37results about How to "Lighten the manipulation burden" patented technology

The invention relates to a two-degree-of-freedom coaxial rotorcraft torque adjustment mechanism. A support is of a rectangular frame structure. An adjustment piece shaft is supported at the front end and the rear end of the support through coaxial bearings correspondingly. One end of the adjustment piece shaft stretches out of the support to be connected with an adjustment piece. The other end of the adjustment piece shaft is connected with a rotary steering engine through a rotary linkage device, and the rotary steering engine is fixed to the support. The two sides of the support are movably connected with a base through hinge pins. The base is of a U-shaped frame structure. The support is located in a U-shaped opening of the base. A deflection steering engine which is fixed to the base is connected between the base and the support through a deflection linkage device. According to the adjustment mechanism, a gyroscope is used for judging the flight posture, and the torque difference, caused by two coaxial rotors, of the aircraft is counteracted by changing the direction and the inclination angle of the adjustment piece; and meanwhile, since the adjustment piece has two degrees of freedom, the adjustment range is greatly widened, the adjustment precision is greatly improved, and the stability of the aircraft is improved.

The invention discloses a steer-by-wire manipulating platform and method for a heavy manned foot type robot, and aims to solve the problems that the manipulating difficulty is large due to attributes of large weight, complex structure and the like of the robot in the sheering process. The manipulating platform consists of a steering wheel module, a motion control unit module and a sheering execution module. The manipulating method realized based on the manipulating platform can be summarized as follows: the steering wheel module is used for receiving manipulating instructions of a driver on one hand and feeding back road sensing information to the driver on the other hand; the motion control unit module is used for planning the foot end coordinates of the robot on one hand and controlling a road sensing motor to output resisting moment on the other hand; the sheering execution module is used for planning the target corners of joints of leg parts and driving the legs to support a robot body to sheer on one hand, and feeding back collected leg part information to the motion control unit module on the other hand. Through introduction of the steering wheel manipulating mode, the manipulating load of the driver is reduced, and meanwhile the manipulating accuracy is improved. The steer-by-wire manipulating platform and method are suitable for manipulating the foot type robot.

The invention relates to a linear displacement override rod structure, which comprises an internal cylinder, an external cylinder and a brake apparatus; one end of the internal cylinder is an airplaneoperating lever system coupling end, one end of the external cylinder is the airplane operating lever system coupling end, the other end of the internal cylinder is inserted with the other end of theexternal cylinder, and a sleeving structure is formed, the internal cylinder and the external cylinder realize sliding fit, the brake apparatus is fixed on the external cylinder, the brake apparatusapplies restriction force between the internal cylinder and the external cylinder, so that the internal cylinder and the external cylinder are mutually slid, and rigid connection is formed. A combination mode of a torque limiter and rack-and-pinion realizes linear displacement override, an axial length is short, weight is light, the linear displacement override rod structure is suitable for installation in a small space, disengagement while override is rapid, residual stress after disengagement is small, driver control burden is greatly mitigated, artificial reset can be carried out at ground,maintenance performance is good, reliability is high, service life is long, and security and control quality for airplane control are increased.

The present invention provides a human-machine collaborative path planning method in an unstructured environment for a mobile robot, which includes the following steps: S1, an operator-guided path planner; S2, a robot autonomous path planner; S3, the obtained result of step S1 The path planned by the operator and the path independently planned by the robot obtained in step S2 are mixed and filtered, and the path modified by the operator is combined with the path independently planned by the robot; S4, tactile feedback: the position deviation between the planned path and the actual path traveled by the robot Deviation from speed is fed back to the operator's handle in the form of force / tactile sensation. The method of the present invention combines force / tactile-based telemanipulation technology with autonomous planning technology, which not only overcomes the shortcoming that the mobile robot cannot autonomously complete field complex environment planning, but also reduces the operator's manipulation burden and improves work efficiency.

A method and device for controlling an unmanned aerial vehicle based on a maneuver chain disclosed in the embodiments of the present invention relate to unmanned aerial vehicle control technology and can solve the problem of a large operating burden on the commander of the existing unmanned aerial vehicle control technology. According to the status of the UAV and the current air situation, the commander selects the air combat mission that the UAV will perform after making a decision. For the air combat mission, a maneuver chain can be planned offline, including the maneuver type, parameters and switching conditions, and the command information The telemetry antenna is sent to the UAV, and the UAV executes the maneuvering action chain and completes the air combat task according to the instruction after receiving it. The method and device are mainly used for UAV control.

The invention belongs to the helicopter atmosphere system field, particularly to an air speed correction method for helicopter maneuvering flight, and solves the problem of air speed change in reverse direction when a helicopter performs large maneuvering movements like changing from rapid downslide to rapid climbing. An inertia sensor on the helicopter measures a vertical acceleration a; the vertical acceleration a opens a mobile points window for low pass filtering processing; the vertical acceleration is corrected after filtering processing to obtain a correction air speed that is close to a real air speed. <{EN3}>The correction of the air speed that is has a local distortion benefits controlling the flight stability by the automatic stationary system, reducing pilot's control burden and improving flight comfort level.

The invention relates to an antiskid control method for an aircraft brake and an aircraft brake system. An active control concept is adopted, and through combination of aircraft speeds during braking, and through consideration of the influence of lifting force for the high-speed aircraft, actual brake pressure is gradually increased along with the decelerating of the aircraft, dangers that at the beginning of brake, ground attachment coefficients are small, so that the aircraft skids, and even tyres can be exploded due to brake are avoided; besides, requirements for braking skills of a pilot are further reduced, overcoming of human factors is facilitated, and using safety of the aircraft at high speed is guaranteed; the braking pressure is gradually enlarged along with the decelerating of the aircraft, so that potential accident hazards existing in brake of the aircraft at high speed are solved, but also the operating frequency of antiskid control is reduced, and the braking efficiency is improved. The antiskid control method of the aircraft brake and the aircraft brake system disclosed by the invention are suitable for development of a new aircraft, and are suitable for refitting of active service aircraft types.

The invention relates to a maneuverability improving and controlling method based on a distributively driven electric vehicle. The method includes steps: acquisition of an ideal differential power-assisted steering curve, namely acquiring the differential power-assisted steering curve according to a longitudinal vehicle speed and a steering wheel torque; calculation of a reference yaw velocity, namely calculating an ideal yaw velocity target value according to a steering wheel turn angle and vehicular running parameters, and taking the calculated ideal yaw velocity target value as the reference yaw velocity; calculation of an additional yaw torque, namely tracking the calculated reference yaw velocity in real time, calculating the additional yaw torque through feedforward control and feedback control; longitudinal force distribution, namely distributing driving torques of front-axle left and right wheels and rear-axle left and right wheels according to the ideal differential power-assisted steering curve and the additional yaw torque. Compared with the prior art, the method has the advantages that overall yaw velocity response is improved while operating burden is relieved for a driver, and accordingly maneuverability of the whole vehicle is effectively improved.

The invention discloses a distributed driving electric automobile torque vector control method based on double-layer control. The control method comprises the following steps: establishing a vehicle dynamic model, and calculating a tire slip rate by utilizing a Dugoff tire model; establishing a torque distribution controller based on the vehicle dynamic model and the Dugoff tire model, wherein thetorque distribution controller comprises an upper controller and a lower controller; calculating the current drive torque of each driving wheel of the vehicle by the upper controller according to body yawing angular velocity; calculating a compensating torque needed for remaining an ideal slip rate of each driving wheel by the lower controller according to the ideal slip rate of each driving wheel serving as a control objective, and further performing compensation distribution on the driving torque, so that an actual torque is output to the driving wheel, and torque vector control is completed. According to the control method disclosed by the invention, the automobile torque can be effectively subjected to vector distribution, the vehicle driving stability and smoothness are improved, theoperating burden of the driver is obviously decreased, and the driving safety is improved.

The invention discloses a strong and robust full-envelope integrated control method for a tilt-rotor UAV. On the basis of INDI control, combined with envelope protection, hierarchical control distribution, and integrated control of height and attitude, single control can be realized Unified control of the entire flight envelope by the controller. This control method can effectively deal with the problem of control quality degradation caused by the nonlinear time-varying characteristics of the tilt-rotor UAV, and realize the precise control of the height and attitude of the tilt-rotor UAV. This control method can greatly reduce the dependence of controller parameters on the accuracy of the UAV model, and improve the robustness of the controller to model mismatch and external disturbances. Different from the traditional segmented tiltrotor control mode, the present invention adopts an integrated control structure, which can avoid artificially introducing discontinuity of control parameters or control signals, and improve flight safety and controller integration.

The invention belongs to the technical field of flying control, and particularly relates to an aerial oil receiving guide control method based on machine vision. The method aims at an airplane with oil adding and oil receiving functions so as to broaden the range of fighting and improve the possibility of successful recovery. The method is characterized in that the key point for realizing aerial oil adding is that the relative position between an oil adding cone tube and an oil receiving plane is accurately measured and effective guide and control are carried out on the oil receiving plane. As for a vision guide system, two main components of vision navigation and guide control can be divided. Supposed the oil adding plane flies at the set height at a constant speed and in a straight line, an auxiliary optical marker is arranged on the oil adding cone tube of the oil adding plane, a camera is arranged on the oil receiving plane, the position and the gesture of the oil adding cone tube can be measured in real time by adopting the vision measurement technology, a proper flight control rate is designed to guide the oil receiving plane, and oil adding and docking can be finished. According to the aerial refueling guide control method based on machine vision, the method is suitable for features of the oil receiving task, the operation burdens of a pilot during the oil receiving task process are reduced, and the success rate of the oil receiving task can be greatly improved.