61 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 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 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.

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 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 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.

A system for sensing, controlling, and / or maintaining the pose (e.g., a heading, attitude, and / or elevation) of a ground-based vehicle is disclosed, which allows precise control of the orientation of the vehicle wheels and / or body relative to a ground surface is disclosed. When actuated, the pitch, roll, height, and / or pivot of the wheel axles relative to one another are controlled to achieve a commanded vehicle pose, raise one or more wheels from the ground surface, and / or place the body of the vehicle in contact with the surface, among other examples.

The present invention relates to a method for operating a front attachment (2, 20) arranged on a height-adjustable receiving device (3) of a self-propelled combine harvester (1) by means of actuators (5), the front attachment comprising a central segment (21) and two side segments (22L, 22R), each of which is pivotably connected to the central segment (21) by a frame joint (23) about a pivot axis (24) oriented in the direction of travel (FR), wherein the respective side segment (22L, 22R) is pivotable relative to the central segment (21) about the pivot axis (24) by means of at least one actuator (25) controlled by a control unit (17), wherein a lateral tilt angle (19) of the front attachment (2, 20) is set by pivoting about a virtual pendulum axis (8) of the receiving device (3), wherein a distance (12) between the ground (10) and the front attachment (2, 20) is determined by means of distance sensors (13) arranged on the underside of the attachment device (2, 20),whose signals are supplied to the control unit (17) for evaluation, by which, depending on the signals, a lateral control of the attachment device (2, 20) and / or the respective side segments (22L, 22R) is controlled, wherein the lateral control by the control unit (17) is carried out depending on a prioritization for the height control of one of the two side segments (22L, 22R).

The invention discloses a flying height control and trajectory tracking method for an aerocar in a ground-air dual mode, and the method comprises the following steps: 1, building a four-rotor aerocar dynamics model in a flying state; 2, designing a height controller based on adaptive RBF neural network sliding mode control according to the four-rotor aerocar dynamics model established in the step 1, and controlling the flight height by dynamically adjusting the rotating speed of a motor; and step 3, in a ground driving state, establishing a vehicle trajectory tracking model, designing a linear model prediction control algorithm, and outputting a required front wheel turning angle to realize trajectory tracking control. According to the method, air-ground dual-mode control of the hovercar is innovatively provided, and operation and control of the hovercar are well achieved.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a longitudinal track control method for a high-aspect-ratio unmanned aerial vehicle. The method comprises the steps that an elevator control channel of the unmanned aerial vehicle adopts a pitch angle control strategy to adjust an elevator to control the pitch angle of the unmanned aerial vehicle, so that the flight speed of the unmanned aerial vehicle is controlled; a power channel of the unmanned aerial vehicle controls the rotating speed of a propeller of the unmanned aerial vehicle through an energy control strategy, so that the flight height is controlled; the unmanned aerial vehicle decouples an elevator control channel and a power channel by adopting a longitudinal control strategy, so that longitudinal cooperative control of the unmanned aerial vehicle is completed; the longitudinal control strategy specifically comprises the steps that a speed instruction in an elevator control channel and a lifting speed instruction in a power channel serve as balancing points, and a pitch angle feed-forward value is obtained through force and moment balance and used for adjusting the pitch angle of the unmanned aerial vehicle; according to the invention, speed control and height control are mutually independent and accurate, and the overall reliability of longitudinal track cooperative control is ensured.

This invention discloses a low-altitude flight intelligent control information system integrating integrated sensing data, relating to the fields of communication and low-altitude control technology. It includes an integrated sensing base station, a reference signal receiving unit, a cognitive closed-loop engine, and a control decision module. The cognitive closed-loop engine executes a closed-loop process consisting of S1 reference-driven learning, S2 collaborative active identification, and S3 feedback-driven evolution: S1 utilizes reference signals from cooperative targets for directional acquisition and feature annotation, constructing a target physical feature knowledge base; S2, for non-cooperative targets, plans multi-base station collaborative acquisition tasks to maximize information gain, performs hierarchical matching reasoning on multi-dimensional features, and outputs the model, confidence level, and abnormal features; S3 verifies the identification accuracy based on control and response feedback, dynamically updating the knowledge base, feature validity map, and identification model parameters. This invention enables the system to possess continuous learning and self-optimization capabilities, improving the accuracy of identifying non-cooperative targets in complex low-altitude environments.

A method for calibrating a height control system for an implement of an agricultural work vehicle can include providing an input signal to the height control system to adjust a height of the implement relative to the ground surface; monitoring the height of the implement relative to the ground surface; adjusting at least one gain of the height control system; and determining a maximum stability gain of the height control system based on the at least one gain and the monitored height. The maximum stability gain can correspond with a stability point of the height control system at which the height control system transitions from stable to unstable. The method can include setting gain(s) of the height control system based on the maximum stability gain.

The application provides a low-altitude control data acquisition method and system based on radio identification, and relates to the technical field of low-altitude control.The method comprises the following steps: collecting basic information of an aircraft; packing the basic information according to a preset packing mode to obtain standard information; analyzing the standard information of the aircraft to obtain key information of the aircraft, wherein the key information comprises position information, speed and direction information; and combining the key information with GIS data to generate a real-time trajectory of the aircraft.The low-altitude control data acquisition method based on radio identification solves the technical problems in the related art, such as difficulty in quickly and accurately obtaining aircraft identity information in low-altitude monitoring, low data transmission efficiency and high delay in low-altitude monitoring, low efficiency and accuracy of data processing, lack of intuitive visualization tools in low-altitude monitoring, and difficulty in timely responding to illegal intrusion or dangerous behavior in low-altitude monitoring.

The utility model relates to the technical field of fan blade clearance monitoring, and discloses a fan blade clearance monitoring device with a verification function, which comprises a monitoring box and a height control device convenient to overhaul and maintain. According to the fan blade clearance monitoring device with the verification function, an overhauling worker can directly control the sliding seat to drive the monitoring box to move downwards, so that the monitoring box moves to the position close to the ground, the monitoring equipment is overhauled and maintained by the interface from the ground, high-altitude operation is not needed, the overhauling safety and convenience are improved, and the working efficiency is improved. The deformation shape of the end position of the fan blade can be monitored in a multi-point monitoring mode, the monitoring accuracy is improved, errors are reduced, when one monitoring device breaks down, monitoring devices of other point positions can maintain normal work, then the deformation displacement distance of the fan blade can be predicted through multi-point monitoring, and the monitoring accuracy is improved. Therefore, the purpose of early warning is achieved.

The invention belongs to the field of aircraft flight control, and particularly relates to a finite time flight height control method for comprehensive flap direct force control. The invention discloses a finite time flight height control method for comprehensive flap direct force control. According to a height control reference trajectory, a longitudinal channel linearization dynamic model of a controlled aircraft is established; according to a flight control target, establishing a finite time domain linear quadratic optimal control problem, and exporting a corresponding two-point boundary value problem; carrying out parallel solving by adopting a finite-order perpetual integral algorithm to obtain an optimal flight state and a control solution of flight height control; and applying the optimal solution to height control. According to the finite time flight height control method for comprehensive flap direct force control, the optimal control instruction is obtained through finite iteration solution, efficient solution of the height and course position control instruction is achieved through parallel calculation, and the method has engineering practical value.

The application discloses a kind of small shipborne cluster unmanned aerial vehicle skyhook recovery control methods, belong to unmanned aerial vehicle control field;Specifically: for small shipborne cluster unmanned aerial vehicle, the relative position between unmanned aerial vehicle and ship, speed, heading and the attitude information of ship are obtained by differential satellite navigation, to guide unmanned aerial vehicle landing;The flight route in the process of unmanned aerial vehicle skyhook recovery is divided into three sections: approach segment flight control module controls unmanned aerial vehicle to reduce height and speed, aligns recovery device and enters follow-fly mode;The hooking point is constantly corrected by real-time attitude of ship in recovery section, and the lateral offset distance control and height control of unmanned aerial vehicle are constantly carried out by L1 guidance law and PID controller, to improve hooking accuracy;The state of unmanned aerial vehicle is monitored and judged at decision point and hooking point in flyback section, as long as entering flyback, reenter recovery mode by shortest route, to reduce recovery flight time, minimize the influence on subsequent unmanned aerial vehicle recovery in cluster.

This application discloses a control method for a tail-mounted unmanned aerial vehicle (UAV). The method acquires the current pitch angle of the UAV in real time. When the absolute value of the pitch angle exceeds a preset threshold, it enters a large pitch angle control mode. In this mode, on the one hand, coordinated turn control is executed: the lateral translation control channel is closed, while the roll control channel remains open. The desired roll angle is acquired, and a coordinated yaw rate command is calculated based on the desired roll angle, desired pitch angle, and current airspeed to enable the UAV to achieve a coordinated turn flight state and reduce sideslip. On the other hand, coupled pitch altitude control is executed: based on the altitude control input and the current pitch angle, the X-axis vector of the UAV is projected onto a horizontal plane and rotated around the Y-axis by a pitch compensation angle to construct a virtual horizontal plane. The attitude control loop makes the UAV's attitude follow the changes in the virtual horizontal plane, indirectly achieving altitude adjustment by changing the thrust direction, thus compensating for the impact of thrust direction changes on vertical control capability at large pitch angles.

The invention provides a system and a method for optimizing dredging overflow efficiency of a trailing suction dredger, and relates to the technical field of dredging engineering equipment.The system comprises a sensor group, a control module, a driving module and a man-machine interaction unit, the sensor group is used for monitoring data of overflow density, dredge pump pressure, in-cabin liquid level and overflow cylinder height in real time, and the control module is used for controlling the driving module; historical ship number data are fused to construct a dynamic model; the control module is used for realizing an overflow control algorithm which comprises an overflow segmentation strategy and overflow cylinder height PID control; the driving module is used for controlling the electric adjusting valve, the frequency converter and the electromagnetic valve set and adjusting overflow parameters in real time. By means of intelligent dynamic adjustment and multi-parameter cooperative control, the sand storage rate can be increased, the earthwork loss rate can be reduced, and the problems that parameter adjustment lags behind and the intelligent level is insufficient are solved.

A computer-implemented system and related method manage noise from a drone. This method comprises generating a flight path for the drone from an origin to a destination and determining a path segment ground noise level for each segment that makes up the flight path within each ground level noise zone (GLNZ). A minimum altitude is determined for each path segment that is based on the determined path segment ground noise level within each GLNZ. The drone height / altitude above ground is controlled to be at or above the determined minimum altitude as it traverses the path segments of the path within each GLNZ.

The application belongs to the technical field of aerospace, and particularly relates to a kind of aircraft heading quick guidance control method, receive current command heading, obtain the derived heading of last beat, calculate the current command heading deviation: calculate the current derived heading increment, wherein coefficient K is determined according to the change amplitude or oscillation amplitude of command heading in a set time period, the value range of coefficient K is [0, 1]; determine the aircraft lateral flight state according to command heading and command heading deviation, and limit the current derived heading increment according to the corresponding amplitude limiting standard of aircraft lateral flight state; calculate the given lateral overload and given roll angle according to the current derived heading increment after limiting. The application is suitable for the heading guidance control of aircraft quick occupation, effectively suppresses lateral maneuver transient, and calculates the given lateral overload and given roll angle according to height control state, to realize smooth and quick heading maneuver under different strategies.