CN111427380B

CN111427380B - Aircraft, control method of aircraft, and controller

Info

Publication number: CN111427380B
Application number: CN202010539941.8A
Authority: CN
Inventors: 侯涛; 刘静; 段宇; 茅时雨
Original assignee: Fangyi Beijing Technology Co ltd
Current assignee: Fangyi Beijing Technology Co ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2020-10-16
Anticipated expiration: 2040-06-15
Also published as: CN111427380A

Abstract

The present disclosure relates to an aircraft, a control method of the aircraft, and a controller. The control method of the aircraft comprises the following steps: receiving control information from a controller; acquiring a control threshold; and performing corresponding control on the aircraft based on the control threshold and the control information, wherein the control threshold is set based on the initial voltage information received from the controller or is adjusted based on the reference power supply voltage information and the previously received control information.

Description

Aircraft, control method of aircraft, and controller

Technical Field

The disclosure relates to the field of flight control, and in particular to an aircraft, a control method of the aircraft, and a controller.

Background

In recent years, aircraft have become more and more popular. Existing aircraft are largely classified into winged aircraft and wingless aircraft. Winged aircraft include fixed-wing aircraft such as gliders and moving-wing aircraft such as rotary-wing aircraft and ornithopters. Currently, most aircraft are controlled for flight by remote controls, such as a joystick controller. The control accuracy and precision of existing controllers is affected by the accuracy of the control members, such as rockers, knobs, etc. Moreover, poor consistency of control elements from lot to lot (e.g., inconsistent rocker resistances from rocker controller to rocker controller) can also affect the control of the aircraft by the controller.

Disclosure of Invention

Based on the foregoing, the present disclosure provides an aircraft, a control method of the aircraft, and a controller.

In one aspect of the present disclosure, the present disclosure provides a control method of an aircraft, including: receiving control information from a controller; acquiring a control threshold; and performing corresponding control of the aircraft based on the control threshold and the control information, wherein the control threshold is set based on initial voltage information received from the controller or is adjusted based on reference supply voltage information and previously received control information.

In another aspect of the present disclosure, the present disclosure provides an aircraft comprising: a receiver receiving control information from a controller; a processor to obtain a control threshold; and performing corresponding control of the aircraft based on the control threshold and the control information, wherein the control threshold is set based on voltage information received from the controller or is adjusted based on reference supply voltage information and previously received control information.

In yet another aspect of the present disclosure, the present disclosure provides a method of controlling an aircraft, comprising, receiving an operation; generating control information based on the received operation; acquiring a control threshold; determining whether to generate a control command based on the control threshold and the control information; generating a control command based on the control threshold and the control information in response to determining to generate a control command; and transmitting the control command to the aircraft, wherein the control threshold is set based on initial voltage information of the controller or adjusted based on reference supply voltage information and previously generated control information.

In yet another aspect of the present disclosure, the present disclosure provides a controller including a first control member receiving an operation; a processor that generates control information based on the received operation; acquiring a control threshold; determining whether to generate a control command based on the control threshold and the control information; generating a control command based on the control threshold and the control information in response to determining to generate a control command; and a transmitter that transmits the control command to a control object, wherein the control threshold is set based on initial voltage information of the controller or is adjusted based on reference power supply voltage information and previously generated control information.

According to the aircraft, the aircraft control method and the controller, the control problem of the controller corresponding to the aircraft due to the consistency and the precision of the control part (such as a rocker) of the controller can be effectively solved, so that the operability of the control on the aircraft is improved, the control difficulty is reduced, the poor consistency is improved, and the control capability of the low-precision controller on the aircraft is improved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the disclosure, and are incorporated in and constitute a part of this specification. The drawings, together with the embodiments of the disclosure, serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings, like reference numerals refer to like parts, steps or elements unless otherwise explicitly indicated. In the drawings, there is shown in the drawings,

FIG. 1 illustrates an example flow chart of a method of controlling an aircraft according to an embodiment of this disclosure;

FIG. 2A is an example flowchart further illustrating step S120 of FIG. 1 of controlling the aircraft accordingly based on the control threshold and the control information;

FIG. 2B is another example flowchart further illustrating step S120 of FIG. 1 of controlling the aircraft accordingly based on the control threshold and the control information;

FIG. 3 illustrates an example of an aircraft according to an embodiment of the present disclosure;

FIG. 4 illustrates another example flow diagram of a method of controlling an aircraft in accordance with an embodiment of the disclosure;

FIG. 5A is an exemplary flowchart further illustrating step S440 of FIG. 4 for generating a control command based on the control threshold and the control information in response to determining to generate the control command;

FIG. 5B is another example flowchart further illustrating step S440 of FIG. 4 of generating a control command based on the control threshold and the control information in response to determining to generate the control command;

fig. 6 shows an example of a controller according to an embodiment of the present disclosure.

Detailed Description

The technical scheme of the disclosure is clearly and completely described in the following with reference to the accompanying drawings. It is to be understood that the described embodiments are only a few, and not all, of the disclosed embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

In the description of the present disclosure, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise explicitly stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.

FIG. 1 illustrates an example flow chart of a method of controlling an aircraft according to an embodiment of this disclosure. As depicted in fig. 1, a control method of an aircraft according to an embodiment of the present disclosure begins at step S100. At step S100, control information is received from a controller. In particular, in one embodiment, the aircraft may receive the control information from a controller, for example via its receiver, which control information is used to control the flight of the aircraft. More specifically, the control information may be received, for example, through a control message of the following format:

header

ID number

Control information

Others

Where a "header" field is used to identify the message type, it may include multiple fields as desired, including, for example, a checksum field. The ID number is an ID number of a controller corresponding to the aircraft, and the aircraft can determine whether the control message is a control message sent to itself based on the ID number. The "other" field is used for message extension and any extension may be made by those skilled in the art as desired.

After that, the method proceeds to step S110. At step S110, a control threshold is acquired, wherein the control threshold is set based on initial voltage information received from the controller or adjusted based on reference power supply voltage information and previously received control information. In particular, the aircraft may comprise a memory for storing the control threshold values. Thereby, the control threshold may be retrieved (i.e. read) from the memory. In the disclosed embodiment, the control threshold may be set or adjusted for each controller. The setting and adjustment of the control threshold will be described in detail later.

After that, the method proceeds to step S120. At step S120, the aircraft is controlled accordingly based on the control threshold and the control information, which will be described in detail below in conjunction with fig. 2A and 2B. In the embodiments of the present disclosure, controlling the aircraft accordingly includes, for example, controlling the steering and speed of the aircraft, but it should be understood that controlling the steering and speed of the aircraft is merely an example of controlling the aircraft accordingly and is not a limitation of the present disclosure. Those skilled in the art can implement various controls for an aircraft based on embodiments of the present disclosure, depending on the controllable quantities of the aircraft.

The control method of the aircraft according to the embodiment of the present disclosure described in connection with fig. 1 sets the control threshold value based on the initial voltage information received from the controller. Therefore, compared with a control method in which the control threshold is directly set to a fixed value without considering the initial voltage information of the controller, the control method of the aircraft according to the embodiment of the disclosure can effectively solve the control problem of the controller corresponding to the aircraft due to poor consistency of the control elements (such as the rocker, the knob and the like) of the controller, thereby increasing the operability of control over the aircraft, reducing the control difficulty, and improving the control capability of the controller with poor consistency over the aircraft.

In the following, for the convenience of describing the setting of the control threshold, it is assumed that the controller for controlling the aircraft is a joystick controller, on which a joystick is provided, which can be rocked in four directions, up, down, left, and right. When the controller is just powered on, the power supply voltage of the controller is the initial power supply voltage of the controller. When the controller is just powered on and the rocker of the controller is in a centered state (i.e., the rocker of the controller does not rock in the up, down, left, and right directions), the output voltage of the controller is the controller initial state voltage, which includes the initial state voltage in the left-right direction and the initial state voltage in the up-down direction. During the control of the aircraft by using the rocker controller, the power supply voltage of the controller is the current power supply voltage of the controller, and the output voltage of the controller is the current state voltage of the controller, including the current state voltage in the left-right direction and the current state voltage in the up-down direction. The control thresholds include a left turn threshold, a right turn threshold, an acceleration threshold, and a deceleration threshold, which are associated with the rocker shaking left, shaking right, shaking up, and shaking down, respectively; and the control information includes the controller present state voltage or includes both the controller present state voltage and the controller present supply voltage.

It should be understood that the foregoing description and assumptions regarding the controller are merely for convenience of the following description and are not intended to limit the present disclosure. For example, a rocker of a controller according to embodiments of the present disclosure may rock in any direction, including less than four directions and more than four directions. For example, in one embodiment, the joystick of the controller may rock in both the left and right directions. In another embodiment, the joystick of the controller can be rocked in 8 directions, up, down, left, right, up-left, up-right, down-left, and down-right. Accordingly, the control threshold may include various control thresholds, and the control information may include various control information. Further, the initial state of the controller is not necessarily a neutral state, and may be other various states. Further, the controller according to embodiments of the present disclosure may be various types of controllers including, but not limited to, for example, a rocker controller, a knob controller, or a slide controller.

In an embodiment of the present disclosure, the initial voltage information may include at least one of controller initial state voltage information and controller initial power supply voltage information. The controller initial-state voltage information is information reflecting the controller initial-state voltage. The controller initial power supply voltage information is information reflecting the controller initial power supply voltage. In one embodiment, the controller initial state voltage information may be a controller initial state voltage, and the controller initial supply voltage information may be a controller initial supply voltage. In another embodiment, the controller initial state voltage information may be information related to the controller initial state voltage, for example, information obtained by appropriately transforming the controller initial state voltage. The controller initial power supply voltage information may be information related to the controller initial power supply voltage, for example, information after appropriately converting the controller initial power supply voltage.

Regarding setting the control threshold based on the initial voltage information received from the controller, in one embodiment, the left and right turn thresholds may be set by equations (1) and (2), respectively,

LS = ADmax * a1 （1）

RS = ADmax * a2 （2）

where LS denotes a left turn threshold, RS denotes a right turn threshold, ADmax denotes a controller initial power supply voltage, and a1 and a2 are constants less than 1. In one embodiment, a1 may be equal to 0.4 and a2 may be equal to 0.6. In another embodiment, a1 may be equal to 0.6 and a2 may be equal to 0.4. It should be understood that the foregoing specific values for a1 and a2 are merely examples and are not limiting of the disclosure. Those skilled in the art can appropriately set a1 and a2 according to the characteristics and control requirements of the controller.

In the above embodiment, the control threshold is set based on the controller initial power supply voltage. Alternatively, in another embodiment, the left turn threshold and the right turn threshold may be set by equations (3) and (4), respectively,

LS = ADlr_ini * a3 （3）

RS = ADlr_ini * a4 （4）

where LS denotes a left turn threshold, RS denotes a right turn threshold, ADlr _ ini denotes a controller initial state voltage of the joystick controller in the left-right direction, and a3 and a4 are constants less than 2. In one embodiment, a3 may equal 0.8 and a4 may equal 1.2. In another embodiment, a3 may be equal to 1.2 and a4 may be equal to 0.8. It should be understood that, as with the setting of the control threshold based on the initial supply voltage of the controller described above, the specific values previously described with respect to a3 and a4 are merely examples and are not limiting of the present disclosure.

As for setting the acceleration threshold and the deceleration threshold based on the initial voltage information received from the controller, the method thereof is the same as the above-described method of setting the left turn threshold and the right turn threshold based on the initial voltage information (i.e., the controller initial power supply voltage or the controller initial state voltage). Therefore, a detailed description thereof is omitted herein for the sake of brevity.

It should be understood that the foregoing settings related to the control threshold are merely examples, and are not limitations of the present disclosure. The control threshold can be set as appropriate by those skilled in the art according to the characteristics of the controller and the control requirements. For example, different a1, a2, a3 and a4 may be provided; setting a plurality of control thresholds in one direction, for example, setting a first left turn threshold, a second left turn threshold, a first right turn threshold, and a second right turn threshold; setting more control thresholds than left-turn, right-turn, acceleration and deceleration thresholds, and so on.

Further, it should also be understood that in the foregoing embodiment, assuming the rocker is centered, the controller initial state voltage is 1/2 of the controller initial supply voltage; when the rocker swings leftwards and rightwards, the voltage of the current state of the controller is respectively reduced and increased relative to the voltage when the rocker is centered; and the left-turn threshold and the right-turn threshold are both positive voltages. However, this is merely an example assuming that the controller is a joystick controller and the joystick can be rocked in four directions of up, down, left, and right at equal distances, and is not a limitation of the present disclosure. The control threshold may be set differently by those skilled in the art according to the characteristics of the controller. For example, the controller initial state voltage may be 0. Accordingly, one or more thresholds may be set based on the characteristics of the controller, e.g., one threshold may be greater than 0 and another threshold may be less than 0.

With respect to step S120 in fig. 1, in one embodiment, the aircraft may be controlled accordingly based on the set threshold values and control information. Specifically, the controller current state voltage information included in the control information may be compared with a set control threshold value, and the aircraft may be controlled accordingly based on the comparison result.

More specifically, in one embodiment, the aircraft may be controlled accordingly by the following procedure. For convenience of description, it is assumed that the set control threshold includes a left turn threshold and a right turn threshold, and the left turn threshold is smaller than the right turn threshold. In addition, it is assumed that the current-state voltage information of the controller is the current-state voltage of the controller, for example, the current-state voltage information of the controller is the current-state voltage of the controller in the left-right direction of the joystick controller.

In this case, it may be determined whether the controller present state voltage is less than a left turn threshold. And if the current state voltage of the controller is less than the left-turning threshold value, controlling the aircraft to turn left. Otherwise, it is determined whether the controller current state voltage is greater than the right turn control threshold. And if the current state voltage of the controller is greater than the right turning threshold value, controlling the aircraft to turn to the right. Otherwise, when the current state voltage of the controller is not smaller than the left-turning threshold value or the right-turning threshold value, the aircraft is not controlled.

It is to be understood that the foregoing description is by way of example only, and is not intended as a definition of the limits of the disclosure. Those skilled in the art can set corresponding control thresholds according to the characteristics of the controller, the operation habits of the user, the controllable amount of the aircraft and the like; and based on the set control threshold and the received control information, the aircraft is correspondingly controlled. For example, the left turn threshold in the above embodiments may be greater than the right turn threshold. In this case, it may be determined whether the controller present state voltage is less than the right turn threshold. And if the current state voltage of the controller is less than the right-turn threshold value, controlling the aircraft to turn to the right. Otherwise, it is determined whether the current state voltage of the controller is greater than a left turn threshold. And if the current state voltage of the controller is greater than the left-turning threshold value, controlling the aircraft to turn left. Otherwise, when the current state voltage of the controller is not smaller than the right-turn threshold value or larger than the left-turn threshold value, the aircraft is not controlled. The left turn threshold and the right turn threshold may be a left turn threshold LS and a right turn threshold RS set according to the above equations (1) and (2) or according to the above equations (3) and (4).

In the above, the process of controlling the aircraft accordingly based on the set threshold value is described.

In another embodiment, the set threshold value may be adjusted and the aircraft may then be controlled based on the adjusted threshold value. Specifically, in one embodiment, the current reference supply voltage information may be obtained when the control information includes controller current supply voltage information. Thereafter, the acquired control threshold is adjusted based on the controller current supply voltage information and the current reference supply voltage information, which will be described in detail later. And then, based on the adjusted control threshold value and the adjusted control information, correspondingly controlling the aircraft.

Compared with the above-mentioned corresponding control of the aircraft based on the set threshold and the received control information, in this embodiment of the present disclosure, the control threshold is adjusted based on the current power supply voltage information of the controller, and then the aircraft is correspondingly controlled based on the adjusted control threshold, so that an error caused by a change in the power supply voltage of the controller can be eliminated, and the control of the aircraft by the controller is more accurate.

More specifically, with respect to the adjustment of the control threshold, in one embodiment, the control threshold may be adjusted each time control information is received. Specifically, in one embodiment, the current reference supply voltage information is controller initial supply voltage information. In one embodiment, the control threshold may be adjusted based on a ratio of the controller current supply voltage and the controller initial supply voltage, for example by equation (5):

TH_new = TH *

（5）

wherein TH _ new is the adjusted control threshold; TH is a set control threshold, for example, a left turn threshold LS set according to the above equation (1) or (3), or a right turn threshold RS set according to the above equation (2) or (4); ADnow is the controller current supply voltage and ADmax is the controller initial supply voltage.

In another embodiment, the control threshold may be adjusted based on the controller current supply voltage information and the controller initial supply voltage information according to a discharge curve of the battery.

With respect to the current reference power supply voltage information, in the above embodiment, the controller initial power supply voltage information is referred to each time the control threshold is adjusted. Alternatively, in another embodiment, an iterative approach may be taken. That is, the current reference supply voltage information may be the controller current supply voltage information that was last used to adjust the control threshold. And during the first adjustment, the current power supply voltage information of the controller used for adjusting the control threshold value at the last time is the initial power supply voltage information of the controller. In this embodiment, the control threshold may be adjusted, for example, by equation (6),

TH_new = TH_old *

（6）

wherein TH _ new is the adjusted control threshold; TH _ old is the control threshold value after the last adjustment; ADnow is the controller current supply voltage and ADold is the current reference supply voltage, i.e., the controller current supply voltage that was last used to adjust the control threshold.

Similar to adjusting the control threshold based on the controller current supply voltage information and the controller initial supply voltage information, in this embodiment, the control threshold may also be adjusted based on the controller current supply voltage information and the controller current supply voltage information last used to adjust the control threshold according to the discharge curve of the battery.

Further, in the above-described embodiment, the adjustment processing of the control threshold is performed every time the control information is received. Alternatively, in another embodiment, the control threshold may be adjusted when the difference between the current supply voltage information and the current reference supply voltage information of the controller is greater than the adjustment threshold. Specifically, an adjustment threshold, which is a threshold for determining whether to adjust the control threshold, may be set in advance. Thus, first, a difference between the controller current supply voltage information and the current reference supply voltage information is determined. Then, in response to the difference being greater than the adjustment threshold, the obtained control threshold is adjusted based on the controller current supply voltage information and the current reference supply voltage information. Regarding the setting of the adjustment threshold, it may be appropriately set based on the characteristics of the controller, the control requirements, and the like, which is not limited by the present disclosure.

In this embodiment, the method of adjusting the acquired control threshold when the difference is larger than the adjustment threshold is the same as the above-described embodiment. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Compared with the method for adjusting the control threshold value every time the control information is received, the method for adjusting the control threshold value when the difference of the power supply voltage is larger than the adjustment threshold value can reduce the load of the processor of the aircraft and accelerate the processing speed of the processor on the control information, so that the aircraft can respond to the received control information more quickly.

In the above embodiments, the process of directly setting, adjusting, and correspondingly controlling the aircraft based on the controller voltage information is described. In another embodiment, the control threshold may be set, adjusted, and the aircraft controlled accordingly based on the amplified controller voltage information. The amplification of the controller voltage information may be performed at the aircraft or at the controller. Specifically, the controller voltage information may be amplified according to equation (7), including control initial power supply voltage information, controller initial state voltage information, controller present power supply voltage information, controller present state voltage information, and the like,

AD’ = AD *α （7）

where AD' denotes the amplified voltage information, AD denotes the voltage information before amplification, and α denotes an amplification parameter, which is a constant greater than 1 set according to actual conditions. The specific value can be set as appropriate by those skilled in the art according to needs, and is not limited herein.

Compared with the method of directly setting and adjusting the control threshold value based on the voltage information of the controller and correspondingly controlling the aircraft, the method of setting and adjusting the control threshold value based on the amplified voltage information of the controller and correspondingly controlling the aircraft can improve the control precision of the controller on the aircraft, and can solve the problem that the control range of the controller is reduced due to poor consistency of control parts of the controller, so that the control range of the controller is not affected under the condition that the rocker with poor consistency is used.

Fig. 2A is an example flowchart further illustrating step S120 of fig. 1 of controlling the aircraft accordingly based on the control threshold and the control information, beginning at step S122A. In this embodiment, the control information includes steering information and the control thresholds include a right turn threshold and a left turn threshold. At step S122a, the steering information is compared to at least one of a right turn threshold and a left turn threshold. Thereafter, the method proceeds to step S124 a. At step S124a, based on the comparison result, it is determined whether a steering command is generated. Thereafter, the method proceeds to step S126 a. At step S126a, in response to determining to generate a steering command, a right turn command or a left turn command is generated based on the comparison result.

Specifically, for convenience of description, it is assumed that the left turn threshold is smaller than the right turn threshold. In one embodiment, with respect to steps S124a and S126a, first, it is determined whether the value to which the steering information corresponds is less than a left turn threshold. Regarding the value to which the steering information corresponds, in one embodiment, the value to which the steering information corresponds may be a value to which the steering information directly corresponds (e.g., a value to which binary data representing a field of the steering information directly corresponds in the control message). In another embodiment, the value to which the steering information corresponds may be a value indexed using the value to which the steering information directly corresponds. In yet another embodiment, the value to which the steering information corresponds may be a value calculated based on the value to which the steering information directly corresponds. It should be understood that the foregoing description of the corresponding values of the steering information is merely an example, and not a limitation of the present disclosure. If the value corresponding to the steering information is smaller than the left-turning threshold value, a left-turning command is generated; otherwise, determining whether the value corresponding to the steering information is larger than a right turning threshold value, and if the value corresponding to the steering information is larger than the right turning threshold value, generating a right turning command; otherwise, if the value corresponding to the steering information is not smaller than the left-turning threshold value and not larger than the right-turning threshold value, the steering command is not generated.

It is to be understood that the foregoing description is by way of example only, and is not intended as a definition of the limits of the disclosure. Those skilled in the art can set corresponding control thresholds according to the characteristics of the controller, the operation habits of the user, the controllable amount of the aircraft and the like; and based on the set control threshold and the received control information, the aircraft is correspondingly controlled. For example, the left turn threshold in the above embodiments may be greater than the right turn threshold. In this case, it is first determined whether the value corresponding to the steering information is smaller than the right turn threshold. If the value corresponding to the steering information is smaller than the right steering threshold value, generating a right steering command; otherwise, determining whether the value corresponding to the steering information is greater than a left-turning threshold value, and if the value corresponding to the steering information is greater than the left-turning threshold value, generating a left-turning command; otherwise, if the value corresponding to the steering information is not smaller than the right-turn threshold value or the left-turn threshold value, the steering command is not generated.

After generating the left turn command or the right turn command, the method proceeds to step S128 a. At step S128a, steering of the aircraft is controlled based on the right turn command or the left turn command.

Further, the control information may also include speed information instead of or in combination with steering information. At this time, the control threshold may further include an acceleration threshold and a deceleration threshold. Accordingly, the speed information may be compared to at least one of an acceleration threshold and a deceleration threshold. Based on the comparison, it is determined whether to generate a speed command. Then, in response to determining to generate the speed command, an acceleration command or a deceleration command is generated based on the comparison result. Thereafter, the speed of the aircraft is controlled based on the acceleration command or the deceleration command. The detailed processing thereof is similar to the above-described step S122a, step S124a, step S126a, and step S128 a. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Fig. 2B is another example flowchart further illustrating step S120 of fig. 1 of controlling the aircraft accordingly based on the control threshold and the control information, beginning at step S122B. In this embodiment, the control information includes steering information and the control thresholds include a right turn threshold and a left turn threshold. At step S122b, a steering discrepancy between the steering information and at least one of the right turn threshold and the left turn threshold is determined.

Specifically, for convenience of description, it is assumed that the left turn threshold is smaller than the right turn threshold. In one embodiment, the steering disparity may be determined by the following process: a difference between a value corresponding to the steering information and the left turn threshold is determined. And if the determined difference is less than zero, determining the difference between the value corresponding to the steering information and the left-turning threshold value as the steering difference. Otherwise, the difference between the value corresponding to the steering information and the right-turning threshold value is determined. Determining a difference between a value corresponding to the steering information and a right turn threshold as a steering difference if the determined difference is greater than zero; otherwise the steering differential equals 0. After the steering discrepancy is determined, the method proceeds to step S124 b. At step S124b, it is determined whether a steering command is generated based on the steering difference. Thereafter, the method proceeds to step S126 b. At step S126b, in response to determining to generate the steering command, a right turn command or a left turn command is generated based on the steering disparity, the right turn command or the left turn command including a steering adjustment value generated based on the steering disparity. Specifically, in one embodiment, with respect to step S124b and step S126b, first, it is determined whether the steering difference is less than 0. If the steering difference is less than 0, a left turn command is generated and a steering adjustment value is generated according to equation (8),

steering adjustment value = | steering disparity |. beta 1 (8)

Otherwise, it is determined whether the steering disparity is greater than 0. If the steering discrepancy is greater than 0, a right turn command is generated and a steering adjustment value is generated according to equation (9). Otherwise, no steering command is generated.

Steering adjustment value = steering difference β 2 (9)

Where β 1 and β 2 are constants set according to actual conditions. The specific value can be set as appropriate by those skilled in the art according to needs, and is not limited herein.

After the steering command is generated, the method proceeds to step S128 b. At step S128b, the steering of the aircraft is controlled at the steering adjustment value based on the right turn command or the left turn command.

Further, the control information may also include speed information instead of or in combination with steering information. At this time, the control threshold may further include an acceleration threshold and a deceleration threshold. Accordingly, a speed difference between the speed information and at least one of the acceleration threshold and the deceleration threshold may be determined. Then, based on the speed difference, it is determined whether to generate a speed command. Thereafter, in response to determining to generate the speed command, an acceleration command or a deceleration command is generated based on the speed difference, the acceleration command or the deceleration command including a speed adjustment value generated based on the speed difference, and the speed of the aircraft is controlled at the speed adjustment value based on the acceleration command or the deceleration command. The detailed processing thereof is similar to the above-described step S122b, step S124b, step S126b, and step S128b, respectively. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

It should be understood that, as with fig. 2A, the foregoing description is by way of example only, and is for the purpose of convenience of description and not limitation of the present disclosure. The left turn threshold in the above embodiments may also be greater than the right turn threshold. The step of performing corresponding control on the aircraft when the left turn threshold is greater than the right turn threshold is similar to performing corresponding control on the aircraft when the left turn threshold is less than the right turn threshold. And thus a detailed description thereof will be omitted herein for brevity.

Compared to the control method of the aircraft described above with reference to fig. 2A, the control method of the aircraft described with reference to fig. 2B can determine not only the left or right turn (acceleration or deceleration) qualitatively, but also the left or right turn adjustment value (acceleration or deceleration adjustment value) further quantitatively, and thus can control the flight of the aircraft more accurately.

Fig. 3 illustrates an example of an aircraft 300 according to an embodiment of the disclosure. As shown in fig. 3, an aircraft according to an embodiment of the present disclosure includes a receiver 301 and a processor 302. The receiver 301 is used to receive control information from a controller. Processor 302 is configured to obtain a control threshold and to control the aircraft accordingly based on the control threshold and the control information. The control threshold is set based on voltage information received from the controller or is adjusted based on reference power supply voltage information and previously received control information.

Furthermore, the processor 302 may also be used to perform the control method of the aircraft according to the embodiments of the present disclosure described above in connection with fig. 1 to 2B.

It should be understood that the aircraft depicted in FIG. 3 is merely an example, and not a limitation of the present disclosure. The aircraft according to embodiments of the present disclosure may be various types of aircraft, such as rotorcraft and ornithopter aircraft, among others.

In the above, a control method of an aircraft according to an embodiment of the present disclosure is described in conjunction with fig. 1 to 2B, and an aircraft according to an embodiment of the present disclosure is described in conjunction with fig. 3. In the above embodiments, the aircraft sets the control threshold based on the initial voltage information received from the controller. Therefore, compared with a control method in which the initial voltage information of the controller is not considered and the control threshold is directly set to be a fixed value, the method can effectively solve the control problem caused by poor consistency of the control part (such as a rocker) of the controller corresponding to the aircraft, thereby increasing the operability of the control on the aircraft, reducing the control difficulty and improving the control capability of the controller with poor consistency on the aircraft.

In addition, the aircraft control method according to the embodiment of the disclosure may adjust the control threshold value based on the received current power supply voltage of the controller before performing the control of the aircraft, and then perform corresponding control on the aircraft based on the adjusted control threshold value and the control information, so that an error caused by a change in the power supply voltage of the controller may be eliminated.

In addition, the control method of the aircraft according to the embodiment of the disclosure can set, adjust the control threshold value and control the aircraft accordingly based on the amplified controller voltage information, which can improve the accuracy of the control of the aircraft by the controller.

Further, the control method of the aircraft according to the embodiment of the present disclosure may generate a control command including an adjustment value (e.g., a steering adjustment value or a speed adjustment value) based on a difference between the control information and the control threshold value, and control the aircraft at the adjustment value based on the control command, and thus may precisely control the flight of the aircraft based on the operation of the controller by the operator.

In the embodiments described above in connection with fig. 1-3, the aircraft receives control information from the controller and the aircraft performs the setting or adjustment of the control threshold. Alternatively, the control threshold may also be set or adjusted by the controller.

Hereinafter, a control method of the aircraft performed by a corresponding controller of the aircraft will be described with reference to fig. 4 to 5B.

Fig. 4 shows another example flowchart of a control method of an aircraft according to an embodiment of the disclosure, starting from step S400. At step S400, an operation is received, i.e., an operation of a control by an operator, such as a rocking of a rocker controller, a turning of a button on a key controller, a sliding of a key on a sliding controller, and the like. After that, the method proceeds to step S410. At step S410, control information is generated based on the received operation. The method then proceeds to step S420. At step S420, a control threshold is acquired, wherein the control threshold is set based on initial voltage information of the controller or adjusted based on reference power supply voltage information and previously generated control information. In this embodiment, the method of acquiring the control threshold, setting the control threshold, and adjusting the threshold is the same as the method described above in connection with fig. 1. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

After the control information is acquired, the method proceeds to step S430. At step S430, it is determined whether to generate a control command based on the control threshold and the control information, which will be described in detail below. After that, the method proceeds to step S440. At step S440, in response to determining to generate the control command, the control command is generated based on the control threshold and the control information. After the control command is generated, the method proceeds to step S450. At step S450, the control command is sent to the aircraft.

The control method for the aircraft according to the embodiment of the disclosure described in conjunction with fig. 4 may set the control threshold based on the initial voltage information of the controller, and thus, compared with a control method in which the control threshold is directly set to a fixed value without considering the initial voltage information of the controller, it may effectively solve the control problem of the controller corresponding to the aircraft due to the poor consistency of its control elements (e.g., rocker, knob), thereby increasing the operability of the control for the aircraft, reducing the control difficulty, and improving the control capability of the controller with poor consistency for the aircraft.

Furthermore, the control method of the aircraft described in connection with fig. 4 is performed at the controller, and thus the load of the processor of the aircraft can be reduced, compared to the control method of the aircraft described in connection with fig. 1.

Regarding the generation of the control command, in one embodiment, whether to generate the control command and the generation of the control command may be determined based on the set threshold and the control information. Specifically, the current-state voltage information of the controller included in the control information may be compared with a set threshold value, and it may be determined whether to generate a control command and generate a corresponding control command based on the comparison result.

For convenience of description, it is assumed that the set threshold includes a left turn threshold and a right turn threshold, and the left turn threshold is smaller than the right turn threshold, wherein the left turn threshold is related to the aircraft turning to the left, and the right turn threshold is related to the aircraft turning to the right; and the current state voltage information of the controller is the current state voltage of the controller, for example, the current state voltage information of the controller is the current state voltage of the controller of the rocker controller in the left-right direction.

In one embodiment, whether to generate a control command and generate a corresponding control command may be determined by the following flow. First, it is determined whether the controller present state voltage is less than a left turn threshold. And if the current state voltage of the controller is less than the left-turning threshold value, generating a left-turning control command. Otherwise, determining whether the current state voltage of the controller is greater than a right turning threshold value, and if the current state voltage of the controller is greater than the right turning threshold value, generating a right turning control command. Otherwise, if the controller current state voltage is neither less than the left turn threshold nor greater than the right turn threshold, no control command is generated.

The process of generating a control command based on the set threshold value is described in the above embodiment. Alternatively, in another embodiment, the set threshold may be adjusted and then the control command may be generated based on the adjusted threshold.

Specifically, in one embodiment, the current reference supply voltage information may be obtained when the control information includes controller current supply voltage information. Thereafter, the acquired control threshold is adjusted based on the controller current power supply voltage information and the current reference power supply voltage information, and then it is determined whether to generate a control command based on the adjusted control threshold and the control information. Thereafter, in response to determining to generate the control command, a control command is generated based on the adjusted control threshold and the control information. The method of adjusting the control threshold is the same as described above in connection with fig. 1. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Compared with the above-mentioned determination of whether to generate a control command and generate a control command based on the set threshold and the generated control information, in this embodiment of the present disclosure, adjusting the control threshold based on the current power supply voltage information of the controller, and then determining whether to generate a control command and generate a corresponding control command based on the adjusted control threshold can eliminate errors caused by changes in the power supply voltage of the controller, so that the control of the aircraft by the controller is more accurate.

As with the control method of the aircraft performed by the aircraft described above, in the present disclosure, in addition to directly setting, adjusting the control threshold value and generating the control command based on the controller voltage information, the control threshold value may also be set, adjusted and generated based on the amplified controller voltage information, the detailed processing of which is similar to the method described above. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Fig. 5A is an example flowchart further illustrating step S440 of fig. 4 of generating a control command based on the control threshold and the control information in response to determining to generate the control command, beginning with step S442 a. In this embodiment, the control information includes steering information and the control thresholds include a right turn threshold and a left turn threshold. At step S442a, the steering information is compared to at least one of a right turn threshold and a left turn threshold. Thereafter, the method proceeds to step S444 a. At step S444a, based on the comparison result, it is determined whether a steering command is generated. Thereafter, the method proceeds to step S446 a. At step S446a, in response to determining to generate a steering command, a right turn command or a left turn command is generated based on the comparison result. Step S442A, step S444a, and step S446a in fig. 5A are similar to step S122A, step S124a, and step S126a in fig. 2A, respectively. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Further, the control information may also include speed information instead of or in combination with steering information. Thus, the control threshold may also include an acceleration threshold and a deceleration threshold. Accordingly, the speed information may be compared to at least one of an acceleration threshold and a deceleration threshold. Then, based on the comparison result, it is determined whether to generate a speed command. Thereafter, an acceleration command or a deceleration command is generated based on the comparison result in response to determining to generate the speed command. The detailed processing thereof is similar to step S442a, step S444a, and step S446a, respectively. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Fig. 5B is an example flowchart further illustrating step S440 of fig. 4 of generating a control command based on the control threshold and the control information in response to determining to generate the control command, beginning with step S442B. In this embodiment the control information comprises steering information and the control thresholds comprise a right turn threshold and a left turn threshold. At step S442b, a steering difference between the steering information and at least one of the right turn threshold and the left turn threshold is determined. Thereafter, the method proceeds to step S444 b. At step S444b, it is determined whether a steering command is generated based on the steering difference. Thereafter, the method proceeds to step S446 b. At step S446b, in response to determining to generate a steering command, a right turn command or a left turn command is generated based on the steering disparity, the right turn command or the left turn command including a steering adjustment value generated based on the steering disparity. Step S442B, step S444B, and step S446B in fig. 5B are similar to step S122B, step S124B, and step S126B in fig. 2B, respectively. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

Further, the control information may also include speed information instead of or in combination with steering information. Thus, the control threshold may also include an acceleration threshold and a deceleration threshold. Accordingly, a speed difference between the speed information and at least one of the acceleration threshold and the deceleration threshold may be determined. Then, based on the speed difference, it is determined whether to generate a speed command. Thereafter, in response to determining to generate the speed command, an acceleration command or a deceleration command is generated based on the speed difference, the acceleration command or the deceleration command including a speed adjustment value generated based on the speed difference. The detailed processing thereof is similar to the above-described step S442b, step S444b, and step S446b, respectively. Therefore, a detailed description thereof is omitted herein for the sake of brevity.

The method of controlling an aircraft described in connection with fig. 5B may allow for more accurate control of the flight of the aircraft than the method of controlling an aircraft described above in connection with fig. 5A.

Fig. 6 shows an example of a controller 600 according to an embodiment of the present disclosure. As illustrated in fig. 6, a controller 600 according to an embodiment of the present disclosure may include a first control 610, a processor 620, and a transmitter 630. The first control 610 is for receiving an operation. Processor 620 is configured to perform the following operations: generating control information based on the received operation; acquiring a control threshold, wherein the control threshold is set based on initial voltage information of a controller or is adjusted based on reference power supply voltage information and previously generated control information; determining whether to generate the control command based on the control threshold and the control information, and generating the control command based on the control threshold and the control information in response to determining to generate the control command. The transmitter 630 is used to transmit a control command to a control object. In one embodiment, the controller 600 may be a controller corresponding to an aircraft, and accordingly, the control object is an aircraft. In another embodiment, the controller 600 may be a controller corresponding to a remote-controlled automobile, and accordingly, the control object is a remote-controlled automobile.

Furthermore, processor 630 may also execute a control method for an aircraft based on the description of fig. 4-5B.

With respect to the first control 610, in one embodiment, the first control is a single rocker that can be pushed in four directions to control right turns, left turns, acceleration, and deceleration of the aircraft.

Compared with a controller with two rockers, the controller with the single rocker according to the embodiment of the disclosure can greatly increase operability, reduce control difficulty and reduce controller cost when controlling an aircraft. In particular, it is directed to an ornithopter because, unlike a rotorcraft (e.g., a quad-rotor aircraft) that uses a controller with two rockers, the ornithopter is less controllable, and the steering and lifting principles are different, and therefore, the control scheme using a single remote lever is more adaptable to ornithopters.

Furthermore, in one embodiment, the controller may further include a second control member (not shown) for implementing a preset function. The preset function can be set when leaving the factory, and can also be set or changed by a user according to needs. In one embodiment, the second control is a single key and the preset function is to halt flight of the aircraft.

It should be understood that the foregoing description of the second control member and the preset function is merely an example, and not a limitation of the present disclosure. The person skilled in the art can set the appropriate second control members (including the number and type of the second control members) and the preset functions corresponding to the respective second control members according to the control needs.

In the above, a control method of an aircraft according to an embodiment of the present disclosure is described in conjunction with fig. 4 to 5B, and a controller according to an embodiment of the present disclosure is described in conjunction with fig. 6. The control method is executed by the controller corresponding to the aircraft, and the control threshold is set based on the initial voltage information, so that compared with a control method in which the control threshold is directly set to a fixed value without considering the initial voltage information of the controller, the control method can effectively solve the control problem of the controller corresponding to the aircraft caused by poor consistency of the control parts of the controller, thereby increasing the operability of the control of the aircraft, reducing the control difficulty and improving the control capability of the controller with poor consistency on the aircraft.

Furthermore, a control method of an aircraft according to an embodiment of the present disclosure may adjust the control threshold based on the controller current supply voltage information; and then, a control command is generated based on the adjusted control threshold and the control information, so that errors caused by the change of the power supply voltage of the controller can be eliminated.

Further, the control method of the aircraft according to the embodiment of the present disclosure may generate the control command including the adjustment value (e.g., the steering adjustment value or the speed adjustment value) based on the difference between the control information and the control threshold value, and thus may accurately control the flight of the aircraft based on the operation of the controller by the operator.

Furthermore, the control method of the aircraft according to the embodiment of the present disclosure may set, adjust the control threshold value, and generate the control command based on the amplified controller voltage information, which may improve the accuracy of the control of the aircraft by the controller.

Moreover, compared with a controller with two rockers, the controller with a single rocker according to the embodiment of the disclosure can greatly increase operability, reduce control difficulty and reduce controller cost when controlling the flight of the flapping-wing aircraft.

In the above, the control method of the aircraft performed by the aircraft according to the present disclosure and the corresponding aircraft are described with reference to fig. 1 to 3, and the control method of the aircraft performed by the controller according to the embodiment of the present disclosure and the corresponding controller are described with reference to fig. 4 to 6.

Those skilled in the art will appreciate that one or more of the steps of the above-described control method may be performed separately by the aircraft or by the controller, i.e., the control method for the aircraft may be performed by both the aircraft and the controller. For example, in one embodiment, a controller corresponding to an aircraft performs the following operations: receiving operation; generating control information based on the received operation; acquiring a control threshold, wherein the control threshold is set based on initial voltage information of a controller or is adjusted based on reference power supply voltage information and previously generated control information; and transmitting the generated control information and the obtained control threshold value to the aircraft. The aircraft performs the following operations: receiving control information and a control threshold; and performing corresponding control on the aircraft based on the control threshold and the control information.

In one embodiment, the controller corresponding to the aircraft may further adjust the control threshold based on the controller current supply voltage information and send the generated control information and the adjusted control threshold to the aircraft.

To this end, the present disclosure has described an aircraft, a control method of the aircraft, and a controller according to an embodiment of the present disclosure in conjunction with the accompanying drawings, which set a control threshold value based on initial voltage information of the controller and adjust the control threshold value based on current voltage information of the controller. Therefore, the control problem of the controller corresponding to the aircraft caused by poor consistency of the control element (such as a rocker) of the controller can be effectively solved, the operability of the control of the aircraft is improved, the control difficulty is reduced, the control capability of the controller with poor consistency on the aircraft is improved, and errors caused by changes of the power supply voltage of the controller can be eliminated. In addition, the control method of the aircraft according to the embodiment of the disclosure may set, adjust the control threshold value and correspondingly control or generate the control command for the aircraft based on the amplified controller voltage information, which may improve the accuracy of the control of the aircraft by the controller.

Further, although the above embodiments are described based on an aircraft, it should be understood that the ideas and principles of the control method according to the embodiments of the present disclosure can be applied to other controllers such as a remote-controlled car, a remote-controlled boat, a controller thereof, and the like, in addition to the aircraft and the controller corresponding to the aircraft.

It is to be understood that the above description is only illustrative of some embodiments of the disclosure and of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A method of controlling an aircraft, comprising;

receiving control information from a controller;

acquiring a control threshold; and

based on the control threshold and the control information, performing corresponding control on the aircraft,

wherein the control threshold is set based on initial voltage information received from the controller or adjusted based on reference power supply voltage information and previously received control information, and wherein the initial voltage information includes at least one of controller initial state voltage information and controller initial power supply voltage information.

2. The method of claim 1, wherein the control information includes controller present supply voltage information, and wherein controlling the aircraft accordingly based on the control threshold and the control information includes,

acquiring current reference power supply voltage information;

adjusting the obtained control threshold based on the current power supply voltage information of the controller and the current reference power supply voltage information; and

and correspondingly controlling the aircraft based on the adjusted control threshold and the control information.

3. The method of claim 2, wherein adjusting the obtained control threshold based on the controller current supply voltage information and the current reference supply voltage information comprises,

determining a difference between the controller current supply voltage information and the current reference supply voltage information;

in response to the difference being greater than an adjustment threshold, adjusting the obtained control threshold based on the controller current supply voltage information and the current reference supply voltage information.

4. The method of claim 1, wherein the control information comprises steering information, the control thresholds comprising a right turn threshold and a left turn threshold, and wherein the respective controlling of the aerial vehicle based on the control thresholds and the control information comprises:

comparing the steering information to at least one of the right turn threshold and the left turn threshold;

determining whether to generate a steering command based on the comparison result;

generating a right turn command or a left turn command based on the comparison result in response to determining to generate the steering command; and

controlling steering of the aircraft based on the right turn command or the left turn command.

5. The method of claim 4, wherein the control information further includes speed information, the control thresholds further include an acceleration threshold and a deceleration threshold, the method further comprising,

comparing the speed information to at least one of the acceleration threshold and the deceleration threshold;

determining whether to generate a speed command based on the comparison result;

generating an acceleration command or a deceleration command based on the comparison result in response to determining to generate the speed command; and

controlling a speed of the aircraft based on the acceleration command or the deceleration command.

6. The method of claim 1, wherein the control information comprises steering information, the control thresholds comprising a right turn threshold and a left turn threshold, and wherein the respective controlling of the aerial vehicle based on the control thresholds and the control information comprises:

determining a steering difference between the steering information and at least one of the right turn threshold and the left turn threshold;

determining whether to generate a steering command based on the steering differential;

in response to determining to generate a steering command, generating a right turn command or a left turn command based on the steering differential, the right turn command or the left turn command including a steering adjustment value generated based on the steering differential; and

controlling steering of the aircraft with the steering adjustment value based on the right turn command or the left turn command.

7. The method of claim 6, wherein the control information further includes speed information, the control thresholds further include an acceleration threshold and a deceleration threshold, the method further comprising,

determining a speed difference between the speed information and at least one of the acceleration threshold and the deceleration threshold;

determining whether to generate a speed command based on the speed difference;

in response to determining to generate a speed command, generating an acceleration command or a deceleration command based on the speed differential, the acceleration command or the deceleration command including a speed adjustment value generated based on the speed differential;

controlling the speed of the aircraft at the speed adjustment value based on the acceleration command or the deceleration command.

8. An aircraft comprising

A receiver receiving control information from a controller;

a processor for processing the received data, wherein the processor is used for processing the received data,

acquiring a control threshold; and

9. A method of controlling an aircraft, comprising,

receiving operation;

generating control information based on the received operation;

acquiring a control threshold;

determining whether to generate a control command based on the control threshold and the control information;

generating a control command based on the control threshold and the control information in response to determining to generate a control command; and

the control command is sent to the aircraft,

wherein the control threshold is set based on initial voltage information of the controller or adjusted based on reference power supply voltage information and previously generated control information, and wherein the initial voltage information includes at least one of controller initial state voltage information and controller initial power supply voltage information.

10. The method of claim 9, wherein the control information includes controller present supply voltage information, and wherein generating a control command based on the control threshold and the control information includes,

acquiring current reference power supply voltage information;

and generating a control command based on the adjusted control threshold and the control information.

11. The method of claim 10, wherein adjusting the obtained control threshold based on the controller current supply voltage information and the current reference supply voltage information comprises,

12. The method of claim 9, wherein the control information comprises steering information, the control threshold comprises a right turn threshold and a left turn threshold, and wherein generating a control command based on the control threshold and the control information comprises:

in response to determining to generate the steering command, a right turn command or a left turn command is generated based on the comparison.

13. The method of claim 12, wherein the control information further includes speed information, the control thresholds further include an acceleration threshold and a deceleration threshold, the method further comprising,

determining whether to generate a speed command based on the comparison result;

in response to determining to generate the speed command, an acceleration command or a deceleration command is generated based on the comparison.

14. The method of claim 9, wherein the control information comprises steering information, the control threshold comprises a right turn threshold and a left turn threshold, and wherein generating a control command based on the control threshold and the control information comprises:

in response to determining to generate a steering command, generate a right turn command or a left turn command based on the steering differential, the right turn command or the left turn command including a steering adjustment value generated based on the steering differential.

15. The method of claim 14, wherein the control information further includes speed information, the control thresholds further include an acceleration threshold and a deceleration threshold, the method further comprising,

determining whether to generate a speed command based on the speed difference;

in response to determining to generate a speed command, generating an acceleration command or a deceleration command based on the speed difference, the acceleration command or the deceleration command including a speed adjustment value generated based on the speed difference.

16. A controller for a vehicle, comprising,

a first control element that receives an operation;

based on the received operation, generating control information,

the control threshold value is obtained and used for controlling the operation of the motor,

determining whether to generate a control command based on the control threshold and the control information,

a transmitter that transmits the control command to a control object,

17. The controller of claim 16, wherein the controller is a controller corresponding to an aircraft and the control object is the aircraft.

18. The controller of claim 17, wherein the first control is a single rocker that can be pushed in four directions to control right turn, left turn, acceleration, and deceleration of the aircraft.

19. A controller as claimed in any one of claims 16 to 18, further comprising a second control for implementing a preset function.