the response information fed back by all the motor controllers comprises an initialization completion identification, determining that the standby flight controller and all the motor controllers complete communication synchronization operation; If the response information fed back by at least one motor controller does not comprise the initialization completion identification, updating the current feedback times; if the current feedback times are smaller than preset feedback times, repeatedly executing the initialization instructions sent to the motor controllers of the actuating system, and receiving response information sent by the motor controllers; And if the current feedback times are not less than the preset feedback times, executing forced switching operation, and directly switching the standby flight controller to control the operation of the actuating system.
7. An aircraft control device, comprising: The link state acquisition module is used for acquiring the link state of a first communication link, wherein the first communication link is a communication link between a main flight controller and a standby flight controller, and the main flight controller is a flight controller for controlling the operation of the actuating system at the current moment; the feedback data acquisition module is used for acquiring feedback data sent by the actuating system through the second communication link when the link state of the first communication link is an abnormal state, wherein the feedback data is formed in the process that the main flight controller controls the actuating system to work; The flight switching operation module is used for executing communication synchronous operation with the actuating system when the feedback data meet the flight control switching condition, and switching the standby flight controller to control the actuating system to work after the communication synchronous operation is completed; wherein the standby flight controller and the main flight controller are two flight controllers with redundant design.
8. A flight controller 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 aircraft control method according to any one of claims 1 to 6 when executing the computer program.
9. An aircraft comprising an actuation system and two flight controllers according to claim 8; the two flight controllers are connected through a first communication link, and any one of the flight controllers is connected with the actuating system through a second communication link.
10. A computer-readable storage medium, which stores a computer program, characterized in that the computer program, when executed by a processor, implements the aircraft control method of any one of claims 1 to 6.

Description

Aircraft control method, device, flight controller, aircraft and storage medium Technical Field The present invention relates to the field of aircraft control technology, and in particular, to an aircraft control method, an apparatus, a flight controller, an aircraft, and a storage medium. Background An 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. In order to meet the requirements of flight safety, redundant design of flight controllers and intelligent fault tolerance technology are generally required to ensure that safe flight can be maintained when the flight controllers have single-point or multi-point faults. When the existing flight controllers are designed in a redundant mode, at least three flight controllers are required to be designed in a redundant mode, and a third flight controller is used for monitoring and judging whether the communication state before any two flight controllers is abnormal or not. Such redundant designs can result in increased system complexity and can increase system volume and cost. Disclosure of Invention The embodiment of the invention provides an aircraft control method, an aircraft control device, an aircraft controller, and a storage medium, which are used for solving the problems of system complexity, volume and cost increase existing when at least three aircraft controllers are adopted for redundancy design. An aircraft control method comprising the steps of: Acquiring a link state of a first communication link, wherein the first communication link is a communication link between a main flight controller and a standby flight controller, and the main flight controller is a flight controller for controlling the operation of the actuating system at the current moment; When the link state of the first communication link is abnormal, acquiring feedback data sent by an actuating system through a second communication link, wherein the feedback data is formed by controlling the working process of the actuating system by the main flight controller; When the feedback data meets the flight control switching condition, the standby flight controller and the actuating system execute communication synchronous operation, and after the communication synchronous operation is completed, the standby flight controller is switched to control the actuating system to work; wherein the standby flight controller and the main flight controller are two flight controllers with redundant design. Preferably, after acquiring the feedback data sent by the actuation system via the second communication link, the aircraft control method further comprises: and when the feedback data does not meet the flight control switching condition, the standby flight controller and the main flight controller enter an independent control mode. Preferably, the actuation system comprises a plurality of motor controllers; the feedback data comprises the current state of the main flight controller and the current packet loss number of the plurality of motor controllers; The flight control switching condition comprises that the current state of the main flight controller is an invalid state, or the number of controllers corresponding to the motor controllers with the current packet loss number larger than the first preset number is larger than the second preset number. Preferably, after the acquiring the link state of the first communication link, the aircraft control method includes: when the link state of the first communication link is switched from a normal state to an abnormal state, a target message is formed based on a last frame effective message sent by the main flight controller through the first communication link and the current state of the standby flight controller, and the target message is sent to the actuating system. Preferably, after the acquiring the link state of the first communication link, the aircraft control method includes: when the link state of the first communication link is a normal state, receiving first state information corresponding to a main flight controller through the first communication link, and receiving second state information corresponding to the main flight controller forwarded by an actuating system through a second communication link; Determining a current state corresponding to the main flight controller based on the first state information and the second state information corresponding to the main flight controller; When the current state corresponding to the main flight controller is an invalid state, the standby flight controller and the actuating system execute communication synchronous operation, and after the communication synchronous operation is completed, the standby flight controller is switched to control the actuating system to work; And when the current state corresponding to the main flight controller is not an invalid state, the st