CN121300088A - Flight strategy determination method and device for electric vertical take-off and landing aircraft - Google Patents
Flight strategy determination method and device for electric vertical take-off and landing aircraftInfo
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Abstract
本公开涉及飞行器技术领域，包括电动垂直起降飞行器的飞行策略确定方法及装置。通过获取飞行器每个飞行阶段的优化目标和约束条件以及符合约束条件的初始化的飞行参数；基于飞行参数和飞行动力模型确定理论试飞数据；若理论试飞数据不满足优化目标和/或约束条件，则迭代更新飞行参数直至达到迭代停止条件；获取符合更新后的飞行参数和理论试飞数据的飞行控制策略；按照飞行控制策略对飞行器进行飞行仿真；确定仿真飞行数据是否满足优化目标和约束条件；若不满足，则更新优化目标和/或约束条件后，重新获取飞行控制策略直至仿真飞行数据满足优化目标和约束条件，基于仿真飞行数据进行试飞，以制定飞行策略；可以保证飞行策略符合任务需求。
This disclosure relates to the field of aircraft technology, including a method and apparatus for determining the flight strategy of an electric vertical takeoff and landing (EVTOL) aircraft. The method involves: acquiring the optimization objectives and constraints for each flight phase of the aircraft, as well as initial flight parameters that meet the constraints; determining theoretical flight test data based on the flight parameters and a flight dynamics model; if the theoretical flight test data does not meet the optimization objectives and/or constraints, iteratively updating the flight parameters until an iteration stop condition is reached; acquiring a flight control strategy that meets the updated flight parameters and theoretical flight test data; performing flight simulation on the aircraft according to the flight control strategy; determining whether the simulated flight data meets the optimization objectives and constraints; if not, updating the optimization objectives and/or constraints, and then re-acquiring the flight control strategy until the simulated flight data meets the optimization objectives and constraints; and conducting flight tests based on the simulated flight data to formulate the flight strategy. This ensures that the flight strategy meets mission requirements.
Description
Technical Field
The disclosure relates to the technical field of aircrafts, in particular to a flight strategy determination method and device of an electric vertical take-off and landing aircraft.
Background
With the increasing pressure of ground traffic, urban air traffic (Urban Air Mobility, UAM) has received widespread attention as an emerging means of transportation. The electric vertical take-Off and landing (ELECTRIC VERTICAL TAKE-Off AND LANDING, eVTOL) aircraft has the advantages of vertical take-Off and landing capability, environmental protection, zero emission, relatively low noise and the like, and becomes a research applied to UAM.
In a conventional method for determining a flight strategy of an electric vertical takeoff and landing aircraft, fixed flight parameters are generally set for a plurality of flight phases of the electric vertical takeoff and landing aircraft, and a fixed flight strategy conforming to the flight parameters is generated so that the electric vertical takeoff and landing aircraft flies according to the flight strategy.
However, in different mission scenarios, the manner in which a user desires an electric vertical takeoff and landing aircraft to perform a mission may be different, and a fixed flight strategy may not be able to meet different mission requirements for multiple mission scenarios.
Disclosure of Invention
In view of this, the present disclosure provides a method and apparatus for determining a flight strategy of an electric vertical take-off and landing aircraft, which can avoid the problem that a fixed flight strategy cannot meet different mission requirements, resulting in low flexibility of the aircraft in executing flight missions.
According to an aspect of the present disclosure, there is provided a flight strategy determination method of an electric vertical takeoff and landing aircraft, the method comprising:
the method comprises the steps of obtaining an optimization target and constraint conditions of each of a plurality of flight phases of an electric vertical take-off and landing aircraft, wherein the optimization target and the constraint conditions are set based on task requirements of the electric vertical take-off and landing aircraft, and the constraint conditions comprise a starting condition and an ending condition of each flight phase;
For each flight phase, acquiring initialized flight parameters conforming to constraint conditions corresponding to the flight phase;
Determining theoretical test flight data based on the flight parameters and a pre-established flight power model;
Under the condition that the theoretical test flight data does not meet the optimization target and/or the constraint condition, updating flight parameters based on a preset parameter optimization algorithm, triggering and executing the steps of determining the theoretical test flight data based on the flight parameters and a pre-established flight power model and the following steps until the iterative stop condition is reached, and obtaining updated flight parameters and theoretical test flight data corresponding to the updated flight parameters;
acquiring a flight control strategy conforming to the updated flight parameters and the theoretical trial flight data;
Performing flight simulation on the electric vertical take-off and landing aircraft according to the flight control strategy based on a pre-established simulation model to obtain simulated flight data;
determining whether the simulated flight data meets the optimization objective and the constraint condition;
And under the condition that the simulation flight data does not meet the optimization target and/or the constraint condition, after updating the optimization target and/or the constraint condition, triggering and executing the step of acquiring the initialized flight parameters conforming to the constraint condition corresponding to the flight phase for each flight phase and the subsequent steps until the simulation flight data meets the optimization target and the constraint condition, and performing trial flight based on the simulation flight data to formulate a flight strategy.
In one possible implementation, the initialized flight parameters include a flight speed V, an aircraft angle of attackFlying height H and track angleAnd the engine thrust T, and, accordingly,
The determining theoretical test flight data based on the initialized flight parameters and a pre-established flight power model comprises the following steps:
;
;
;
Wherein, the The method comprises the steps of representing an engine installation angle of the electric vertical take-off and landing aircraft, wherein D represents resistance of the electric vertical take-off and landing aircraft, W represents gravity of the electric vertical take-off and landing aircraft, and g represents gravity acceleration; v T represents vacuum speed, S represents the reference wing area of the electric vertical take-off and landing aircraft; 、D、W、g、 V T and S are all fixed values, C L represents the lift coefficient of the electric vertical take-off and landing aircraft, C D represents the drag coefficient of the electric vertical take-off and landing aircraft, and the theoretical test flight data comprise the flight parameter, the lift coefficient and the drag coefficient.
In one possible implementation, the starting condition comprises a flight parameter at the initial moment of the flight phase, the ending condition comprises a flight parameter at the ending moment of the flight phase, and the constraint condition further comprises an allowable variation range of each flight parameter, a space constraint condition and an allowable variation range of theoretical trial flight data.
In one possible implementation, the optimization objective includes at least one of minimizing energy consumption and maximizing voyage.
In one possible implementation manner, the performing test flight based on the simulated flight data includes:
Acquiring test flight data of test flight based on the simulation flight data;
Determining the matching degree between the pilot flight data and the simulation flight data;
And under the condition that the matching degree is smaller than a preset threshold value, after updating the optimization target and/or the constraint condition, triggering and executing the steps of acquiring the initialized flight parameters conforming to the constraint condition corresponding to the flight phase for each flight phase until the matching degree is larger than or equal to the preset threshold value, wherein the test flight data with the matching degree larger than or equal to the preset threshold value are used for formulating the flight strategy.
In one possible implementation manner, the electric vertical take-off and landing aircraft is a composite wing layout electric vertical take-off and landing aircraft, the composite wing layout electric vertical take-off and landing aircraft comprising a rotor and a fixed wing, and the plurality of flight phases respectively comprise:
The vertical take-off stage is a process of vertically taking off by means of power provided by the rotor wing from the initial region indicated by the task demand to reach the height indicated by the end condition corresponding to the vertical take-off stage;
A configuration transition phase, which is a process of switching from a mode of providing power to the rotor wing to a mode of providing power to the fixed wing, wherein in the configuration transition phase, the power provided by the rotor wing is gradually reduced, and the lift provided by the fixed wing is gradually increased;
The climbing stage is a process of climbing to the height indicated by the corresponding ending condition of the climbing stage by means of the power provided by the fixed wing;
The cruising stage is a process of executing a cruising task by means of power provided by the fixed wing;
the horizontal acceleration and deceleration stage is a process of carrying out horizontal acceleration or deceleration according to the task requirements in the process of executing a cruising task;
the descending stage is a process of descending by means of the power provided by the fixed wing and approaching the destination area indicated by the task demand in the descending process;
A reverse transition phase, which is a process of switching from a mode of providing power to the fixed wing to a mode of providing power to the rotor, wherein in the reverse transition phase, the lift force provided by the fixed wing is gradually reduced, and the power provided by the rotor is gradually increased;
The vertical landing stage refers to the process of the aircraft vertically falling to the end point area by means of the power provided by the rotor wings.
In one possible implementation manner, before the acquiring the optimization target and the constraint condition of each of the plurality of flight phases of the electric vertical takeoff and landing aircraft, the method further includes:
The task requirements are obtained, wherein the task requirements comprise a task type of a flight task, a starting area of the flight task, an end area of the flight task, a flight height range of the flight task, a cruising speed for executing a cruising task in a flight process, a load of the flight task and environmental information in the flight process;
Constraints, initialized flight parameters, and optimization objectives for each flight phase are determined based on the mission requirements.
According to another aspect of the present disclosure, there is provided a flight strategy determination device for an electric vertical takeoff and landing aircraft, comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to carry out the steps of the above method.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above method.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, or a non-transitory computer readable storage medium carrying a computer program, which when executed by a processor, implements the steps of the above method.
Obtaining an optimization target and constraint conditions of each of a plurality of flight phases of the electric vertical takeoff and landing aircraft; for each flight phase, acquiring initialized flight parameters conforming to constraint conditions corresponding to the flight phase; determining theoretical test flight data based on flight parameters and a pre-established flight power model, updating the flight parameters based on a preset parameter optimization algorithm under the condition that the theoretical test flight data does not meet an optimization target and/or constraint conditions, triggering and executing the steps based on the flight parameters and the pre-established flight power model, determining the theoretical test flight data and the subsequent steps until the iterative stop conditions are reached, stopping to obtain theoretical test flight data corresponding to the updated flight parameters and the updated flight parameters, acquiring a flight control strategy conforming to the updated flight parameters and the theoretical test flight data, performing flight simulation on the electric vertical take-off and landing aircraft according to a flight control strategy based on the pre-established simulation model to obtain simulation flight data, determining whether the simulation flight data meets the optimization target and the constraint conditions, triggering and executing the steps based on the initialization flight parameters and the subsequent steps conforming to the constraint conditions of the flight phases for each flight phase after the update optimization target and/or the constraint conditions until the simulation flight data meets the optimization target and the constraint conditions, performing the simulation flight data based on the simulation flight data when the simulation flight data meets the optimization target and the constraint conditions, and the simulation flight data can not meet the simulation flight strategy due to the high-flexibility requirements, and can not be executed under the condition, and the condition that the simulation flight strategy can not be met due to the high-flexibility is not be executed due to the different tasks, and updating the flight parameters based on the optimization target and the constraint condition determined by the task requirements in the test flight stage, so that the flight strategy determined based on the finally obtained flight parameters can be ensured to meet the task requirements.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a flow chart of a method of determining a flight strategy for an electric vertical takeoff and landing aircraft according to an embodiment of the present disclosure;
FIG. 2 illustrates a flow chart of a method of determining a flight strategy of an electric vertical takeoff and landing aircraft according to another embodiment of the present disclosure;
FIG. 3 illustrates a block diagram of a flight strategy determination device of an electric vertical takeoff and landing aircraft according to an embodiment of the present disclosure;
fig. 4 illustrates a block diagram of a flight strategy determination device of an electric vertical takeoff and landing aircraft according to another embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
As used herein, the terms "comprises," "comprising," "includes," "including," "having," or variations thereof, are open-ended, and include one or more stated features, integers, elements, steps, components, or functions, but do not preclude the presence or addition of one or more other features, integers, elements, steps, components, functions, or groups thereof.
When an element is referred to as being "connected," "coupled," "responsive" or variations thereof with respect to another element, it can be directly connected, coupled or responsive to the other element or intervening elements may be present.
Although the terms first, second, third, etc. may be used herein to describe various elements/operations, these elements/operations should not be limited by these terms. These terms are only used to distinguish one element/operation from another element/operation. Thus, a first element/operation in some embodiments could be termed a second element/operation in other embodiments without departing from the teachings of the present inventive concept.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
Fig. 1 illustrates a flow chart of a flight strategy determination method of an electric vertical takeoff and landing aircraft according to an embodiment of the present disclosure. The method is used in the electronic device for illustration, the electronic device may be an electronic device with processing capability such as a user terminal or a server, and the user terminal includes, but is not limited to, a computer, a tablet computer, a mobile phone, etc., and the embodiment does not limit the device type of the electronic device. As shown in fig. 1, the method includes:
And step 101, obtaining an optimization target and a constraint condition of each of a plurality of flight phases of the electric vertical take-off and landing aircraft, wherein the optimization target and the constraint condition are set based on task requirements of the electric vertical take-off and landing aircraft, and the constraint condition comprises a starting condition and an ending condition of each flight phase.
Alternatively, the optimization targets and the constraint conditions may be manually defined and input into the electronic device based on the task requirements, or may be automatically determined by the electronic device based on the task requirements, and the method for acquiring the optimization targets and the constraint conditions in each flight phase is not limited in this embodiment.
Taking an example that the electronic device automatically determines the optimization target and the constraint condition based on the task requirement, before acquiring the optimization target and the constraint condition of each of a plurality of flight phases of an electric vertical takeoff and landing aircraft (hereinafter referred to as aircraft), the method further comprises:
And determining constraint conditions, initialized flight parameters and optimization targets of each flight stage based on the task requirements.
Optionally, the mission requirements include a mission type of the mission, a start region of the mission, an end region of the mission, a range of altitudes of the mission, a cruising speed at which the cruising mission is performed during flight, a load of the mission, and environmental information during flight.
The task types are obtained by classifying the flight tasks, and the classification modes include, but are not limited to, classification according to application scenes, classification according to functions, and the like, and the embodiment does not limit the classification modes of the flight tasks and implementation modes of the task types obtained after classification. For example, the task types are classified into a city commute type, a logistics transportation type and an emergency rescue type according to functions.
The starting area of the flight mission is used for indicating the starting point coordinates of the electric vertical take-off and landing aircraft, and the end point area is used for indicating the end point coordinates of the electric vertical take-off and landing aircraft.
The load of a flight mission refers to the weight that an aircraft can carry when performing the flight mission, in addition to the weight of the aircraft and the weight of the power source necessary to maintain its own flight.
Cruising refers to the stage of an aircraft entering a predetermined route to fly long distances at a relatively stable speed and altitude after completing take-off and climb. Accordingly, cruise speed refers to the flight speed during cruising.
The environment information is used to specify the environment in which the aircraft is located during the flight. Illustratively, the environmental information includes, but is not limited to, weather information, airspace restriction information, noise requirement information, and the like, and the present embodiment does not limit the information content included in the environmental information.
Optionally, the different types of electric vertical takeoff and landing aircraft are divided into a plurality of flight phases in different manners. Taking an electric vertical take-off and landing aircraft as an example, the electric vertical take-off and landing aircraft with the composite wing layout comprises a rotor wing and a fixed wing, and correspondingly, according to the time sequence from flying to landing, the plurality of flight phases comprise the following 8 phases:
1. the vertical take-off stage is a process of taking off vertically by means of power provided by the rotor wing from a starting region indicated by task demands to reach a height indicated by an ending condition corresponding to the vertical take-off stage;
2. the configuration conversion stage is a process of converting a mode of supplying power to the rotor wing into a mode of supplying power to the fixed wing, wherein in the configuration conversion stage, the power supplied by the rotor wing is gradually reduced, and the lifting force supplied by the fixed wing is gradually increased;
3. The climbing stage is a process of climbing to the height indicated by the corresponding ending condition of the climbing stage by means of the power provided by the fixed wing;
4. The cruising stage refers to a process of executing a cruising task by means of power provided by the fixed wing;
5. The horizontal acceleration and deceleration stage refers to a process of carrying out horizontal acceleration or deceleration according to task requirements in the process of executing a cruising task;
6. the descending stage is a process of descending by means of power provided by the fixed wing and approaching an end point area indicated by task demands in the descending process;
7. the reverse conversion stage is a process of converting a mode of supplying power to the rotor wing from a mode of supplying power to the fixed wing, wherein in the reverse conversion stage, the lifting force supplied by the fixed wing is gradually reduced, and the power supplied by the rotor wing is gradually increased;
8. the vertical landing stage refers to the process of the aircraft falling vertically to the terminal area by means of the power provided by the rotor.
The composite wing layout electric vertical take-off and landing aircraft is also called as a composite wing electric vertical take-off and landing aircraft, and is a composite configuration aircraft combining the vertical take-off and landing capability of a rotor wing and the cruising efficiency of a fixed wing.
Rotors refer to devices that generate lift or thrust by high-speed rotation, and are typically composed of blades, hubs, and a drive system. The rotor is mainly applied to the vertical take-off and landing stage (namely the vertical take-off stage and the vertical landing stage) of the electric vertical take-off and landing aircraft, and provides main lifting force for the vertical take-off and landing stage. Alternatively, rotor operation may also maintain attitude of the aircraft while hovering, or provide forward thrust.
The fixed wing is a wing fixedly connected with the fuselage, generates aerodynamic lift by virtue of forward movement, is mainly applied to executing cruising tasks, and cannot realize vertical lifting.
Constraints are constraints that must be met by the aircraft during flight, including the start and end conditions of each flight phase. The start condition includes a flight parameter at an initial time of the flight phase and the end condition includes a flight parameter at an end time of the flight phase. The flight parameters refer to design criteria of the aircraft while in flight. Exemplary flight parameters include, but are not limited to, flight speed V, aircraft angle of attackFlying height H and track angleEngine thrust T. The angle of attack refers to the angle between the direction of the relative airflow (i.e., the direction of the "windward" perceived by the aircraft, or the opposite direction of the flight velocity vector) and the chord line of the wing (i.e., the line connecting the leading edge to the trailing edge of the wing). Track angle refers to the angle between the line velocity vector (i.e., track) and the horizontal plane. The constraints also include allowable ranges of variation for each flight parameter, spatial constraints, and allowable ranges of variation for theoretical pilot flight data.
The method for determining the constraint conditions of each flight stage based on the task requirements comprises the steps of inputting load and environment information indicated in the task requirements into a preset structure simulation model to obtain an allowable variation range of flight parameters of each flight stage and an allowable variation range of theoretical test flight data, and inputting a starting point region, an end point region and a flight height range indicated in the task requirements into a preset space boundary prediction model to obtain the space constraint conditions of each flight stage.
The structural simulation model is a mathematical model for simulating the aerodynamic process and the propulsion process of the aircraft. For example, the upper limit of the flying speed variation range and the upper limit of the attack angle of each flying stage are determined according to the load and the meteorological information, and the upper limit of the thrust is determined according to the battery electric quantity and the motor temperature of the aircraft. The spatial boundary prediction model is a mathematical model for determining a geographic boundary in a spatial constraint condition according to a starting point region and an ending point region and determining the altitude constraint according to the altitude range and combining the route and the flight rule of the aircraft.
Alternatively, the constraint may be based on other content, such as noise upper limit, wind direction constraint, safety margin, etc., and the present embodiment does not limit the type of constraint.
The method comprises the steps of determining flight parameters of the end conditions of the 1 st flight phase based on task requirements, determining the flight parameters of the end conditions of the 1 st flight phase to be preset values, such as 0 in flight altitude, 90 degrees in track angle, determining the flight parameters of the end conditions of the i th flight phase to be the flight parameters of the start conditions of the i+1 th flight phase, determining the flight parameters of the end conditions of the i+1 th flight phase based on task requirements, enabling i=i+1 to trigger the steps of executing the steps of determining the flight parameters of the end conditions of the i th flight phase to be the flight parameters of the start conditions of the i+1 th flight phase and the steps after the i+1 th flight phase until the value of the i+1 is the maximum value of the number of flight phases. Where i is a positive integer which starts from 1.
Optionally, determining the flight parameters of each flight phase ending condition based on the task demand includes obtaining a correspondence between different task types and each flight phase ending condition, and determining the ending condition of each flight phase corresponding to the task type indicated by the task demand based on the correspondence.
The method for determining the initialized flight parameters of each flight stage based on the task requirements comprises the steps that after the electronic device determines the allowable variation range of the flight parameters of each flight stage based on the task requirements through a structural simulation model, the electronic device randomly selects the initialized flight parameters of each flight stage from the allowable variation range.
The method for determining the optimization targets of each flight phase based on the task demands comprises the steps of obtaining corresponding relations between different task types and the optimization targets of each flight phase, and determining the optimization targets of each flight phase corresponding to the task types indicated by the task demands based on the corresponding relations.
Optionally, the optimization objective includes at least one of minimizing energy consumption and maximizing voyage.
Step 102, for each flight phase, obtaining initialized flight parameters conforming to the constraint conditions corresponding to the flight phase.
From the above, since the initialized flight parameters can be selected from the allowable variation ranges of the flight parameters of the constraint conditions corresponding to each flight phase, the initialized flight parameters conform to the constraint conditions corresponding to the flight phases.
And step 103, determining theoretical test flight data based on the flight parameters and a pre-established flight power model.
Exemplary flight parameters to initialize include flight speed V, aircraft angle of attackFlying height H and track angleAnd engine thrust T, for example, if the aircraft is at track angleIn flight, then, the force equation for an aircraft can be expressed as:
;
Wherein, the The method comprises the steps of representing the engine installation angle of the electric vertical take-off and landing aircraft, representing the resistance of the electric vertical take-off and landing aircraft, representing the gravity of the electric vertical take-off and landing aircraft, and representing the gravity acceleration.
The above formula can be converted into the following formula:
;
Wherein, the ;
Accordingly, determining theoretical test flight data based on the initialized flight parameters and a pre-established flight dynamics model, comprising:
;
;
;
Wherein, the The method comprises the following steps of (1) representing the engine installation angle of an electric vertical take-off and landing aircraft, wherein D represents the resistance of the electric vertical take-off and landing aircraft, W represents the gravity of the electric vertical take-off and landing aircraft, and g represents the gravity acceleration; V T represents vacuum speed, S represents the reference wing area of the electric vertical take-off and landing aircraft; 、D、W、g、 V T and S are fixed values, C L represents the lift coefficient of the electric vertical take-off and landing aircraft, C D represents the drag coefficient of the electric vertical take-off and landing aircraft, and theoretical test flight data comprise flight parameters, lift coefficients and drag coefficients. The reference wing area is a standardized reference area which is defined by one person in the aircraft design and is used for calculation of aerodynamic characteristics and comparison among different models.
Alternatively, when the aircraft is flying smoothly at equal altitude and constant speed,,The drag coefficient C D can also be expressed as:。
and 104, under the condition that the theoretical test flight data does not meet the optimization target and/or constraint conditions, updating the flight parameters based on a preset parameter optimization algorithm, triggering and executing the steps of determining the theoretical test flight data based on the flight parameters and a pre-established flight power model, and stopping until the iterative stop condition is reached, so as to obtain the updated flight parameters and the theoretical test flight data corresponding to the updated flight parameters.
The method comprises the steps of inputting initialized flight parameters into the flight power model to obtain lift coefficients and drag coefficients corresponding to the initialized flight parameters, updating the flight parameters by using a parameter optimization algorithm if the theoretical test flight data does not meet optimization targets and/or constraint conditions, inputting the updated flight parameters into the flight power model again to obtain the lift coefficients and the drag coefficients corresponding to the updated flight parameters, and updating the flight parameters again by using a parameter optimization algorithm if the theoretical test flight data does not meet optimization targets and/or constraint conditions, and stopping until the theoretical test flight data corresponding to the updated flight parameters and the updated flight parameters are reached.
And determining that the theoretical test flight data does not meet the constraint condition under the condition that the theoretical test flight data exceeds the allowable variation range of the theoretical test flight data indicated by the constraint condition.
And calculating target parameters indicated by the optimization target according to the theoretical test flight data, such as energy consumption parameters, voyage parameters and the like, determining that the theoretical test flight data meets the optimization target when the target parameters reach a target range (such as the target parameters are larger than a preset threshold value or smaller than a preset threshold value), and determining that the theoretical test flight data does not meet the optimization target when the target parameters do not reach the target range.
In one example, calculating the target parameters of the optimization target indication based on the theoretical fly-over data includes inputting the theoretical fly-over data and the task requirements into a pre-established parameter prediction model to obtain target parameters for performing the fly-over task.
The parameter prediction model can be built based on a machine learning model, and different types of target parameters can correspond to different parameter prediction models, such as an energy consumption parameter corresponding power consumption prediction model, a range parameter corresponding range prediction model, wherein the power prediction model is obtained by training a neural network model based on a test flight data sample, an environment information sample corresponding to the test flight data sample and a power consumption label, and the range prediction model is obtained by training the neural network model based on the test flight data sample, the environment information sample corresponding to the test flight data sample and the range label.
Alternatively, the parameter optimization algorithm includes, but is not limited to, a gradient descent method, a genetic algorithm, or the like, and the embodiment does not limit the implementation manner of the parameter optimization algorithm.
The iteration stop condition includes, but is not limited to, the theoretical pilot run data meeting the optimization objective and constraint condition, and/or the number of iterations reaching a preset number.
And 105, acquiring a flight control strategy conforming to the updated flight parameters and the theoretical trial flight data.
Optionally, the flight control strategy refers to a control scheme that enables the aircraft to reach updated flight parameters and theoretical pilot data. Such as controlling the manner in which the aircraft is flown at the updated flight speed.
The method for acquiring the flight control strategy comprises the steps of using a pre-established flight dynamics model to convert updated flight parameters and theoretical test flight data into control parameters of the aircraft, and obtaining the control strategy. The flight dynamics model can be obtained through machine learning based on a flight parameter sample, a test flight data sample and a corresponding control parameter label. In other embodiments, the flight control policy may be set manually, and the embodiment does not limit the manner of obtaining the control policy.
Optionally, the control strategy further comprises a transition logic and a switching condition between the adjacent two flight phases, the transition logic and the switching condition being artificially provided in the electronic device. The transition logic is used for seamlessly connecting control parameters of two adjacent flight phases so as to better simulate the real flight process. The switching condition is used for indicating control parameters during switching between two adjacent flight phases, for example, when switching from a configuration conversion phase to a climbing phase, reasonable control parameters can be set according to flight parameters such as the rotating speed of the lift propeller, the vacuum speed of the airplane, the attack angle of the airplane and the like.
And 106, carrying out flight simulation on the electric vertical take-off and landing aircraft according to a flight control strategy based on a pre-established simulation model to obtain simulated flight data.
The simulation model is a mathematical model established based on a dynamics model, a pneumatic model, a propulsion system model and the like of the aircraft and is used for simulating the real flight process of the aircraft. And inputting control parameters in the flight control strategy into the simulation model to obtain simulation flight data output by the simulation model.
Step 107, determining whether the simulated flight data meets the optimization objective and the constraint condition.
The simulation flight data comprise flight parameters in the simulation process, and corresponding target parameters can be determined according to the flight parameters, so that whether the optimization target is met or not is determined. Meanwhile, parameters of each type in the simulated flight data are compared with the allowable variation range corresponding to the parameters of each type in the constraint conditions, so that whether the simulated flight data meet the constraint conditions can be determined.
And step 108, when the simulated flight data does not meet the optimization target and/or the constraint condition, triggering and executing the steps of acquiring the initialized flight parameters conforming to the constraint condition corresponding to the flight phase for each flight phase after updating the optimization target and/or the constraint condition until the simulated flight data meets the optimization target and the constraint condition, and performing trial flight based on the simulated flight data to formulate a flight strategy.
Because the simulated flight data and the theoretical flight data have certain difference, the embodiment updates the optimization target and/or the constraint condition under the condition that the simulated flight data does not meet the optimization target and/or the constraint condition, so that the simulated flight data is regenerated until the optimization target and the constraint condition are met, the simulated flight data can be ensured to meet the task requirement, and compared with the theoretical test flight data, the simulated flight data is more similar to the real flight data, so that the real flight data can be ensured to meet the task requirement as much as possible
The method for updating the optimization targets and the constraint conditions can manually adjust the optimization targets and the constraint conditions, wherein the optimization targets and the constraint conditions do not exceed the structural limit of the aircraft.
Illustratively, the pilot flight based on the simulated flight data comprises:
The method comprises the steps of obtaining flight test data of a test flight based on simulation flight data, determining the matching degree between the flight test data and the simulation flight data, updating an optimization target and/or constraint conditions under the condition that the matching degree is smaller than a preset threshold value, triggering and executing the steps of obtaining initialized flight parameters conforming to the constraint conditions corresponding to the flight phases for each flight phase until the matching degree is larger than or equal to the preset threshold value, and using the flight test data with the matching degree larger than or equal to the preset threshold value for formulating a flight strategy.
After the simulated flight data are obtained, a user formulates a flight test scheme according to the simulated flight data, wherein the flight test scheme comprises a flight test subject, a flight test airspace, flight test personnel and the like, a risk assessment scheme and a safety plan are formulated according to updated optimization targets and constraint conditions, then the user checks and maintains the aircraft needing to be subjected to flight test to ensure that the aircraft is in a navigable state, a flight test data recording device is installed for training and practicing the flight test personnel so as to enable the flight test personnel to carry out flight test according to the flight test scheme, and at the moment, the flight test data recording device records the flight test data to obtain the flight test data. In the process of the test flight of the aircraft, the flight state can be monitored in real time so as to ensure the safety of the test flight.
Optionally, determining the matching degree between the pilot flight data and the simulation flight data includes determining difference data between each type of parameter in the pilot flight data and a corresponding type of parameter in the simulation flight data, determining a weighted average value between the difference data corresponding to each type of parameter to obtain the matching degree, or determining an average value between the difference data corresponding to each type of parameter to obtain the matching degree, or determining a weighted sum value between the difference data corresponding to each type of parameter to obtain the matching degree, where the determining manner of the matching degree is not limited.
Wherein the difference data between each type of parameter in the pilot flight data and the corresponding type of parameter in the simulated flight data may be absolute values of differences of the same type of parameter in the pilot flight data and the simulated flight data.
The higher the matching degree is, the more similar the simulated flight data and the pilot flight data are. Therefore, when the matching degree is smaller than the preset threshold value, the difference between the simulation flight data and the pilot flight data is larger, and the optimization target and the constraint condition need to be updated to acquire the pilot flight data again.
The method for updating the optimization targets and the constraint conditions can manually adjust the optimization targets and the constraint conditions, wherein the optimization targets and the constraint conditions do not exceed the structural limit of the aircraft.
And under the condition that the matching degree is greater than or equal to a preset threshold value, the user writes a flight manual based on the pilot flight data, wherein the flight manual comprises a flight profile, a flight operation program, an emergency treatment program and the like, and reviews and updates the flight manual. Then, the pilot is trained in flight profile and flight operation procedure, simulator training and actual flight training are performed, the designed flight profile is applied to actual flight tasks, and the flight data is continuously monitored to perform necessary optimization and adjustment.
In summary, the flight strategy determination method of the electric vertical take-off and landing aircraft provided by the embodiment includes the steps of obtaining an optimized target and constraint conditions of each flight stage in a plurality of flight stages of the electric vertical take-off and landing aircraft, obtaining initialized flight parameters conforming to the constraint conditions corresponding to the flight stages for each flight stage, determining theoretical test flight data based on the flight parameters and a pre-established flight power model, updating the flight parameters based on a pre-established parameter optimization algorithm when the theoretical test flight data does not meet the optimized target and/or the constraint conditions, triggering and executing the flight parameters based on the flight parameters and the pre-established flight power model, determining the theoretical test flight data and the following steps until the iterative stop conditions are reached, obtaining flight control strategies conforming to the updated flight parameters and the theoretical test flight data, carrying out flight simulation on the electric vertical take-off and landing aircraft based on the pre-established simulation models according to the flight control strategies, determining whether the simulated flight data meets the optimized flight targets and the constraint conditions, triggering and executing the flight parameters based on the pre-established parameter optimization algorithm when the simulated flight parameters do not meet the optimized targets and/or the constraint conditions, and the flight control strategies can not meet the requirements when the optimized flight parameters and the flight control strategies corresponding to the optimized flight parameters or the flight strategies are met for each flight stage, the flight parameters can be updated based on the optimization targets and the constraint conditions determined by the task demands in the simulation flight and trial flight stages respectively, so that the flight strategy determined based on the finally obtained flight parameters can be ensured to meet the task demands.
In order to more clearly understand the flight strategy determination method of the electric vertical takeoff and landing aircraft provided by the present application, the method is exemplified below, and referring to fig. 2, the method includes the following steps:
Step 21, acquiring task requirements of the aircraft;
step 22, determining optimization targets and constraints for each of a plurality of flight phases of the aircraft based on the mission requirements;
Step 23, acquiring initialized flight parameters based on constraint conditions;
step 24, determining theoretical test flight data based on flight parameters and a pre-established flight power model, and determining whether the theoretical flight data meets constraint conditions and optimization targets, if so, executing step 26, and if not, namely, the theoretical flight data does not meet at least one of the constraint conditions and the optimization targets, executing step 25;
Step 25, updating flight parameters based on a preset parameter optimization algorithm, and executing step 24;
step 26, acquiring a flight control strategy conforming to the updated flight parameters and theoretical test flight data;
Step 27, carrying out flight simulation on the electric vertical take-off and landing aircraft according to a flight control strategy based on a pre-established simulation model to obtain a simulated flight number;
step 28, determining whether the simulated flight data meets the optimization target and the constraint condition, if so, executing step 29, and if not, i.e. the simulated flight data does not meet at least one of the constraint condition and the optimization target, updating the constraint condition and/or the optimization target, executing step 23;
29, acquiring test flight data of test flight based on the simulation flight data;
step 291, determining whether the matching degree between the pilot flight data and the simulation flight data is smaller than a preset threshold value, if so, updating constraint conditions and/or optimization targets, executing step 23, and if not, namely, the matching degree is larger than or equal to the preset threshold value, making a flight strategy based on the pilot flight data.
Through the iterative optimization process, the flight parameters and the control strategy are continuously adjusted, the flight strategy meeting the task requirements can be obtained, and detailed document recording and review can be performed in each step so as to ensure the traceability and reliability of the design process.
Fig. 3 illustrates a block diagram of a flight strategy determination device of an electric vertical takeoff and landing aircraft according to an embodiment of the present disclosure. The device comprises a condition acquisition module 310, a parameter acquisition module 320, a data acquisition module 330, a strategy acquisition module 340, a data detection module 350 and a test flight module 360.
A condition acquisition module 310, configured to acquire an optimization target and a constraint condition of each of a plurality of flight phases of an electric vertical takeoff and landing aircraft, where the optimization target and the constraint condition are set based on a mission requirement of the electric vertical takeoff and landing aircraft, and the constraint condition includes a start condition and an end condition of each flight phase;
A parameter obtaining module 320, configured to obtain, for each flight phase, initialized flight parameters that conform to constraint conditions corresponding to the flight phase;
A data acquisition module 330, configured to determine theoretical test flight data based on the flight parameters and a pre-established flight power model;
The data obtaining module 330 is further configured to update a flight parameter based on a preset parameter optimization algorithm if the theoretical test flight data does not meet the optimization target and/or the constraint condition, trigger the execution of the step of determining theoretical test flight data based on the flight parameter and a pre-established flight power model, and stop the step until reaching an iteration stop condition, and obtain updated flight parameters and theoretical test flight data corresponding to the updated flight parameters;
a policy obtaining module 340, configured to obtain a flight control policy that conforms to the updated flight parameter and the theoretical test flight data;
The data obtaining module 330 is further configured to perform flight simulation on the electric vertical takeoff and landing aircraft according to the flight control policy based on a pre-established simulation model, so as to obtain simulated flight data;
a data detection module 350 for determining whether the simulated flight data meets the optimization objective and the constraint condition;
and the flight test module 360 is configured to trigger the step of executing the initialized flight parameters conforming to the constraint conditions corresponding to the flight phases and the subsequent step for each flight phase after updating the optimization target and/or the constraint conditions if the simulated flight data do not satisfy the optimization target and/or the constraint conditions, until the simulated flight data satisfy the optimization target and the constraint conditions, and perform a flight test based on the simulated flight data to formulate a flight strategy.
In one possible implementation, the initialized flight parameters include a flight speed V, an aircraft angle of attackFlying height H and track angleAnd the engine thrust T, and, accordingly,
The data acquisition module 330 is configured to:
;
;
;
Wherein, the The method comprises the steps of representing an engine installation angle of the electric vertical take-off and landing aircraft, wherein D represents resistance of the electric vertical take-off and landing aircraft, W represents gravity of the electric vertical take-off and landing aircraft, and g represents gravity acceleration; v T represents vacuum speed, S represents the reference wing area of the electric vertical take-off and landing aircraft; 、D、W、g、 V T and S are all fixed values, C L represents the lift coefficient of the electric vertical take-off and landing aircraft, C D represents the drag coefficient of the electric vertical take-off and landing aircraft, and the theoretical test flight data comprise the flight parameter, the lift coefficient and the drag coefficient.
In one possible implementation, the starting condition comprises a flight parameter at the initial moment of the flight phase, the ending condition comprises a flight parameter at the ending moment of the flight phase, and the constraint condition further comprises an allowable variation range of each flight parameter, a space constraint condition and an allowable variation range of theoretical trial flight data.
In one possible implementation, the optimization objective includes at least one of minimizing energy consumption and maximizing voyage.
In one possible implementation, the test flight module 360 is configured to:
Acquiring test flight data of test flight based on the simulation flight data;
Determining the matching degree between the pilot flight data and the simulation flight data;
And under the condition that the matching degree is smaller than a preset threshold value, after updating the optimization target and/or the constraint condition, triggering and executing the steps of acquiring the initialized flight parameters conforming to the constraint condition corresponding to the flight phase for each flight phase until the matching degree is larger than or equal to the preset threshold value, wherein the test flight data with the matching degree larger than or equal to the preset threshold value are used for formulating the flight strategy.
In one possible implementation manner, the electric vertical take-off and landing aircraft is a composite wing layout electric vertical take-off and landing aircraft, the composite wing layout electric vertical take-off and landing aircraft comprising a rotor and a fixed wing, and the plurality of flight phases respectively comprise:
The vertical take-off stage is a process of vertically taking off by means of power provided by the rotor wing from the initial region indicated by the task demand to reach the height indicated by the end condition corresponding to the vertical take-off stage;
A configuration transition phase, which is a process of switching from a mode of providing power to the rotor wing to a mode of providing power to the fixed wing, wherein in the configuration transition phase, the power provided by the rotor wing is gradually reduced, and the lift provided by the fixed wing is gradually increased;
The climbing stage is a process of climbing to the height indicated by the corresponding ending condition of the climbing stage by means of the power provided by the fixed wing;
The cruising stage is a process of executing a cruising task by means of power provided by the fixed wing;
the horizontal acceleration and deceleration stage is a process of carrying out horizontal acceleration or deceleration according to the task requirements in the process of executing a cruising task;
the descending stage is a process of descending by means of the power provided by the fixed wing and approaching the destination area indicated by the task demand in the descending process;
A reverse transition phase, which is a process of switching from a mode of providing power to the fixed wing to a mode of providing power to the rotor, wherein in the reverse transition phase, the lift force provided by the fixed wing is gradually reduced, and the power provided by the rotor is gradually increased;
The vertical landing stage refers to the process of the aircraft vertically falling to the end point area by means of the power provided by the rotor wings.
In one possible implementation manner, the device further comprises a requirement acquisition module and a condition determination module;
The task requirement comprises a task type of a flight task, a starting area of the flight task, an ending area of the flight task, a flight altitude range of the flight task, a cruising speed for executing a cruising task in the flight process, a load of the flight task and environmental information in the flight process;
And the condition determining module is used for determining constraint conditions, initialized flight parameters and optimization targets of each flight stage based on the task requirements.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The embodiment of the disclosure also provides a flight strategy determining device of the electric vertical take-off and landing aircraft, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the method.
The disclosed embodiments also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described method.
The disclosed embodiments also provide a computer program product comprising a computer program, or a non-transitory computer readable storage medium carrying a computer program, which when executed by a processor, implements the steps of the above method.
Fig. 4 is a block diagram illustrating a flight strategy determination device 1900 of an electric vertical takeoff and landing aircraft according to an exemplary embodiment. For example, the apparatus 1900 may be provided as a server or terminal device. Referring to fig. 4, the apparatus 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that are executable by the processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.
The apparatus 1900 may further comprise a power component 1926 configured to perform power management of the apparatus 1900, a wired or wireless network interface 1950 configured to connect the apparatus 1900 to a network, and an input/output interface 1958 (I/O interface). The device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server TM,Mac OS XTM,UnixTM, LinuxTM,FreeBSDTM or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of apparatus 1900 to perform the above-described methods.
The computer readable storage medium may be a tangible device that can hold and store a program/instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, punch cards or intra-groove protrusion structures such as those having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer program (or computer readable program instructions) described herein may be downloaded from a computer readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
The computer program (or computer program instructions) for performing the operations of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
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