114 results about "Altitude control" patented technology

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

The invention provides an automatic calibration and accurate measurement control system and method for the cutting height of a digging and anchoring all-in-one machine, and relates to the technical field of intelligent control, and the method comprises the steps that a main controller collects the information of a displacement sensor, and calculates the initial angle and the actual angle of the cutting height control system of the digging and anchoring all-in-one machine; according to the set parameters, the installation angle of the cutting height control mechanism of the digging and anchoring all-in-one machine is calculated; calculating the real-time height of the cutting roller of the digging and anchoring integrated machine according to the cutting height accurate measurement algorithm software; and comparing the real-time height of the cutting roller of the digging and anchoring all-in-one machine with the upper limit of the cutting height and the lower limit of the cutting height, and controlling a solenoid valve of a lifting oil cylinder of a cutting arm to act until the cutting roller reaches the target height. According to the invention, the quality of the top and bottom plates of the roadway can be improved, the working efficiency of roadway tunneling is improved, and the intelligent and automatic level of roadway tunneling is improved.

The invention discloses an air suspension height control method, device and equipment, a storage medium and a program product. The method comprises the steps that the target height grade of the air suspension and the actual total gas amount in a cavity of the air suspension and a cavity of an adjusting mechanism are obtained; determining the total target gas quantity corresponding to the target height grade according to the corresponding relation between the height grade and the gas quantity; under the condition that the difference value between the actual total gas quantity and the total target gas quantity is larger than a preset threshold value, the actual total gas quantity is adjusted, so that the difference value between the adjusted actual total gas quantity and the total target gas quantity is smaller than or equal to the preset threshold value; and based on the target height grade and the adjusted actual total gas quantity, an adjusting mechanism is controlled to work so as to adjust the height of the air suspension. According to the embodiment of the invention, the air quantity of the air storage tank and the air spring is adjusted, and before the air suspension is adjusted, the air quantity of the air storage tank and the air spring is adjusted in advance, so that the efficiency of adjusting the air suspension is improved.

The invention discloses a low-altitude airspace dynamic navigation information generation system and method. The system comprises a plurality of low-altitude aircrafts, a plurality of flight information edge computing devices, a low-altitude information center and a low-altitude control center. The plurality of low-altitude aircrafts are in communication connection with the plurality of flight information edge computing devices; the plurality of flight information edge computing devices are in communication connection with the low-altitude information center; the low-altitude information center is in communication connection with the low-altitude control center; according to the invention, low-altitude navigation intelligence information can be accurately provided in real time.

The invention comprises an apparatus, method for using the apparatus and system for balloon altitude control by in-situ characterization and active energy management. The invention presented enables transportation, autonomous operation and use of a balloon beyond the limits of conventional high-altitude ballooning to the edge of the atmosphere, or about 100 km above the surface of the Earth. The apparatus comprises at least: an envelope containing lift-gas; an envelope and lift-gas characterizer; an altitude control system operated using active energy addition and lift-gas transfer or ambient air introduction into the system; and an external payload component. The invention is capable of operating in ascent, descent, or stationary mode; the altitudinal movement of the balloon is caused by measuring in-situ envelope and lift-gas characteristics, identifying the change in the lift-gas energy needed, and facilitating the required energy change for altitude control.

The embodiment of the invention provides a vehicle, a vehicle control method, device and equipment, a medium and a product, and the vehicle comprises a plurality of first-class sensors which are used for collecting suspension height data corresponding to each wheel; the second type sensor is used for collecting attitude related data of the vehicle; and the controller is used for controlling the height of the suspension according to the attitude related data and the suspension height data collected by the first type of sensors which do not fail when a part of the first type of sensors fail. According to the embodiment of the invention, the method achieves the estimation of the height of the suspension when the sensor breaks down, achieves the control of the suspension through the estimated height value, improves the fault tolerance of a suspension control system, and guarantees the control stability of the suspension and the safety of a vehicle.

A method for guiding the maximum height of a passive ascending trajectory of a boosting gliding aircraft comprises the following steps: based on an approximate hypothesis that the passive ascending trajectory inclination angle is small and the speed change is small, considering that the aircraft can gradually descend in an overload mode in the height ascending process, and representing a normal overload instruction as a quadratic function form of the trajectory inclination angle; the analytic relation between the maximum ballistic height and the normal overload instruction is obtained through integration, normal overload instruction parameters are iteratively solved according to the expected maximum ballistic height value during actual flight, and the maximum ballistic height is controlled within a relatively accurate range.

The invention provides a low-altitude and ground traffic intelligent cooperative control method based on multi-agent reinforcement learning. The method comprises the steps that traffic state information is acquired, and scene classification is performed through a multi-agent reinforcement learning model; if the scene is a low-altitude congestion scene, executing unmanned aerial vehicle path dynamic planning, airspace resource allocation and conflict resolution, and fusing to generate a low-altitude control instruction; if the scene is a ground conflict scene, vehicle priority ranking, signal lamp optimization and road right distribution are executed, and a ground control instruction is generated through secondary fusion after a conflict resolution weight matrix is constructed; and finally, fusing low-altitude and ground instructions through a double-layer attention mechanism, and outputting a global cooperative scheduling scheme. According to the method, the airspace resource utilization rate and the road traffic efficiency can be improved, the traffic conflict risk is reduced, and a global integrated optimal scheduling scheme is formed.

The invention discloses an aircraft control method based on barometric altitude compensation and attitude calculation of dual-sensor fusion, and the method comprises the steps: carrying out the temperature compensation and attitude calculation through collecting the data of a barometric sensor and an inertial measurement unit, and obtaining an original altitude and an Euler angle; processing the original height based on an alpha-beta filter to obtain an air pressure estimation height, and calculating an inertial navigation height and a vertical speed through attitude conversion integral; a self-adaptive complementary filtering strategy is adopted, the fusion weight is dynamically adjusted according to the air pressure estimation height variance, the high-frequency inertial data and the low-frequency air pressure data are fused, and accurate fusion height and vertical speed are output; finally, constructing a cascade controller, and calculating a target vertical speed instruction by an outer ring according to the expected height deviation; the inner ring generates an actuator signal based on the deviation to drive a motor; height stable control is achieved, so that drifting is effectively restrained, the precision and the response speed are improved, and reliable height control of the aircraft under vibration or air pressure changes is achieved.

The present invention relates to a longitudinal trajectory control method and control system for unmanned aerial vehicle (UAV) rope collision recovery, which is suitable for high-precision rope collision recovery of skyhook recovery type UAV. By applying the longitudinal trajectory control method proposed in the present invention, the height and speed can be decoupled and controlled, and the speed, height and pitch angle of the UAV during rope collision recovery are all within the optimal range through attitude constraints. This method can greatly improve the success rate of a rope collision, realize high-precision rope collision point control and speed and attitude control, avoid the increase in time cost and risk caused by frequent go-arounds due to low control accuracy, and avoid wing damage or reduced service life due to inaccurate impact points or excessive speed when hitting the rope. The control method of the present invention greatly improves the height control accuracy and wind resistance under harsh time and speed constraints, improves the success rate of a rope collision, and makes the rope collision point optimal, reduces the probability of damage to the UAV rope collision, and improves the service life.

An agricultural vehicle comprises a chassis, a header carried by the chassis, an actuator system including a plurality of actuators linked to a frame of the header and configured to adjust an orientation of the header, a GPS device configured to output a GPS position of the vehicle, and a controller. The header includes a frame and one or more sensors carried by the frame. The controller is electrically coupled to the one or more sensors, the actuator system, and the GPS device. The controller is configured to receive from a memory a final orientation of the header associated with a GPS position at a second location on a last pass that is closest in distance to a GPS position at an upcoming location on the current pass, and activate one or more actuators to re-orient the header before the vehicle arrives at the upcoming location.

The application discloses a rocket ejection seat control method and system under an inertial navigation fault working condition, a program controller receives and processes data of PIU1 and PIU2, an overload sensing device and a pressure altitude sensor in real time, when chair-mounted inertial navigation communication fails or data is unavailable, the program controller adopts data in the PIU1 to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, when the PIU1 data is abnormal, the program controller adopts data in the PIU2 to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, when the PIU2 data is abnormal, the program controller uses data collected by the overload sensing device to perform mode determination and uses data collected by the pressure altitude sensor to complete remaining height control, and when the overload sensing device is abnormal, the program controller performs fixed delay time control. The application guarantees lifesaving performance of the ejection seat under the inertial navigation fault mode, and improves reliability and safety of rocket ejection lifesaving.

A UAV control method, a device, a UAV, and a storage medium are provided. The method includes: obtaining a UAV's take-off position; obtaining a height map of an area around the take-off position; determining height information of a highest target in the area around the take-off position based on the height map; determining a relative height between the highest target and the take-off position based on the height information of the highest target; determining a restricted flight altitude of the UAV relative to the take-off position based on the relative height, and controlling the UAV based on the restricted flight altitude; where the restricted flight altitude is greater than or equal to the relative height. It thus can ensure flight safety while offering more reasonable and user-friendly flight flexibility and freedom.

The invention discloses a wide-range adjustable gliding guidance method for a hypersonic-velocity maneuvering aircraft, and relates to the technical field of aircraft guidance. Performing remote longitudinal guidance based on an attack angle instruction and remote transverse guidance based on a heeling angle instruction by using a hybrid energy adjustment method; when short-range gliding guidance is carried out on the hypersonic aircraft, an attack angle instruction is set on a preset fixed attack angle profile, and pneumatic deceleration longitudinal guidance and pneumatic deceleration transverse guidance based on a heeling angle instruction are carried out by using a pneumatic deceleration gliding guidance method based on a D-V profile. According to the method, speed and height control weights are dynamically distributed in the remote stage to break through lift-drag ratio limitation, efficient deceleration and transverse constraint are achieved by combining a fixed attack angle profile and robust heeling angle symbol control in the short-range stage, and the core problems of range splitting, low energy management efficiency and insufficient terminal control precision in the prior art are solved.

The application relates to the technical field of lifting control, and discloses a control method and a control device of a lifting device, in order to realize accurate lifting height control. The control method comprises the following steps: obtaining a control instruction comprising a cycle number, a cycle time and an expected height; obtaining the actual height of a load in real time; setting the ratio of the motor rotating speed to the lifting speed of the load in the first cycle; when i is greater than 1, calculating the ratio in the i-th cycle according to the output rotating speed of the motor in the (i-1)-th cycle, the actual height at the starting moment of the (i-1)-th cycle, the actual height at the starting moment of the i-th cycle and the cycle time of the (i-1)-th cycle; in the i-th cycle, calculating the output rotating speed of the motor according to the expected height, the actual height at the starting moment of the i-th cycle, the cycle time of the i-th cycle and the ratio in the i-th cycle; and controlling the motor according to the calculated output rotating speed in the first to i-th cycles respectively.

The invention provides a low-altitude space-time grid division method, system and device, a medium and a program product. The low-altitude space-time grid division method comprises the steps that a low-altitude space domain is divided into a space domain plane dimension, a space domain height dimension and a time dimension; progressively dividing the spatial domain plane dimension into a plurality of plane hierarchies according to longitude and latitude directions; dividing the spatial domain height dimension into a plurality of height levels by adopting a recursive dichotomy; dividing natural days for the time dimension, and progressively dividing the natural days into a plurality of time levels; and dynamically selecting the plane hierarchy, and / or the height hierarchy, and / or the time hierarchy based on management and control requirements. According to the method, the optimal space-time precision grade can be intelligently matched according to the attributes and control requirements of a specific region, so that the differentiated control granularity requirements in a global range are efficiently and uniformly adapted. The characteristic integrating high efficiency, flexibility and uniformity provides indispensable underlying support for refined low-altitude management and control application requiring extremely low delay response and high concurrent processing capability.

In a transport system, when transporting a suspension means other than at the time of dynamic lift-off when a package is lifted or other than at the time of landing when the package is placed, a third control means executes holding control to perform holding by a holding means, a first control means executes torque control to lower the suspension means when the load increases and to hoist the suspension means when the load decreases, at the time of dynamic lift-off when the package is lifted from the placement surface, or at the time of landing when the package is placed on the placement surface, the third control means executes release control to release the holding by the holding means, and the first control means executes the height control in which the hoisting machine is actuated to control moving the holding means to the target height.

The embodiments of the present application provide an aircraft simulation test system, method, device and storage medium, and relate to the field of aircraft simulation test technology. The system includes: an altimeter simulation test device, which is used to perform echo simulation processing on the transmission signal emitted by the altimeter to obtain a simulated echo signal; an altimeter, which is connected to the altimeter simulation test device, and is used to determine a first altitude based on the transmission signal and the simulated echo signal sent by the altimeter simulation test device; a flight control device, which is connected to the altimeter, and is used to control the flight of the aircraft based on the first altitude. The embodiments of the present application can connect the first altitude of the altimeter to the flight control device, that is, the height measurement data of the altimeter can be involved in the calculation of the flight control program, so as to realize the simulation test of the aircraft under the condition of the participation of the altimeter, and improve the effectiveness and fidelity of the simulation test of the aircraft.

The present invention provides an integrated low-altitude control and counter-drone command vehicle system and control method, belonging to the field of vehicle-mounted drone prevention and control. The method includes: preparing a prevention and control plan, setting up protected areas, denied areas, and early warning areas; demarcating the flight airspace of the vehicle-mounted drone, planning the flight route, preparing a flight plan, receiving flight plan approval, controlling the vehicle-mounted drone to take off and execute the mission, and adding it to a whitelist; detecting and identifying drones entering the early warning area, generating target early warning information, and adding them to a blacklist; when a drone on the blacklist enters the denied area, determining whether the drone model on the blacklist is in a spectrum feature library, determining whether the drone on the blacklist and the drone on the whitelist are in the same frequency band and within the same interference beam range, and performing interference treatment based on the determination result; and after the mission is completed, replaying and statistically analyzing the data transmission and reception instructions and the control scene. The present invention is comprehensive in function and practical in method.

A phased array antenna system capable of controlling the altitude and / or attitude of a plurality of element satellites with a simple configuration is provided. [Solution] The phased array antenna system of the present disclosure is an antenna system comprising a plurality of first element satellites each provided with a first antenna section, and a second element satellite, wherein the plurality of first element satellites and the second element satellites are arranged in an array, and each of the plurality of first element satellites is provided with a first spacing control means for controlling the spacing between it and another first element satellite or the second element satellite, and the second element satellite is provided with an altitude control means for controlling the altitude of the second element satellite and / or an attitude control means for controlling the attitude of the second element satellite, and a second spacing control means for controlling the spacing between it and at least some of the plurality of first element satellites.

The utility model aims to design a pipeline detector device, a pipeline detector, a microprocessor, a coordinate locator, a height control sensor, an anti-collision sensor and a signal transceiving antenna are arranged on a micro remote control unmanned aerial vehicle, and the height control sensor controls the flight height of the micro remote control unmanned aerial vehicle. The anti-collision sensor prevents the miniature remote control unmanned aerial vehicle from colliding with an object during flight, the coordinate positioning instrument calibrates the pipeline position detected by the pipeline detector, and the pipeline detector transmits the detected pipeline information to the operation board and the display screen through the microprocessor and the signal receiving and transmitting antenna. The operation board can adjust data of the height control sensor and the anti-collision sensor through the microprocessor, the pipeline detector and the signal receiving and transmitting antenna so as to control the miniature remote control unmanned aerial vehicle.

The invention discloses a design and regulation method of a multi-layer low-altitude roundabout three-dimensional intersection, which comprises the following steps: constructing a multi-layer annular airway three-dimensional structure, dividing the airspace at the low-altitude airway intersection into a plurality of height layers in the vertical direction, and arranging annular airways with the same circle center plane position and different heights on each layer; defining an intersection operation rule; deploying a low-altitude management and control framework; and the ground intelligent control center obtains the state of the aircraft through a communication network, and carries out scheduling decision making according to a dynamic priority strategy. Through the multi-layer annular route and vertical layer change design, the vertical dimension of the low-altitude airspace is fully utilized, the interleaving conflict is effectively reduced, the delay time of the low-altitude intersection is shortened, and the airspace capacity and safety are improved. The method can be widely applied to the technical field of low-altitude traffic management.

This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, specifically relating to a method and apparatus for UAV altitude hold control. The method includes the following steps: acquiring electrooculogram (EOG) signals; determining the signal source and detecting blink events based on the EOG signals to obtain an updated desired flight altitude change; acquiring electroencephalogram (EEG) signals; decoding the EEG signals to obtain a determined desired flight direction; determining the desired flight altitude based on the desired flight altitude change and the desired flight direction; inputting the desired flight altitude to a model predictive controller to solve for the optimal control input to generate a desired thrust value; and mapping the thrust value to the speed control signals of each control motor through a power conversion module. This invention converts EEG signals into a desired flight direction and EOG signals into a dynamically adjustable desired flight altitude change, comprehensively determining the desired flight altitude, thus achieving excellent precision and stability in UAV altitude hold control.

The present application belongs to the field of aircraft flight control, and particularly relates to a kind of finite time flight height control method of integrated flap direct force control.The finite time flight height control method of integrated flap direct force control according to height control reference trajectory, establishes the linear dynamics model of the longitudinal channel of the controlled aircraft;According to the flight control target, a finite time domain linear quadratic optimal control problem is established, and the corresponding two-point boundary value problem is derived;Using finite-time iteration algorithm, the optimal flight state and control solution of flight height control are obtained;The optimal solution is applied to height control.The finite time flight height control method of integrated flap direct force control uses finite-time iteration to obtain optimal control instructions, and through parallel computing, efficient solution of height and heading position control instructions is realized, which has engineering practical value.

The invention belongs to the field of suspension control, and particularly relates to an air suspension smoothness control method and system based on height control. The method comprises the following steps: collecting a vehicle attitude signal; judging a height gear; the height change of the air spring is controlled based on chassis protection and wind resistance reduction, and the internal air pressure of the air spring is controlled through a switch solenoid valve, so that the height of a vehicle body is adjusted. Obtaining a mechanical characteristic curve of the magnetorheological damper according to the test; and when height control is completed, damping force output of the magnetorheological damper is controlled according to a PID algorithm, and optimization of vehicle smoothness is carried out. On the basis that height control is achieved by controlling an electromagnetic valve switch, damping force is controlled, and height control and smoothness optimization are completed at the same time; and a magneto-rheological mechanical characteristic curve is iteratively calculated by utilizing a genetic algorithm and an improved sigmoid model, so that the damping force is more accurately controlled.

The invention relates to an automatic lifting and releasing device for a ball falling instrument, which is characterized in that smooth circular shafts are rotatably mounted at the upper and lower ends of a main body frame, transmission gears are mounted on the smooth circular shafts at intervals, a transmission chain is connected between the transmission gears, fixed blocks are mounted at the front ends of the main body frame and a bottom platform, and optical shaft guide rails penetrate through the fixed blocks; a ball falling instrument bearing frame is arranged on the optical axis guide rail in a sliding mode through a sliding block, the back face of the ball falling instrument bearing frame is connected to a transmission chain, an electromagnet is arranged at the bottom of the ball falling instrument bearing frame, and the microcontroller can control on-off of the electromagnet and lifting of the ball falling instrument bearing frame to achieve lifting or releasing of the ball falling instrument. And meanwhile, the electric driving wheel can be controlled to drive the device to automatically move to a specified test point. Full-automatic operation of lifting, releasing and moving of the falling ball instrument is achieved, the falling ball height control and point position transfer process does not need to be manually intervened, the labor intensity of detection personnel is effectively reduced, automatic cycle operation is achieved, and the working efficiency of roadbed detection is greatly improved.

The invention relates to the technical field of engineering machinery, and discloses a self-walking insulation lifting platform which comprises a chassis serving as a supporting carrier of the whole device, two special tracks are installed at the bottom of the chassis, and the special tracks are used for providing excellent traction force and ensuring stable walking of the whole platform on various complex grounds; the lifting assembly is installed at the top of the chassis and used for adjusting the height of the platform, a top plate is installed at the top of the lifting assembly, and fixing rods are installed at the four corners of the top of the top plate; the adjusting assembly is installed on the inner side of the fixing rod, and the adjusting assembly is used for adjusting the height of the handrail; and the control box is mounted on one side of the chassis. By additionally arranging the automatic leveling module, the inclination angle of the platform can be monitored in real time, the height and posture of the platform can be automatically adjusted according to the ground condition, and it is ensured that the platform can be kept in the horizontal state under any ground condition.

The invention relates to the field of aircraft guidance control, and discloses a cruise tracking control method for a hypersonic aircraft with a plasma excitation device. The method comprises the following steps: step S1, establishing a dynamic model of a longitudinal motion plane of the aircraft; step S2, control-oriented longitudinal motion plane model conversion; step S3, establishing an equivalent control surface model of the plasma excitation device; step S4, designing a nonlinear disturbance observer; step S5, designing a speed control law based on the disturbance observer; step S6, designing an altitude control law based on the disturbance observer; and step S7, validating the effectiveness of a control algorithm. The invention additionally considers a plasma excitation device as an actuator, effectively alleviating the problem of low control efficiency of the control surface of the hypersonic aircraft in large airspace flight, and combining the nonlinear inverse control theory and the disturbance observer method, realizes high-precision trajectory tracking control of the aircraft with the plasma excitation device in the cruise stage.

The utility model discloses an aircraft night landing guiding device which comprises a supporting box and a connecting shaft, the connecting shaft is arranged in the supporting box and extends to the outside of the supporting box, a movable sleeve is movably installed at the top end of the connecting shaft, a supporting frame is installed at the top end of the movable sleeve, and the supporting frame is connected with the connecting shaft. A movable frame is arranged on the outer wall of the supporting frame, a lamp holder is installed on the outer wall of the movable frame, a plurality of sets of guide lamps are installed on the outer wall of the lamp holder at equal intervals, the surface of a connecting shaft below a movable sleeve is sleeved with a connecting sleeve, a motor base is installed on the surface of the connecting sleeve, and a second right-angle motor is installed at the top end of the motor base. The height of the guiding device can be conveniently controlled and adjusted, circumferential rotating striking type guiding and convenient angle adjusting type rotating can be conveniently carried out, a landing point of an airplane which does not land in the air can be conveniently found, the guiding range is widened, and the convenience of controlling and adjusting the guiding device is improved; the efficiency of guiding the airplane to land at night by the guiding device is improved.