Multi-modal control of the UAV flight control system , which must be effectively managed to fully play its role, in order to improve its flight quality, mission reliability and safety. The management of multi-modal control mainly works in the following aspects.
Management of modal entry or disconnection conditions For a drone, a certain control modal must meet certain conditions before entering or exiting. As for the conditions, the condition should be determined according to the influence of the modal function on its motion. It is also important to choose reasonable conditions at the same time. For example, if the drone is to enter the dive mode at low altitude, the engine should first enter the slow state, and then the sliding mode can be entered. Otherwise, the drone should be taken out of the sliding mode. When the state enters the climbing mode, the engine should be put into the rated or maximum state before entering the climbing mode to prevent the aircraft from being unstable when the mode is changed; if the drone is to enter the given height, the large motoring mode It is necessary to limit the side slip angle and the engine throttle (increase the throttle) to prevent side slip and fall when entering the large motorized spiral mode.
Modal logic management Because each sub-system is interconnected and has a certain logical relationship with each other, it is correct to manage other stolen work states in the system during modal conversion and convert as required. The working status of other associated devices. If the drone is switched from the leveling mode to the climbing mode, the engine throttle system is required to be converted to the rated or maximum power state as needed.
Modular entry mode design and management The multi-modal control of the UAV flight control system can be automatically entered under certain conditions, or can be accessed by remote control commands. For example, when the drone takes off, it automatically enters the autopilot when it is positioned on-board. Navigation modal flight, remote command can be switched to manually guided flight mode. The design of this access mode is also a problem that needs to be solved in the design of modal control. The control management of the entry mode is a key function in multi-modal logic.
In the design of the specific UAV flight control system, in order to realize multi-modal control management, the following conditions should be met; the selected mode should be reliably implemented; unintentional connection of possible non-modality should be prevented; When the priority mode is reached, the current incompatible mode should be cut off; the relevant standby mode should be provided to be on standby when certain modes are connected; the contradictory relationship should not be implied in the logical relationship involved. At the same time, in addition to the modal control board, the cloud control system should be set up in the flight control computer to realize unified computing management.
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