36results about How to "Good for attitude control" patented technology

The invention relates to a layout method for 10 N thrusters of a high orbit satellite platform. The assembly positions of the thrusters are not limited to facing and backing a floor and are symmetrically laid out by taking service life middle-period centroid positions as references. The layout of the 10 N thrusters is limited according to demands of users, solar wings, antennas, sensors, actuating mechanisms and the like. In the method, the requirements in all the aspects of reducing plume influence of the thrusters, avoiding structural interference, improving operation efficiency of the thrusters, saving propellants and the like are reasonably considered. The phenomenon that two 10 N thrusters are combined and matched to control pitching or yawing is prevented; the problem that large interaxial coupling exists in the daily attitude control due to thruster asymmetry is solved; when paired thrusters maintain eastward/westward positions or southward/northward positions, the maximum disturbance moment is reduced; the capability of handling faults of ignition and orbital transfer of 490 N engines is greatly improved; the operation efficiency of the thrusters is improved; and the propellants are saved.

The invention discloses a de-orbit braking closed circuit guidance method satisfying constrains on reentry angles and flying ranges. The guidance method comprises steps of firstly on the basis of a nominal de-orbit braking track of a two-body dynamics model design, correcting effects on the reentry angles imposed by a J2 item by iterating working time of an engine; correcting effects on the flying ranges imposed by the J2 item by designing a dynamics integral model; during a guidance process, according to current movement states and information of reentry points, calculating currently required speed and speed gain by use of a closed analytical expression; determining an instruction posture angle of the engine according to direction of the speed gain; and determining a turn-off instruction according to the fact whether the speed gain is zero. According to the invention, high-precision and strong-robustness de-orbit braking guidance can be achieved.

The invention provides a stationary orbit ultra-large type assembling satellite platform configuration. The configuration comprises a mother platform, a first module cabin, a second module cabin, a first functional cabin, a second functional cabin, a first connecting truss, a second connecting truss, a first energy module, a second energy module, a first mechanical arm and a second mechanical arm,wherein the mother platform carries out comprehensive management and control on a whole satellite; the first module cabin and the second module cabin are connected with the mother platform and are used for providing a mounting platform for a ultra-large platform single-machine module; the first functional cabin and the second functional cabin are connected with the first module cabin and the second module cabin and are used for carrying a working load; the first connecting truss and the second connecting truss are mounted on the first energy module and the second energy module respectively; and the first mechanical arm and the second mechanical arm are installed on an east side and a west side of the mother platform correspondingly. The configuration can be used for an ultra-large comprehensive satellite platform, on-orbit maintenance of the satellite platform is facilitated, development cost is low, a platform configuration space is open, and energy utilization efficiency is high.

The invention relates to a coaxial type all-terrain wheel-legged mobile robot comprising a vehicle body, front legs symmetrically arranged at two sides of the front of the vehicle body, rear legs symmetrically arranged at the rear of the vehicle body and a control part arranged on the vehicle body and used for realizing the control of the front legs and the rear legs, wherein the front legs and the rear legs are connected to the vehicle body through metallic rudder disks; the front legs consist of front main arm lifting motors, front wheel steering motors, the front metallic rudder disks, front hub motors, front right-angle supports, front U-shaped supports, front motor holders, front wheels, front leg connectors and front steering motor holders; and the rear legs consist of rear main armlifting motors, rear wheel steering motors, the rear metallic rudder disks, rear hub motors, rear right-angle supports, rear U-shaped supports, rear motor holders, rear wheels, rear leg connectors andrear steering motor holders. The coaxial type all-terrain wheel-legged mobile robot has higher obstacle-negotiation ability and wider adaptability under complex road conditions.

The invention provides a self-pressurized fuel tank used for space propulsion. The fuel tank comprises a shell, a piston, an upper cover, a screw nut mechanism, a motor-cone gear set, a disc spring group and a pipeline, wherein one end of the shell is externally connected with the pipeline, the other end of the shell is connected with the screw nut mechanism, the inner portion of the shell is provided with the upper cover, the disc spring group and the piston from top to bottom in sequence, the position, located in lower space of the piston, of the shell is filled with liquid fuel, the disc spring group is arranged between the piston and the upper cover, the upper end of the disc spring group is closely next to the lower end face of the upper cover, and the lower end of the disc spring group is closely next to the bottom face of the inner wall of the piston; the screw nut mechanism is connected between the upper cover and the shell, the screw nut mechanism also is connected to the motor-cone gear set, and the motor-cone gear set drives the screw nut mechanism to rotate; the outer surface of the piston is in contact with the inner surface of the shell. The fuel tank uses the elasticforce of disc springs as power to extrude fuel, and is simple in structure and conductive to the attitude control of a spacecraft.

The invention belongs to the technical field of vehicle shock absorption, and particularly relates to an impact acceleration sensitive valve. The impact acceleration sensitive valve is installed on abottom valve between a working cavity and a compensation cavity of the shock absorber, and adopts a spring mass system composed of a compressed spring and a slide block for sensing impact loads on a vehicle from the pavement, and thus the purpose of judging the working condition is achieved; a hole between the slide block and a valve rod is utilized for achieving communication of a high-pressure cavity of the shock absorber, unloading of the high-pressure cavity of the shock absorber can be achieved when the shock absorber meets intense impact of the pavement, so that impact transmitted to a vehicle body by the shock absorber is reduced, and the requirement of different working conditions for damping is met. According to the impact acceleration sensitive valve, a favorable condition is created for symmetric design of damping of the shock absorber. Compression damping is increased, stretching damping is lowered, the improvement of the posture of a vehicle is facilitated, a suspension isrestored in time, and the smoothness and handling stability of the vehicle are comprehensively improved. The impact acceleration sense valve is compact in structure, high in manufacturability and controllable in cost.

The invention belongs to the field of autonomous underwater vehicle navigation control, and particularly relates to a design method of a variable-structure integrated controller for reducing rolling and pitching of an AUV. A hydroplane based on a working principle of a zero-speed fin stabilizer can be used for actively reducing rolling and pitching motions during low-speed navigation. In consideration of six-degree-of-freedom nonlinear and coupling motions of the AUV and the working principle of the hydroplane, an improved variable-structure controller is designed, so that the approaching speed of an approaching process in sliding mode control is further improved, and the buffeting phenomenon of a sliding mode control system is eliminated; and the rolling and pitching interferences under different wave disturbances can be greatly reduced through the improved sliding mode integrated controller. By analyzing a simulation result, the rolling and pitching motions of the AUV can be effectively reduced.

The invention discloses a multi-rotor unmanned plane, and belongs to the technical field of an unmanned plane. The multi-rotor unmanned plane comprises a plane body, a motor, a rotor wing, and a foot stool; the motor is installed at the periphery of the plane body, the rotor wing is connected to a rotary shaft of the motor; the foot stool is arranged beneath the plane body. The multi-rotor unmanned plane is characterized in that hook hanging rods are further arranged on both sides of the plane body or a rotor protecting frame, one end or both ends of each hook hanging rod is provided with hanging hooks. The multi-rotor unmanned plane can be hung on an object at high place to work through the hanging hooks on the hook hanging rods connected to both sides of the plane body or the rotor protecting frame. The lifting force of the multi-rotor unmanned machine in a hanging state is not provided by power energy of the battery, thus the working time of an onboard working device can be prolonged greatly in a rising and landing process. The multi-rotor unmanned plane can be widely applied to overhead monitoring at a fixed point, monitoring, shooting, environmental protection monitoring, urban administration, courtyard safeguard, vehicle anti-theft, express delivery, and other domains.

The invention relates to a multi-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. The multi-rotor unmanned aerial vehicle comprises a vehicle body, enginearms, motors, rotors and a foot stool, wherein one ends of the engine arms are connected to the machine body, the motors are arranged on the engine arms, the rotors are arranged on rotating shafts ofthe motors, the foot stool is connected under the machine body, in addition, horizontal pipes are further arranged on the foot stool, telescopic hanging racks are arranged in the horizontal pipes andare inverted L-shaped or J-shaped, and locking devices used for locking the hanging racks are further arranged on the horizontal pipes. The multi-rotor unmanned aerial vehicle can be hung an object on high such as an enclosing wall of a high-rise rooftop, an advertising board, a traffic sign board, an aerial electric wire and branches in a propped or lifted mode through the hanging racks; and after being hung on the object on high in a propped or lifted mode, the multi-rotor unmanned aerial vehicle does not need to be provided with lift force by electric energy of a battery, and working equipment of the multi-rotor unmanned aerial vehicle can work or stand by on high for a long time. The multi-rotor unmanned aerial vehicle can be widely applied to the fields of aerial fixed-point shooting, monitoring, living broadcasting, environmental protection monitoring, case reconnoitre, urban management, courtyard security and protection, vehicle anti-theft and the like.

The invention discloses a carrier rocket attitude control method, device and equipment and a storage medium, and the method comprises the steps: determining whether a carrier rocket is in a separation prediction control state, the separation prediction control state comprises a contact sub-state and a separation sub-state, and when the carrier rocket enters the separation sub-state from the contact sub-state, determining whether the carrier rocket is in the separation prediction control state; the carrier rocket is separated into a residual body and a separated body; determining the total detachment duration when the carrier rocket is in the detachment sub-state; when the carrier rocket is in the separation sub-state, control instructions are sequentially sent to the remaining body in the first to (N-1) th control periods of the separation sub-state, and the control instructions are used for controlling the attitude angle and the attitude angular speed of the remaining body to reach set values in the next control period. The attitude control method not only can meet the separation safety requirement of the carrier rocket, but also can achieve the purpose of optimizing attitude control.

The invention discloses a tether length correction method and system in a tether release process. The method comprises the following steps: dividing the whole tether release process of a tethered satellite system into three stages: an acceleration stage, a constant speed stage and a deceleration stage; determining the tether speed fluctuation quantity and the tether length fluctuation quantity; judging whether the tether length fluctuation quantity meets a preset condition or not; and according to a judgment result of the tether length fluctuation quantity and a preset condition, selecting the tether speed fluctuation quantity or the tether length fluctuation quantity, and correcting the expected release time of the constant-speed section in combination with the sampling lengths of the acceleration section and the deceleration section to obtain the actual release time of the constant-speed section. The expected release length of the acceleration section is compared with the actual release length, the possible actual release length of the deceleration section is estimated in advance, the tether length deviation generated by the acceleration section and the deceleration section is corrected at the constant speed section, passive adjustment of the release length of the tether is achieved, a series of problems caused by re-adjusting the release speed of the tether after the tether is released in place are avoided, and rope length control in the release process is simplified.

The invention provides a three-dimensional object absolute attitude control method and device based on a fingerprint image, and the method comprises the steps: collecting a fingerprint image of a current finger in real time; speculating the three-dimensional posture of the current finger according to the sequence image; mapping the three-dimensional posture of the current finger into a three-dimensional input signal, and controlling the absolute posture of the target object in the three-dimensional space according to the three-dimensional input signal; and taking the absolute attitude obtained after control as a target attitude, and calculating a conversion path for converting the controlled object to the target attitude. According to the three-dimensional absolute attitude control method, the existing man-machine interaction mode can be effectively expanded, and convenience is provided for object attitude control in a three-dimensional space.

The invention provides a multi-rotor-wing unmanned aerial vehicle and belongs to the technical field of unmanned aerial vehicles. The multi-rotor-wing unmanned aerial vehicle comprises a vehicle body, motors, rotor wings and a foot stand, the motors are mounted on the periphery of the vehicle body, the rotor wings are connected to rotary shafts of the motors, and the foot stand is arranged on the lower portion of the vehicle body. The multi-rotor-wing unmanned aerial vehicle is characterized in that hanging rods are further arranged on the two sides of the vehicle body or on rotor-wing protective frames, one ends of the hanging rods are provided with hooks, magnets are arranged at the other ends of the hanging rods, and the multi-rotor-wing unmanned aerial vehicle can be hung at an object of a high position for working through the hooks on the hanging rods or attraction force of the magnets. The multi-rotor-wing unmanned aerial vehicle which is in a hanging state does not need battery electric energy for providing of lift force, and the work time of airborne work equipment can be greatly prolonged in the one-time taking-off and landing process. The multi-rotor-wing unmanned aerial vehicle can be widely applied to the fields of aerial fixed-point surveillance, monitoring, shooting, live broadcasting, environmental protection monitoring, field science investigation, case scout, city management, courtyard security and protection, vehicle burglary prevention, express delivery and the like.