61results about How to "Achieve attitude control" patented technology

The invention provides a quadrotor aircraft and a control method thereof. The quadrotor aircraft includes a body and an aircraft control module, and a navigation and inertial measurement module, a power module, a communication module and a motor drive module separately connected with the aircraft control module. The main controller module performs synthesis calculation of real-time flight attitude information and control information of the communication module fed back by the navigation and inertia measurement module to output motor control signals to control the motor drive module. The quadrotor aircraft of the invention can automatically adapt to changes of the external environment to modulate flight parameters to reach a predetermined control effect. In the control method, the flight controller module adopts a nerve-based fuzzy self-tuning PID control scheme to calculate a practical output variable to improve robustness of flight of the aircraft.

A finite time fault-tolerant control method for approaching and tracking a space non-cooperative target belongs to the field of orbit control and attitude control, and aims to solve the problem of low tracking supervision precision caused by big tracking control error of an existing tracking spacecraft which performs line-of-sight tracking for a non-cooperative target. The finite time fault-tolerant control method is characterized in that dynamical and kinematical equations are established under a line-of-sight coordinate system, the situations such as nondeterminacy of a system, partially unknown motion parameters of the non-cooperative target, control input saturation and dead zone are taken into consideration, self-adaptive estimation and compensation can be performed through adoption of an RBF neural network, and a back-stepping thought is adopted to design a controller so that the tracking spacecraft can converge to an expected attitude and orbit within finite time and can keep the attitude and the orbit. The finite time fault-tolerant control method of the present invention has the advantages of quick control convergence, good robustness and high tracking control precision.

The invention discloses a four-rotor aircraft attitude control method, which comprises the steps of: firstly, acquiring current attitude angle information of a four-rotor aircraft, wherein attitude angles include a pitch angle, a roll angle and a yaw angle; calculating an error amount between a given desired attitude angle and the current attitude angle; then determining a fuzzy logic relationshipamong a quantization factor, a scaling factor and errors and an error change rate, and developing a fuzzy rule table; and finally, regarding the errors and the error change rate as input, and regarding the quantization factor and the scaling factor as output to establish a fuzzy PID controller based on factor self-adaption, thereby realizing online real-time adjustment of the quantization factorand the scaling factor. The four-rotor aircraft attitude control method has better dynamic tracking effect and system robustness, and provides a reliable guarantee for the four-rotor aircraft to complete a flight mission more flexibly.

The invention discloses an auto disturbance rejection control method for a space robot with actuator saturation. The method comprises the following steps: arranging a proper transition process for anexpected track and posture of a system by designing a tracking differentiator, and meanwhile, acquiring a differential signal with an expected value to make preparation for subsequent controller design; and designing a sampling expansion state observer by utilizing a discrete output signal, performing real-time estimation on the total non-linear uncertain items which are formed by the state of thespace robot system as well as coupling and external disturbance, and compensating the estimation values of the non-linear uncertain items into an error feedback control rate. By the method, adverse influence on the system by non-linear factors such as internal and external disturbance can be avoided, and the fact that an actuation mechanism implements accurate position and posture control on thespace robot within the saturation range can be guaranteed. The control strategy provided by the invention has a good control effect on the space robot system considering sampling output and with actuator saturation, and can be widely applied to other non-linear systems.

The invention provides a holder parameter adjusting method, a device and holder equipment. The method comprise steps that, when a holder parameter adjusting event is detected, power supply for a motor is controlled, and rotation angle speed data at each time point of a holder shaft controlled by the motor is recorded; angular acceleration data at each time point can be acquired through calculation according to the rotation angle speed data at each time point, frequency conversion for the angular acceleration data is carried out, and peak value frequency in a preset frequency range is determined; the peak value frequency is configured to be trap wave frequency of the motor so as to filter signals which are in the trap wave frequency and are to be sent to the motor. Through the method, in a use process of a holder hanging a new load, attitude control on the hung load can be realized relatively stably, the realization mode is simple and convenient, no user participates in the configuration process, user time is saved, manpower cost is reduced, and automation and intelligentization demands of the user are satisfied.

The invention provides a quad-rotor unmanned aerial vehicle and a control method thereof. The quad-rotor unmanned aerial vehicle comprises a body and a main controller module and further comprises a navigation module, a sensor module, a communication module and a motor control module which are respectively connected with the main controller module, wherein the main controller module is used for comprehensively calculating the real-time flight attitude information fed back by the sensor module and the navigation module and the control information of the communication module and then outputting a motor control signal to control the motor control module. The quad-rotor unmanned aerial vehicle is advantaged in that automatic adaptation to change of the external environment can be realized to modulate flight parameters to realize the pre-determined control effect. According to the control method, the main controller module employs a control scheme combining a back-propagation artificial neural network with inertia term (BPNNI) neural network and based on weight adjustment with proportional integral derivative (PID) control to calculate an actual output control variable.

The invention discloses a construction method of a low-clearance swing bridge across an operational line. The construction method comprises the steps of preparing for swing, installing and constructing a swing structure by virtue of the techniques of step-by-step installation and multiple pouring, performing beam body construction, performing a balance weighing test and trial swing construction, allowing formal swing to be in place, and using a steel shell method to perform the construction of an ultra-low-clearance closure segment. The construction method of the low-clearance swing bridge across the operational line adopts a spherical hinge multistep installation precise control technique, a balance weighing test pre-weighting technique, a swing parameter correction and precise positioning technique and a closure segment ultra-low-clearance steel shell construction technique to meet specifications, precision of design drawings and quality requirements, and leads the way in swing spherical hinge installation precision, swing balance stability and precision control. The construction method solves the difficult problem of insufficient clearance under the bottom of the bridge, and ensures the safety of the operational line.

The invention relates to an underwater robot attitude control method. A slave control board A collects the voltage and current of a power source, the temperature of the power source, the temperature and humidity in an electronic cabin, and information indicating whether water leakage occurs in the electronic cabin; the voltage and current of the power source, the temperature of the power source, the temperature and humidity in the electronic cabin, and the information indicating whether water leakage occurs in the electronic cabin are subjected to data processing of various modules; the processed data are transmitted to a master control board through an RS232 communication module; a slave control board B performs data processing and analysis of received data of a depth meter and an electronic compass and transmits processing results to the main control board through the RS232 communication module; after receiving navigation and depth information, the main control board calls a new fastnon-singular terminal sliding-mode control method according to the attitude control command of a console so as to calculate the rotational speed of each thruster; the rotational speed is putted intoa DA conversion module; obtained information is transmitted to each thruster; and therefore, the attitude control of a robot can be realized. With the underwater robot attitude control method of the present invention adopted, the problem of slow local convergence and easy fluctuation of the conventional non-singular terminal sliding mode control method can be solved.

The invention belongs to a single-piston-rod, double-cylinder and double-coil magneto-rheological absorber. The single-piston-rod, double-cylinder and double-coil magneto-rheological absorber comprises an upper hanging ring with a hanging ring lining assembly. The upper hanging ring is connected with a piston through a piston rod. The outer portion of an inner cylinder is sleeved with an outer cylinder. An upper end cover is arranged at the upper portion of the outer cylinder, and a lower end cover is arranged at the lower portion of the outer cylinder. An upper magnetism isolation plate is arranged between the top of the inner cylinder and the upper end cover, and an upper magnetism isolation plate is arranged between the top of the outer cylinder and the upper end cover. First positioning bolts penetrate the upper magnetism isolation plates and are connected with upper stop blocks of the piston. Bosses clamping coil stop blocks are formed on the side walls of the upper portion and the lower portion of the outer cylinder. Magnetism isolation rings are arranged on the coil stop blocks, and coils are arranged at the outer portions of the magnetism isolation rings. A lower magnetism isolation plate is arranged between the bottom of the inner cylinder and the lower end cover, and a lower magnetism isolation plate is arranged between the bottom of the outer cylinder and the lower end cover. Second positioning bolts penetrate the lower end cover and the lower magnetism isolation plates to be connected with lower stop blocks of the piston. A guiding pipe is arranged on the wall of the outer cylinder and connected with the bottom of an air cylinder body, and an air cylinder piston is arranged in the air cylinder body. The upper portion of the inner cylinder communicates with the upper portion of the outer cylinder, and the lower portion of the inner cylinder communicates with the lower portion of the outer cylinder. The single-piston-rod, double-cylinder and double-coil magneto-rheological absorber has the beneficial effect that the need of automobile smoothness and operation stability for damping force of the absorber is taken into full consideration.

The invention discloses a solid-liquid power engine and a rocket applying same, and belongs to the technical field of aerospace. The solid-liquid power engine comprises storage boxes, gas cylinders and thrust rooms, wherein the storage boxes are sequentially arranged into a ring-shaped structure; one thrust room is arranged between any adjacent two storage boxes; each thrust room arranged at one side away from the centre of the ring-shaped structure; one gas cylinder is arranged between each storage box and the thrust room; and each gas cylinder is arranged at one side away from the centre ofthe ring-shaped structure. The storage boxes are sequentially arranged into the ring-shaped structure, so that the cost is reduced; specifically, the thrust rooms adopt parallel type structures, are small in slenderness ratio and are flexible and various in forms; the thrust rooms cooperatively work, so that thrust generated by the solid-liquid engine is utilized to obtain excessive control momentof force, and therefore, posture control of the rocket is realized; and thrust regulation and multi-time start are realized by controlling flow of a liquid oxidant inside the storage boxes, so that general performances are good.

The invention discloses a method for optimizing PID control four-rotor aircraft flight through a crowd search algorithm. A four-rotor aircraft is controlled through a control method for optimizing thePID control parameter based on the crowd search algorithm, so that the anti-interference capability of the aircraft is enhanced, the robustness of the aircraft is improved, and the flight attitude ofthe aircraft can be self-adjusted in real time when the aircraft is subjected to external interference.

The invention discloses a quadruped robot self-adjusted from any posture in the air to a landing posture. The robot comprises a steering engine control unit, steering engines and a quadruped robot body, wherein the quadruped robot body comprises a trunk body and leg units capable of carrying out spatial two-degree-of-freedom motion; through conical pendulum motion in different directions of the leg units, any posture in the air can be adjusted into the landing posture to enable the robot body to reach the ground; the four leg units of the quadruped robot body are provided with the steering engines respectively, and the steering engines are controlled by steering engine commands output by the steering engine control unit; and the steering engine control unit carries out control on the steering engines by adopting an adjusting sequence from an X axis to a Y axis and to a Z axis. According to the quadruped robot self-adjusted from any posture in the air to the landing posture, when the quadruped robot is adopted to bear a satellite structure body, posture adjustment of smooth and stable landing of the satellite structure body can be achieved without external force action.

The invention discloses a four-rotor agricultural remote control aircraft and a control method thereof. The control method comprises the following steps: obtaining attitude angles and displacement amounts of three dimensions of the four-rotor agricultural remote control aircraft through an inertia measurement unit, and taking the attitude angles and the displacement amounts as an input quantity of double-ring controller; performing control by use of the double-ring controller of a position control ring and an attitude control ring, wherein position control of the four-rotor agricultural remote control aircraft is taken as an external ring, and attitude control is taken as an internal ring; and based on an operation output quantity of the position control ring, obtaining the attitude angles as an input quantity of the attitude control ring through decoupling, wherein control is performed in each control ring by use of a typical PID control algorithm. Based on dynamics flight analysis and the like, the attitude control method based on multi-sensor fusion is brought forward, and attitude control of the four-rotor aircraft is realized. The four-rotor agricultural remote control aircraft has a quite high practical value and can well reduce the labor intensity.

The invention provides a multifunctional tobacco leaf fine selection device. The multifunctional tobacco leaf fine selection device is characterized by comprising a tobacco leaf feeding device (1), a sorting box body (3) connected above the tail end of the feeding device (1), a negative-pressure draught fan device (4) mounted at the upper end of the sorting box body (3), a high-speed net belt conveying device (5) covering the inner part of the sorting box body (3) and a high-speed belt conveyor (6) located under the output end of the high-speed net belt conveying device (5). According to the multifunctional tobacco leaf fine selection device, tobacco leaves are thrown out from the outlet of the sorting box body (3) in a mutual clamping manner of the high-speed net belt conveying device (5) and the high-speed belt conveyor (6), so that the flat treatment on the tobacco leaves can be realized; a first air flow injection device (503) is mounted at a discharging end of the high-speed net belt conveying device, so that the tobacco leaves are prevented from being continuously stuck on a high-speed net belt and the tobacco leaves can be smoothly thrown out.

The invention discloses a fully-suspended double-end-supported single-frame control moment gyroscope. The fully-suspended double-end-supported single-frame control moment gyroscope is mainly composedof a magnetically-suspended frame system and a magnetically-suspended high-speed rotor system; the magnetically-suspended frame system is mainly composed of a frame, frame three-degree-of-freedom magnetic bearings, a frame radial sensor, a frame motor, a frame protection bearing, a frame axial sensor, a left frame shaft, a right frame shaft and the like; the magnetically-suspended high-speed rotorsystem is mainly composed of an upper gyroscopic case, a lower gyroscope case, axial magnetic bearings, high-speed driving motors, a gyroscopic high-speed rotor, radial magnetic bearings, radial displacement sensors, an axial displacement sensor, protection bearings and the like. According to the fully-suspended double-end-supported single-frame control moment gyroscope, the high-speed rotor system supported by the magnetic bearings is adopted, so that the working rotation speeds of the gyroscopic high-speed rotors are greatly improved, and the service lives of the gyroscopic high-speed rotors are greatly prolonged; meanwhile, a magnetic-bearing double-end-supported mode is adopted by the frame system, so that the supporting stiffness is improved, mechanical friction is eliminated, and the control precision of the system is improved.

The invention discloses an intelligent and automatic spraying system and method for a pressure-sensitive coating. The system achieves recognition and acquiring of a three-dimensional counter of a model through the non-contact optical measurement technology, and an intelligent control terminal designs a spraying route, the flow of a spraying device posture and flow, and outputs a control signal toa model motion control device, an intelligent robot arm and a spraying device solenoid valve. The model motion control device can control the model to rotate, the intelligent robot arm drives the spraying device to move, the spraying device solenoid valve controls spraying actions and flow, and the spraying work of the pressure-sensitive coating on the surface of the model is automatically completed. According to the spraying system and method, the unmanned spraying work of the pressure-sensitive coating is achieved.

The invention provides a reflector antenna based on three-telescopic-rod driving and a quasi-geodesic line grid structure, and aims to reduce the mass of the reflector antenna and reduce the construction cost while ensuring the profile precision of the reflector antenna. The reflector antenna comprises a supporting back frame, a reflecting surface framework, a vertical connecting rod, a main reflecting surface, an auxiliary reflecting surface, a radial supporting rod, a feed source and an attitude control device, wherein the supporting back frame and the reflecting surface framework adopt a paraboloid-shaped truss structure in a quasi geodesic line grid form; the supporting back frame is connected with the reflecting surface framework through a vertical connecting rod; the main reflectingsurface is fixed on a quasi geodesic grid of the reflecting surface framework; the auxiliary reflecting surface is fixed at the focus position of the main reflecting surface through a radial supporting rod; the feed source is fixed at the vertex position of the reflecting surface framework; and the attitude control device comprises a base and telescopic rods, the bottom end of each telescopic rodis connected with the base through a revolute pair connecting structure, and the top end of each telescopic rod is connected with the supporting back frame through a spherical pair connecting structure.

The invention discloses a hydraulic-driven eight-foot thrust bearing base, comprising a shaft, a thrust bearing, a support assembly and a base, wherein the shaft passes through the thrust bearing; the support assembly comprises two actuator groups which are respectively and symmetrically distributed at two sides of the thrust bearing; each actuator group comprises four actuators, two upper part connecting blocks positioned at one side of the thrust bearing, and three lower part connecting blocks arranged on the base; an 'M'-shaped structure is formed by the actuators, the upper part connecting blocks and the lower part connecting blocks of each actuator group; the upper part connecting blocks, the lower part connecting blocks and the actuators are connected in a way of spherical hinge connection. The thrust bearing base provided by the invention is simple, efficient and flexible; after the design is adopted, the bearing load can be evenly distributed, the working performance of a shaft system is improved, the normal operation of the shaft system is guaranteed, and active and passive control can be also effectively carried out on the vibration of the shaft system.

The invention discloses an attitude control system for coaxial double-propeller spacecrafts. The attitude control system for the coaxial double-propeller spacecrafts comprises a fuselage, a lifting force assembly and an attitude control assembly, wherein the fuselage consists of a control center and a load; the lifting force assembly consists of a positive propeller, a first motor, a negative propeller and a second motor; and the attitude control assembly consists of a third motor, a first attitude propeller, a fourth motor and a second attitude propeller. According to the attitude control system for the coaxial double-propeller spacecrafts, the lifting and heading are controlled through the two motors at the upper part, and the forward, backward, leftward and rightward movements are realized through the two motors at the lower part; and the attitude control system for the coaxial double-propeller spacecrafts comprises the respective advantages of the traditional coaxial double-propeller spacecrafts and multi-rotor spacecrafts, and abandons the disadvantages thereof.

The invention relates to a spacecraft attitude control method under a multi-constraint condition, which can be applied to a spacecraft attitude control law implementation process for attitude control based on a solid engine. The method comprises the following steps: firstly, determining a solid engine for attitude control and an installation coordinate of an array in a spacecraft body coordinate system; secondly, calculating the required control impulse moment according to the attitude error of each axis; then, according to the direction in which the impulse can be provided by the solid engine to be fixed, judging the solid engine array needing to be ignited; and finally, selecting the solid engine needing to be ignited through a traversal method. According to the method, the advantages of the solid engine are fully utilized, the characteristics and constraints of the solid engine are considered in the control law implementation process, and the feasible attitude control method is given in combination with the actual situation.

The invention discloses a multifunctional hyperspectral data acquisition device based on a self-stabilization platform and a measurement method thereof. A traditional hyperspectral optical fiber probeand a multifunctional data sensor are integrated on a self-stability augmentation platform, so that attitude control and self-stabilization of the optical fiber probe can be well achieved, and information such as the attitude of the probe, the distance of a collected target object and an image of the target object is automatically collected together with hyperspectral data in a one-key mode during measurement. The device is simple and convenient to use; the error caused by the angle change of a handheld probe in the traditional ground object spectral measurement method is eliminated and the precision and reliability of the hyperspectral data are greatly improve; the device is suitable for the research of the hyperspectral observation angle, such as the measurement research of hyperspectral BRDF.

The invention provides a boundary stiffness simulation system in a full-motion vertical fin buffeting test of an airplane strength test, and belongs to the technical field of airplane testing. Comprising a mounting bottom plate connected with the ground through foundation bolts, a boundary dynamic stiffness simulation assembly arranged on the mounting bottom plate and a rotation dynamic stiffness simulation assembly arranged on the mounting bottom plate, and the boundary dynamic stiffness simulation assembly and the rotation dynamic stiffness simulation assembly are connected with an aircraft vertical fin; the bending support dynamic stiffness of the full-dynamic vertical fin structure in a real state is simulated through the boundary dynamic stiffness simulation assembly, and the corresponding box section thickness can be designed according to the modal frequencies of the first bend and the second bend of the vertical fin; the rotary supporting dynamic stiffness of the full-motion vertical fin is simulated through the rotary dynamic stiffness simulation assembly, and different elastic element thicknesses can be designed according to the first-torsion modal frequency and the second-torsion modal frequency of the full-motion vertical fin, so that it is effectively guaranteed that the main modal frequency of the vertical fin structure in the ground installation state is consistent with the main modal frequency of the vertical fin structure in the real flight state; and the accuracy of a full-motion vertical fin buffeting test result in an airplane strength test is improved.

The invention discloses an intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms. The method comprises the following steps: S1, establishing a mathematical model of a fishing unmanned aerial vehicle; S2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle; S3, designing a cascadeclosed-loop PID flight control method of the fishing unmanned aerial vehicle; and S4, planning fish finding routes of three different fishing unmanned aerial vehicles and carrying out intelligent hookthrowing and bait throwing, wherein the fish finding modes comprise a multi-point fish finding mode, a rapid fish finding mode and a regional fish finding mode. Compared with the prior art, the method has the advantages that the defects existing in an existing consumption application type unmanned aerial vehicle are overcome, the cascade closed-loop PID control algorithm is used for offshore fishfinding of the unmanned aerial vehicle, and it is guaranteed that the fishing unmanned aerial vehicle flies along a set fish finding line, real-time monitoring is conducted, control over the position, height and posture of the fishing unmanned aerial vehicle is achieved, and meanwhile, real-time accurate fish finding of the fishing unmanned aerial vehicle in different fish finding modes is achieved through a position and height control method.

The invention provides a hybrid power four-duct manned aircraft which adopts a double-power system of a turbine shaft engine and a motor and provides driving force for four variable-pitch duct fans through a transmission box body and a transmission shaft. Two flight modes of vertical take-off and landing and fixed wing cruising of the aircraft are achieved by tilting the front two ducted wind andswitching the transmission path of the power device. By means of the hybrid power four-duct manned aircraft, the four-duct manned aircraft which is higher in safety, lighter in dead weight, higher inloading capacity and longer in endurance time can be achieved, and then the practicability of manned flight is achieved.