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

Spatial multidimensional micro-vibration simulator based on six-dimensional parallel mechanism

The invention relates to a spatial multidimensional micro-vibration simulator based on a six-dimensional parallel mechanism, in particular to a parallel mechanism based on the Stewart-Gough platform. The spatial multidimensional micro-vibration simulator comprises an upper platform, a lower platform and six driving legs, wherein the upper platform and the driving legs are connected through spherical hinges; the lower platform and the driving legs are connected through hook joints; the driving legs are composed of components like voice coil motors, leaf springs and stop sleeves, and can output vibration with the maximum amplitude of 3 mm and the maximum frequency of 500 Hz in the axial direction. According to the spatial multidimensional micro-vibration simulator based on the six-dimensional parallel mechanism, provided by the invention, by adjusting expansion and contraction of the six driving legs to control the six-dimensional motion of the upper platform and the load thereof, the simulation of spatial micro-vibration can be completed; the vibration mode output by the simulator is multidimensional random vibration with specific spectrum form, the effective bandwidth is 0.5-100 Hz, and the shock excitation magnitude is 10<-5> g-10<-3>g.
Owner:CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI

Method and system for controlling satellite from any attitude to sun pointing attitude

The invention discloses a method for controlling a satellite from any attitude to a sun pointing attitude. The method for controlling the satellite from any attitude to the sun pointing attitude comprises the steps of measuring inertial angle increment by using an inertial reference unit; differentiating the inertial angle increment to obtain inertial angular velocity; measuring the specific direction of the satellite where the sun appears by using a 0-1 type sun sensor and carrying out sun acquisition to obtain a sun direction signal; controlling satellite attitude acquisition by using the change of the sun direction signal; and reducing an included angle between sun vector and one axis of the satellite so as to carry out sun pointing. By using the sun direction information of the 0-1 type sun sensor, the sun can be acquired; and through the change of the sun direction signal, the satellite can be controlled to point the sun to provide satellite guarantee for energy supply of the whole satellite; and beneficial effects of realizing the satellite from any attitude to the sun pointing attitude only by using the inertial reference unit and the 0-1 type sun sensor, improving the satellite attitude control accuracy and so on are achieved.
Owner:SHANGHAI AEROSPACE CONTROL TECH INST

Flexible satellite adaptive neural network sliding mode attitude control method

Provided is a flexible satellite adaptive neural network sliding mode attitude control method. The invention relates to a flexible satellite adaptive neural network sliding mode attitude control method. The invention provides a flexible satellite adaptive neural network sliding mode attitude control method to solve the problem that the attitude of a flexible satellite fluctuates due to modal vibration of a panel and rotation of an antenna and the reduction of system stability is caused thereby. The method comprises the following steps: step 1, establishing a flexible satellite attitude dynamics model; step 2, obtaining a simplified flexible satellite attitude dynamics equation; step 3, designing a sliding mode attitude controller with use of an RBF neural network according to the simplified flexible satellite attitude dynamics equation; and step 4, further using an RBF neural network approximation sign function eta'sgn(s) to weaken the influence of buffeting to the sliding mode attitude controller so as to obtain a buffeting-weakened sliding mode attitude controller. The flexible satellite adaptive neural network sliding mode attitude control method of the invention is applied to the field of flexible satellite attitude control.
Owner:HARBIN INST OF TECH

Yaw attitude control method of multi-axis maneuver imaging satellite with ellipticity of the earth considered

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.
Owner:BEIJING INST OF CONTROL ENG

Space-based large-diameter multi-constrained extrasolar terrestrial planet detector structure

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.
Owner:SHANGHAI SATELLITE ENG INST

Flexible satellite active vibration suppression method based on component force synthesis and fixed time convergence

The invention discloses a flexible satellite active vibration suppression method based on component force synthesis and fixed time convergence. The flexible satellite active vibration suppression method comprises the following steps of step 1, establishing a flexible satellite attitude dynamics model with two pairs of large solar panels, and simultaneously establishing a dynamic model of a piezoelectric intelligent material actuator; step 2, designing a fixed time convergence sliding mold controller; step 3, designing a disturbance observer for ensuring a double-layer self-adaptive law with fixed time convergence characteristics; and step 4, outputting a dynamic model of the piezoelectric intelligent material actuator, implementing processing by adopting a continuous component force synthesis control idea, generating a new control torque command to be applied to a flexible accessory to counteract the influence of elastic vibration, and ensuring the attitude stability of a satellite body. The flexible satellite active vibration suppression method has the advantages of high attitude control precision and strong robustness. Meanwhile, a continuous component force synthesis method is introduced into a closed-loop control process through a piezoelectric sheet attached to the flexible accessory, vibration is inhibited, and the system interference is reduced.
Owner:SUN YAT SEN UNIV

Four-rotor aircraft attitude control method and controller

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.
Owner:CENT SOUTH UNIV

Rapid spacecraft disturbance torque on-orbit closed-loop identification method, system and medium

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.
Owner:BEIJING INST OF CONTROL ENG

Novel anti-interference attitude control circuit resolving system

ActiveCN103885451AReduced attitude control accuracyImprove attitude control accuracyAttitude controlAviationEarth observation
The invention relates to a novel anti-interference attitude control circuit resolving system. The hardware part of the system is composed of an embedded microprocessor, a storer unit, a reset unit, a communication unit, an expansion power supply unit, a power supply unit, a clock unit, an expansion I / O unit and a debugging unit. An anti-interference attitude control algorithm contained in the algorithm part of the system relates to a disperse interference observer and a feedback controller, the disperse interference observer conducts real-time estimation and counteraction on interference such as execution vibration which can be modeled and exists in the system firstly, and then the feedback controller correspondingly restrains interference such as spiral environment torque which can not be modeled and exists in the system. According to the software and hardware integrated type attitude control circuit resolving system, a hardware circuit is simple in structure, communication can be achieved conveniently and quickly, the control algorithm can be used for counteraction and restraining on different types of interference, and attitude control accuracy and stability of the system can be improved. The system is especially suitable for tasks such as high-resolution earth observation and remotely-sensed imaging in the aerospace field.
Owner:BEIHANG UNIV

Multi-degree-of-freedom spherical electric magnetic levitation momentum wheel

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.
Owner:TSINGHUA UNIV

Last stage orbit remaining application subsystem attitude control method

The invention discloses a last stage orbit remaining application subsystem attitude control method. The method includes the steps that when a last stage orbit remaining application subsystem is in a rate damping period, an attitude controller adopts a Minus B-dot magnetic control law, a three-axis magnetic torquer is used as an execution mechanism for applying control magnetic torque, so that theangular speeds of a pitching axis, a rolling axis and a deviation axis of the last stage orbit remaining application subsystem are damped, and the last stage orbit remaining application subsystem is racemized; and when the last stage orbit remaining application subsystem is in a steady state control period, the attitude controller adopts a PD control law with time-lag compensation on a pitching loop, a bias momentum wheel and the three-axis magnetic torquer are used as execution mechanisms for applying the control magnetic torque, so that attitude control of the pitching loop is finished, anda rolling / yawing loop adopts sliding mode controller design. The sun pointing problem of the last stage orbit remaining application subsystem is solved, meanwhile, time-lag influence is eliminated, and the attitude control accuracy of the last stage orbit remaining application subsystem is improved.
Owner:SHANGHAI ASES SPACEFLIGHT TECH LTD CO

Attitude health management method for helicopters based on hierarchical structure

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.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

Rocket last-stage attitude time-sharing control method and device based on fuzzy membership function

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.
Owner:AEROSPACE SCI & IND KET TECH CO LTD

Gradually varied inertia liquid filling execution mechanism and method for controlling high-accuracy attitude of spacecraft

ActiveCN105204513ASmooth attitude parameter change curveImprove convergence accuracyAttitude controlAttitude controlFlywheel
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.
Owner:BEIJING INST OF CONTROL ENG

Fault-tolerant control method of cube star sensor

The invention discloses a fault-tolerant control method for a cube star sensor. The method includes steps that the sensor starts reading and performs mean value verification on read data after each reading process; if an M value is within a sensor normal reading range, the reading is correct and direct output is performed; if the M value is not within the sensor normal reading range, the reading of the last process is output and an error count Terror is added with 1; if the error count Terror is greater than 3, the sensor is switched and zero setting is performed on the error count Terror; if the error count Terror is not greater than 3, the sensor performs reading continually and the above steps are repeated. According to the invention, after the sensor breaks down, real time monitoring and automatic switching are performed, so that satellite attitude determining reliability is improved substantially.
Owner:NANJING UNIV OF SCI & TECH

Glass cleaning robot and cleaning method

The invention discloses a glass cleaning robot and a cleaning method and belongs to the field of unmanned aerial vehicle control. The cleaning robot comprises an unmanned aerial vehicle, a mooring rope and a ground trolley; the unmanned aerial vehicle comprises a cleaning reaction force adjusting device, a telescopic long rod device, a steering device and the like; the telescopic long rod device comprises a telescopic adjustable long rod and is used for driving the cleaning device to move back and forth along with the telescopic adjustment of the long rod; the steering device comprises a fixing base and a rotating body and is used for driving the cleaning device to rotate leftwards and rightwards along with rotating adjustment of the rotating body; the cleaning reaction force adjusting device is connected with the other end of the telescopic long rod device and used for generating a pair of reaction forces acting on the unmanned aerial vehicle when the cleaning device sprays liquid; the mooring rope is used for conveying power supply power of the unmanned aerial vehicle, transmitting a control signal and conveying cleaning water and cleaning liquid for cleaning; the ground trolleyis used for generating the control signal and storing the cleaning liquid. The glass cleaning robot of the invention has the advantages of low power and wide application range.
Owner:BEIJING HUALANDE TECH CONSULTING SERVICE CO LTD

A multi-axis maneuvering imaging satellite yaw attitude control method considering the ellipticity of the earth

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.
Owner:BEIJING INST OF CONTROL ENG

Liquid damper

The invention discloses a liquid damper comprising a central shaft, and a sleeve flange and a bellows which are movably arranged outside the central shaft in a sleeving mode, and both ends of the bellows are hermetically connected to the sleeve flange and the central shaft respectively to form a sealing cavity which is internally provided with damping liquid and a bag body of which the volume is variable under the pressure of the damping liquid. When the liquid damper is used for vibration isolation, a vibration disturbance source generates disturbance so that relative displacement between the sleeve flange and the central shaft is formed, and the bellows is compressed or stretched; the damping liquid flows due to deformation of the sealing cavity, the bag body is pressed to change the size when the damping liquid flows, the damping liquid and the bag body can be matched to provide damping, dissipate energy and play a suppression role in vibration of load, so that the vibration can be suppressed properly; the property of vibration isolation for each frequency band is improved greatly, and effective guarantee is provided for improving the attitude control accuracy and safety design of spacecraft; and the structure is simple, and the liquid damper is easy to machine.
Owner:CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI

A fast on-orbit closed-loop identification method, system and medium for spacecraft disturbance torque

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.
Owner:BEIJING INST OF CONTROL ENG

An Estimation Method of Satellite Interference Moment Based on Augmented Kalman Filter

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.
Owner:SHANGHAI AEROSPACE CONTROL TECH INST

Liquid-filled spacecraft attitude control and shake inhibition method

The invention relates to a liquid-filled spacecraft attitude control and shake inhibition method, and belongs to the technical field of spacecraft attitude control. The method achieves the calculationand obtaining of an attitude control moment of a spacecraft in each control period. The method comprises the steps: obtaining rigid mode and shake mode estimation values in an attitude angle according to singular spectrum analysis and feature system implementation algorithm, and obtaining the quaternion rigid mode and shake mode estimation values; obtaining a partitioned quaternion control component according to a quaternion rigid mode and a partitioned quaternion controller; obtaining a positive position feedback control component according to a shake mode estimation value and a positive position feedback controller; finally carrying out the vector addition of the two components, and obtaining the attitude control moment of the spacecraft. The method can enable the attitude of the spacecraft to stably reach an expected value, increases the slosh damping, and enables the slosh angle to be higher in convergence rate.
Owner:BEIJING INST OF CONTROL ENG
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