44results about How to "Improve attitude control accuracy" patented technology

According to a yaw attitude control method of a multi-axis maneuver imaging satellite with ellipticity of the earth considered, satellite rolling and attitude maneuver conducted in pitching are considered, misalignment of an optical axis of optical load and a collimation axis of the optical load are also considered, and the defect that a traditional control method can be adapted only to satellite side wing maneuver and the optical axis is aligned with the collimation axis is overcome. In the process of obtaining a linear speed of a ground target point relative to a satellite, the speed is divided into three parts of a linear speed caused by earth rotation, a satellite orbit operation speed and an operation speed of the ground target point relative to the satellite caused by satellite orbit angular velocity. In the solving process of the satellite optical axis pointing to a ground target point vector, the rotating ellipsoid feature of an actual earth model is considered, coordinate transformation is introduced, simpleness and convenience of the method are guaranteed, and obtaining of high precision drift angle attitude is achieved. The yaw attitude control method of the multi-axis maneuver imaging satellite with ellipticity of the earth considered is suitable for simultaneous maneuver of the multi-axis of the satellite, and meets the usage requirements of most high precision to-earth imaging satellites at present.

The invention provides a space-based large-diameter multi-constrained extrasolar terrestrial planet detector structure. The structure comprises a platform service module, a platform propelling module, a payload, a star sensor and a platform bottom plate; the back light path part of the payload is embedded into the platform service module, the star sensor is installed on a high-rigidity back plate of the payload, therefore, the attitude measuring error is decreased, and the attitude control precision of a whole detector is improved; intra-detector subsystem single units of the detector are arranged on the obverse side of the platform bottom plate, and thrusters and air cylinders are arranged on the reverse side of the platform bottom plate. According to the space-based large-diameter multi-constrained extrasolar terrestrial planet detector structure, by means of integrated design of a load platform, the mass center of the whole detector can be lowered, and the enveloping limiting requirement of a launch vehicle fairing can be met; meanwhile, attitude sensitive devices such as the star sensor are arranged on the high-rigidity back plate of the payload, therefore, the attitude measuring error can be decreased, and the attitude control precision of the whole detector can be improved. The structure can be effectively applied to layout design of a similar detector structure with a large-diameter multi-constrained space camera.

The invention discloses a four-rotor aircraft attitude control method and controller. For the disadvantage that a four-rotor aircraft system is difficult to establish a precise physical model, the nonlinear dynamic characteristic of the system is described by establishing a RBF-ARX model, which is locally linear and globally nonlinear, by adopting a system identification method; for the characteristic of the model and to satisfy quick response characteristic and relatively high control performance requirements of the system, the model is converted into a non-minimum state space model having anintegration link at first; then, a prediction controller is designed; furthermore, input is parameterized by using a laguerre function; therefore, predictive control of the online optimization variable of the system is reduced; furthermore, a given reference signal can be precisely tracked; and, for the numerical stability problem due to increasing of a prediction time domain, an exponential decay weight is introduced into a target function, so that a closed-loop system has the specified stability. The scheme has the characteristics of being short in online optimization time and steady in numerical value in a relatively large prediction time domain condition, and has relatively high practical value and application prospect.

The invention discloses a rapid spacecraft disturbance torque on-orbit closed-loop identification method, system and medium, and provides a rapid orbital transfer disturbance torque closed-loop identification method to solve the attitude control problem of a spacecraft with flexural vibration and liquid sloshing in orbital transfer during ignition of a main engine. The method includes the steps: (1) integrating angular speed measured by a gyroscope to obtain an attitude angle and calculating needed control quantity by a controller; (2) inputting data to a disturbance estimation equation according to attitude angle input and the calculated control quantity to obtain a preliminary estimation value of disturbance torque; (3) further inputting the preliminary estimation value of the disturbance torque to a filter, and filtering low-frequency flexural and liquid sloshing information to obtain final disturbance estimation values. By the method, when flexural vibration and liquid sloshing arepresent, the disturbance torque can be rapidly and accurately identified. Disturbance identification results can be directly fed forward to an integral term, so that attitude overshoot caused by start of the main engine can be decreased.

The invention provides a multi-degree-of-freedom spherical electric magnetic levitation momentum wheel, which is composed of an external support assembly, a spherical driving motor and an internal electric magnetic levitation momentum wheel. The outer support assembly locates and fixes the stator of the spherical drive motor and provides spherical support for the spherical mover. Sinusoidal alternating current with different phases is introduced into the stator coil array of the spherical drive motor to form traveling wave magnetic field with different directions, which can drive the whole spherical mover to change its spatial orientation, and then the spatial orientation of the maglev momentum wheel rotating shaft can be adjusted in a large range. At the same time, according to the principle of electric drive, the momentum wheel of internal electric magnetic suspension is driven by both stable suspension and rotating around the axis, so as to realize the complete control of the rotational axis direction and rotational speed of the momentum wheel of internal magnetic suspension, and finally realize the multi-axis active control of the attitude of the spacecraft.

The invention discloses an attitude health management method for helicopters based on a hierarchical structure. The hierarchical structure for attitude health management of the helicopters comprises an attitude model and fault model layer of the helicopters, a fault detection layer, a health consistency layer, a fault-tolerant consistency layer and a virtual connection layer. A triggering mechanism for threshold setting of the fault detection layer determines the selection of a control law of the helicopters. If a health channel of the fault detection layer is triggered, the health consistencycontrol layer is accessed; and if a fault-tolerant channel of the fault detection layer is triggered, the fault-tolerant consistency control layer is accessed. Finally, health management and global consistency control objective are realized in the virtual connection layer. The method has the advantages that the structure is simple, the implementation logic is clear, the effect is obvious, the novel attitude health management method for the helicopters is provided, and the attitude control precision is improved, the health management is realized, a system for the helicopters has robustness andfault tolerance, and the reliability and the safety of the helicopters are further ensured.

The invention relates to a rocket last-stage attitude time-sharing control method based on a fuzzy membership function, a fuzzy logic strategy is introduced into a last-stage rocket body attitude control system of a simplified side jet flow device, and the side jet flow device comprises a plurality of axial and radial jet pipes arranged on the outer side wall of the circumference of a cylindrical rocket body. The jet pipes jet airflow to provide pitching, yawing and rolling control moments for the rocket body, the final-stage attitude of the rocket is controlled according to the control characteristic quantity, different control jet pipe combinations are reasonably selected by using fuzzy logic rules, and a control strategy is executed. The core of the method is fuzzy logic design, a fuzzy control stylization method is utilized, the characteristic control quantity attitude angle and the attitude angular rate obtained through calculation of an inertial measurement unit are used as input, a fuzzy strategy is generated, then a corresponding control spray pipe is selected to act to apply control torque to a rocket body, and the attitude angle and the angular rate of the rocket body are changed. And the rocket body attitude meets the design requirements.

The invention relates to a gradually varied inertia liquid filling execution mechanism and a method for controlling a high-accuracy attitude of a spacecraft. The gradually varied inertia liquid filling execution mechanism comprises a vacuum container (1) for fixing and installing a whole flywheel structure, a flywheel bearing (2), a flywheel motor (3) and a flywheel. The control method comprises the steps that a laminar flow boundary layer equation is established, velocity distribution in a boundary layer is calculated, and an attitude kinetic equation of the spacecraft in the inertia changing process of the execution mechanism is established to obtain control toque Tc required by attitude change and provided by the execution mechanism. By the adoption of the gradually varied inertia liquid filling execution mechanism and the method for controlling the high-accuracy attitude of the spacecraft, the executing capacity of the attitude control execution mechanism is improved in the attitude control process, the output torque coverage range is widened, and meanwhile the problems of dynamic unbalance, too large resistance and the like brought by structure and process design problems during high-frequency rotation of a rotation part are decreased.

The embodiment of the invention discloses a gesture detection method and an auxiliary device, which relate to techniques for measuring gestures of objects with irregular surfaces and effectively improve the accuracy of gesture control on targets with complex surfaces. The device comprises a base and at least three cylindrical location rods, wherein the location rods are vertically fixed on the base, and the lengths of the location rods are adjustable; the external surface of the base comprises at least one plane; at least one of the planes is vertical to but not connected with the location rods. The device is mainly applicable to the measurement of the gestures of the objects with irregular surfaces.

The invention discloses a spraying robot and a spraying method, and relates to the field of drone control. The spraying robot includes a drone, a mooring rope and a ground trolley; the drone includes a spraying reaction force adjustment device, a telescopic long rod device, and a steering device etc.; the telescopic rod device includes a telescopically adjustable long rod, which is used to drive the spraying device to move forward and backward with the telescopic adjustment of the long rod; Rotate left and right; the spraying reaction force adjustment device is connected with the other end of the telescopic long rod device, which is used to generate a reaction force that is a pair of the force on the drone when the spraying device sprays liquid; the tethering rope is used to transport the power supply of the drone Electric power, transmission of control signals and delivery of spraying liquid; the ground trolley is used to generate control signals and store spraying liquid. The invention has the advantages of small power and wide application range.

According to a yaw attitude control method of a multi-axis maneuver imaging satellite with ellipticity of the earth considered, satellite rolling and attitude maneuver conducted in pitching are considered, misalignment of an optical axis of optical load and a collimation axis of the optical load are also considered, and the defect that a traditional control method can be adapted only to satellite side wing maneuver and the optical axis is aligned with the collimation axis is overcome. In the process of obtaining a linear speed of a ground target point relative to a satellite, the speed is divided into three parts of a linear speed caused by earth rotation, a satellite orbit operation speed and an operation speed of the ground target point relative to the satellite caused by satellite orbit angular velocity. In the solving process of the satellite optical axis pointing to a ground target point vector, the rotating ellipsoid feature of an actual earth model is considered, coordinate transformation is introduced, simpleness and convenience of the method are guaranteed, and obtaining of high precision drift angle attitude is achieved. The yaw attitude control method of the multi-axis maneuver imaging satellite with ellipticity of the earth considered is suitable for simultaneous maneuver of the multi-axis of the satellite, and meets the usage requirements of most high precision to-earth imaging satellites at present.

The embodiment of the invention discloses a gesture detection method and an auxiliary device, which relate to techniques for measuring gestures of objects with irregular surfaces and effectively improve the accuracy of gesture control on targets with complex surfaces. The device comprises a base and at least three cylindrical location rods, wherein the location rods are vertically fixed on the base, and the lengths of the location rods are adjustable; the external surface of the base comprises at least one plane; at least one of the planes is vertical to but not connected with the location rods. The device is mainly applicable to the measurement of the gestures of the objects with irregular surfaces.

The invention discloses a liquid damper, which comprises a central shaft, a sleeve flange movably sleeved on the outside of the central shaft, and a corrugated tube. , the sealed chamber is provided with a damping fluid and a bladder whose volume is variable under the pressure of the damping fluid. When the liquid damper is used for vibration isolation, the disturbance generated by the disturbance source will cause relative displacement between the sleeve flange and the central axis, compress or stretch the bellows, and the damping fluid will flow due to the deformation of the sealing cavity. When the damping fluid flows, it will be pressurized and change its volume. The damping fluid and the capsule can cooperate to provide damping, consume energy, and play a role in suppressing vibration of the load, so that vibration can be better suppressed. For the vibration isolation performance of each frequency band Both are greatly improved, and provide effective guarantee for improving the attitude control accuracy of the spacecraft and strengthening the safety design of the spacecraft, and the structure is simple and easy to process.

A flexible satellite adaptive neural network sliding mode attitude control method relates to a flexible satellite adaptive neural network sliding mode attitude control method. The invention is a flexible satellite adaptive neural network sliding mode attitude control method proposed to solve the problem of the attitude fluctuation of the flexible satellite due to the modal vibration of the sail board and the rotation of the antenna, and to reduce the stability of the system. In the method, the first step is to establish a flexible satellite attitude dynamics model; the second step is to obtain a simplified flexible satellite attitude dynamics equation; and the third step is to use the RBF neural network according to the simplified flexible satellite attitude dynamics equation. Design the sliding mode attitude controller; step 4, further use the RBF neural network to approximate the symbolic function η'sgn(s) to weaken the influence of chattering on the sliding mode attitude controller; obtain the sliding mode attitude controller after the chattering is weakened, etc. realized. The invention is applied to the field of flexible satellite attitude control.

The invention discloses an index system measurement method for a satellite hemispherical resonator gyro combination. The method comprises the steps of: utilizing a base level turning tooling to measure performance indexes of single gyro; using a triaxial rate turntable to measure the output data of the hemispherical resonator gyro combination; and calculating the setting angle deviation of gyros. The method provided by the invention can eliminate the influence of ground speed on calibrated error, avoids tedious calculation, solves the precision calibration problem of a satellite three-orthogonal one-oblique installed gyro combination, and improves the attitude control precision of an attitude control system.

The invention relates to a gradient inertia liquid-filled actuator and a method for high-precision attitude control of a spacecraft, wherein the gradient inertia liquid-filled actuator comprises: a vacuum container (1) for fixing and installing the entire flywheel structure, a flywheel bearing (2), Flywheel motor (3), flywheel (4); the control method is to establish a laminar boundary layer equation, calculate the velocity distribution in the boundary layer, establish the attitude dynamics equation of the spacecraft during the change of the inertia of the actuator, and obtain the attitude change The control torque Tc provided by the actuator is required. The invention improves the execution capability of the attitude control actuator during the attitude control process, increases the coverage range of the output torque, and simultaneously reduces the problems of dynamic unbalance and excessive resistance caused by the structure and process design problems when the rotating parts rotate at high frequency. .

The invention relates to a wireless energy transmission based spacecraft charging method, and the charging method comprises the following steps: (1) a to-be-charged spacecraft sends a charging request command to a ground command center, and the ground command center, according to the needed charging amount and energy transmission efficiency, calculates the wireless energy transmission time; (2) charging and to-be-charged spacecraft tracks and the charging time are taken as constraints for track rendezvous calculation, a charging spacecraft is guided to performing track rendezvous with a to-be-charged spacecraft by using a C-W guidance strategy according to track calculation results; (3) an energy transmission channel is established, the relative position and relative attitude of the charging spacecraft and the to-be-charged spacecraft are confirmed; (4) energy is transmitted to the to-be-charged spacecraft by a laser or microwave way. The charging method can effectively reduce the spacecraft mass scale, reduce launch costs of small spacecrafts such as a debris removal spacecraft and the like, and improve the feasibility of development of an initiative space debris removal task.

The invention discloses a rapid spacecraft disturbance torque on-orbit closed-loop identification method, system and medium, and provides a rapid orbital transfer disturbance torque closed-loop identification method to solve the attitude control problem of a spacecraft with flexural vibration and liquid sloshing in orbital transfer during ignition of a main engine. The method includes the steps: (1) integrating angular speed measured by a gyroscope to obtain an attitude angle and calculating needed control quantity by a controller; (2) inputting data to a disturbance estimation equation according to attitude angle input and the calculated control quantity to obtain a preliminary estimation value of disturbance torque; (3) further inputting the preliminary estimation value of the disturbance torque to a filter, and filtering low-frequency flexural and liquid sloshing information to obtain final disturbance estimation values. By the method, when flexural vibration and liquid sloshing arepresent, the disturbance torque can be rapidly and accurately identified. Disturbance identification results can be directly fed forward to an integral term, so that attitude overshoot caused by start of the main engine can be decreased.

The invention discloses a method for estimating satellite interference moment based on augmented Kalman filtering, which includes the following steps: S1, extracting the satellite flywheel rotational speed and the satellite inertial angular velocity measured by the gyroscope within one orbit period in the steady state from the satellite in-orbit data, and using the flywheel The rotation speed is converted into flywheel angular momentum, and the flywheel angular momentum is numerically differentiated to obtain the approximate value of the flywheel output torque; S2, the approximate value of the flywheel output torque and the satellite inertial angular velocity measured by the gyroscope are used as the input of the Kalman filter, and the satellite is subjected to the environment in orbit The disturbance torque is regarded as a state quantity, and the state update equation and measurement equation of the augmented system are established to obtain the Kalman filter algorithm of the environmental disturbance torque; S3, the Kalman filter is performed on the augmented system to obtain the estimated value of the environmental disturbance torque, and the The estimated value of the environmental disturbance moment mentioned above is added to the satellite attitude controller as the feed-forward signal of the satellite control system.

The invention provides a multi-degree-of-freedom spherical electric magnetic levitation momentum wheel, which is composed of an external support assembly, a spherical driving motor and an internal electric magnetic levitation momentum wheel. The outer support assembly locates and fixes the stator of the spherical drive motor and provides spherical support for the spherical mover. Sinusoidal alternating current with different phases is introduced into the stator coil array of the spherical drive motor to form traveling wave magnetic field with different directions, which can drive the whole spherical mover to change its spatial orientation, and then the spatial orientation of the maglev momentum wheel rotating shaft can be adjusted in a large range. At the same time, according to the principle of electric drive, the momentum wheel of internal electric magnetic suspension is driven by both stable suspension and rotating around the axis, so as to realize the complete control of the rotational axis direction and rotational speed of the momentum wheel of internal magnetic suspension, and finally realize the multi-axis active control of the attitude of the spacecraft.