34 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 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.

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.

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 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.

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.

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.

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 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.

A hybrid airship system comprising an envelope containing a lifting gas for generating buoyant lift, at least one rotor assembly mounted to the airship and configured to generate downward thrust to counteract over-buoyancy, and a control system configured to dynamically adjust operation of the at least one rotor assembly based on buoyancy conditions of the airship. The control system monitors buoyancy conditions and automatically activates the rotor assembly to generate downward thrust when over-buoyancy is detected, eliminating the need for ballast release. The rotor assembly operates in reverse thrust mode to provide precise altitude control and stability during flight operations. The lifting gas comprises helium or hydrogen contained within the envelope structure.

The invention provides a method for determining the throat area height of a turbine guide vane, and belongs to the technical field of gas turbines.The method comprises the steps that a turbine guide vane theoretical model is constructed, and theoretical width feature points of the turbine guide vane are determined based on the turbine guide vane theoretical model; determining a theoretical height vector according to the theoretical width feature points; measuring actual height and width characteristic curves of the turbine guide blade by adopting a three-coordinate instrument; rotating the height characteristic curve around the axis of the engine to form actual upper and lower edge plate surfaces; determining a height control point through the actual width characteristic curve; and establishing a height straight line through the theoretical height vector and the height control point, wherein the intersection point distance between the height straight line and the actual upper and lower edge plate surfaces is the actual window height.

The application discloses a target aircraft sustained high overload anti-falling control method, which comprises the following steps: according to the aerodynamic characteristics of the target aircraft, a three-degree-of-freedom model is used to design a predetermined height instruction and a predetermined longitudinal velocity instruction of the target aircraft trajectory; a height overload instruction nyc_H and a longitudinal overload instruction nylc required by height control are solved; a roll angle instruction γ of the target aircraft maneuvering section is calculated according to the height overload instruction nyc_H c ; a pitch channel overload instruction ny is calculated by using the longitudinal overload instruction nylc and a lateral overload instruction nzc c ; the setting of the target aircraft autopilot control parameters is completed; and the target aircraft is controlled to fly. The longitudinal overload instruction nyc_H solved from the height overload instruction is used as the longitudinal overload instruction of the control system, so that a dynamic and relatively smooth overload instruction is obtained during the sustained high overload of the target aircraft, and the height of the target aircraft can be kept in a range with small dispersion during the sustained high overload.

The present application relates to the field of unmanned aerial vehicle control, and particularly relates to a water unmanned aerial vehicle control method and device, which receives positioning distance information between a water unmanned aerial vehicle and a remote control beacon; determines whether the distance between the water unmanned aerial vehicle and the remote control beacon exceeds a preset maximum allowable offset distance according to the positioning distance information; controls a paddle to raise the water unmanned aerial vehicle to a preset target height when the distance between the water unmanned aerial vehicle and the remote control beacon exceeds the maximum allowable offset distance; controls the paddle to make the water unmanned aerial vehicle fly horizontally to approach the remote control beacon to a preset target distance; and lands the water unmanned aerial vehicle on the water surface to make the water unmanned aerial vehicle enter a floating standby state. The present application automatically ends the standby state, returns to approach the remote control beacon when the distance between the water unmanned aerial vehicle and the remote control beacon is too far, and automatically completes water landing and standby switching after approaching the remote control beacon.

The present application relates to a kind of based on identity and satellite positioning three-dimensional model no-drift presentation system and method, belong to satellite direct connection positioning and three-dimensional visualization technical field.System is directly indexed official authentication standard three-dimensional model by carrier identity, replaces real-time perception reconstruction with data source trust, avoids high power consumption;Combined with satellite positioning and physical reference point mapping, three-dimensional model no-drift accurate presentation is realized.The present application supports ground network and satellite communication dual-mode switching, compatible with electronic map platform, provides reliable perception redundancy for intelligent driving, is applicable to vehicle-road cloud cooperation, intelligent navigation, low-altitude control and other scenes, significantly reduces edge computing load and bandwidth occupation, improves system efficiency and positioning accuracy, solves the problems such as large calculation capacity, model drift, easy tampering, no network available of traditional scheme, strengthens road traffic safety, active obstacle avoidance and vehicle-road cloud cooperation control, reduces traffic accident risk.

The invention discloses an aerostat height adjusting device and method, and relates to the technical field of aerostats. The device specifically comprises a main body, a discharging assembly installed at one end of the main body, an exhaust assembly installed at the other end of the main body and an avionics system installed in a cavity of the main body. The avionics system is located between the discharging assembly and the exhaust assembly, the discharging assembly and the exhaust assembly are separated through the cavity of the body, and the avionics system is further electrically connected to the exhaust assembly and the discharging assembly. Through an integrated integration and physical isolation structure, electrical connection is remarkably shortened, system reliability is improved, pneumatic interference of exhaust on discharging is effectively eliminated, and metering precision and height control accuracy are guaranteed.

The application provides a wheeled biped robot whole machine coupling control system and method, and belongs to the technical field of robot control, the system comprises a wheeled biped robot body, a sensor module, an embedded controller and a control software module; the wheeled biped robot body comprises a fuselage, left and right parallel five-link leg mechanisms, hub motors and joint motors, the left and right parallel five-link leg mechanisms are connected on both sides of the fuselage, and the joint motors and the hub motors are arranged in the left and right parallel five-link leg mechanisms; the sensor module comprises encoders and inertial measurement units (IMUs) for measuring the motion state and attitude information of the robot; the embedded controller executes a control algorithm; and the control software module comprises a state estimation module, a balance control module, an attitude control module and an altitude control module.The wheeled biped robot whole machine coupling control system and method solve the problem of insufficient joint motor and hub motor collaborative control in the prior art.

Various aspects of the disclosure generally relate to an altitude control system that may be used with lighter-than-air (LTA) aircraft. The altitude control system may include a motor and propeller. In one aspect, the motor may spin the propeller, directing thrust opposite to gravity, which may cause the LTA aircraft to descend. The LTA aircraft may be a balloon with the balloon / control system used in one aspect as a weather balloon gathering atmospheric data.

The invention provides a design method of an airplane cabin shape. The design method comprises the following steps: step 1, establishing a cabin coordinate system; 2, defining a quadratic curve under a cabin coordinate system; 3, according to the internal arrangement condition of the aircraft cabin, the cabin appearance three-dimensional size constraint is determined; step 4, taking a nose coordinate origin as a maximum half-width control curve starting point, taking a nose rotating body longitudinal cut-off position control line as a first longitudinal reference line, and taking a propeller tail disc control line as a second longitudinal reference line; 5, under the cabin coordinate system, according to the cabin appearance three-dimensional size constraint, the first longitudinal reference line and the second longitudinal reference line, determining control point positions (x, y, z); step 6, establishing a longitudinal control curve, wherein the longitudinal control curve comprises a width control curve and a height control curve; step 7, establishing a sweeping curve according to the longitudinal control curve; 8, at least two sweeping curved surfaces are established, and all the sweeping curved surfaces form the appearance of the aircraft cabin.

To enable the desired altitude control without complicating or increasing the size of the altitude control device structure. [Solution] The reactor 1 for high-altitude balloons comprises a gas flow section 11 having an internal space, a float gas source housing section 2 provided in an airtight and watertight manner on one axial end of the gas flow section 11 and housing a float gas source inside, and a reaction liquid housing section 12 provided in an airtight and watertight manner on the other axial end of the gas flow section 11 and storing a reaction liquid inside that chemically reacts with the float gas source to generate float gas, and further comprises a rotation control device 4 that integrally controls the rotation of the reactor 1 at a predetermined angle.

This invention relates to the field of electromagnetic physics simulation experiments, specifically to a physical simulation experimental device for transient electromagnetic detection using a UAV semi-airborne electromagnetic source. The device includes a main control unit, a vehicle simulation system, an altitude control simulation system, a SATEM simulation launch system, a SATEM simulation receiving system, and a geophysical model. The main control unit is connected to the SATEM simulation launch system, the SATEM simulation receiving system, and the vehicle simulation system via cables. The altitude control simulation system is mounted on the vehicle simulation system, which is positioned above the geophysical model. This invention enables indoor physical simulation experiments of semi-airborne transient electromagnetic exploration technology, avoiding the influence of various adverse outdoor factors, effectively improving experimental efficiency, reducing data errors, and thus enhancing the accuracy and reliability of the data.

This invention provides a simple conveying system with minimal restrictions on movement on the robot device side, and a control method for the conveying system that enables good operability during cargo transport. When the conveying system (10) transports the hanging unit (70) except when the cargo (P) is lifted off the ground from the loading surface or when the cargo (P) is placed on the loading surface and touches the ground, the third control unit performs holding control to hold the hanging unit. Based on the detection result of the load change in the load detection unit (44), the first control unit performs torque control to lower the hanging unit (70) based on the increase of the load and raise the hanging unit (70) based on the decrease of the load. When the cargo (P) is lifted off the ground or when the cargo (P) is placed on the loading surface and touches the ground, the third control unit performs release control to release the holding unit (60). The first control unit performs height control, in which the winch (30) is operated to control the movement of the holding unit (60) to the target height in the vertical direction.

The invention discloses an asymmetric three-rotor unmanned aerial vehicle height control method based on PID control. The asymmetric three-rotor unmanned aerial vehicle height control method is suitable for an asymmetric three-rotor unmanned aerial vehicle with a full-rank inertia tensor. According to the method, the thrust of the motor is adjusted through the PID controller so as to stabilize the flight height of the unmanned aerial vehicle. The method comprises the following steps: firstly, establishing a kinetic model of the three-rotor unmanned aerial vehicle, and particularly considering the asymmetric configuration and the full-rank characteristic of an inertia tensor of the three-rotor unmanned aerial vehicle; then, a PID controller is used for calculating a height error, a speed error and an acceleration error, and the control quantity is adjusted through proportional, integral and differential gains, so that the thrust of the motor is adjusted in real time, and the height stability of the aircraft is ensured; the method has high robustness, is suitable for height control in a dynamic environment, is low in calculation complexity, and is suitable for small aircrafts and embedded flight control systems.

The invention discloses a control method for a fixed-wing unmanned aerial vehicle to regularly arrive at a target position. The method comprises the following steps: determining arrival time / time and destination coordinates, and further performing steepest height control on the unmanned aerial vehicle; calculating a target indicated airspeed and a weighted target indicated airspeed of each leg; and performing real-time control on the unmanned aerial vehicle based on the target indicated airspeed, the weighted target indicated airspeed and the safety adjustment range. The purpose of regularly arriving at the target position is achieved by using the safe adjustment range of the unmanned aerial vehicle.

A hybrid airship system comprising an envelope containing a lifting gas for generating buoyant lift, at least one rotor assembly mounted to the airship and configured to generate downward thrust to counteract over-buoyancy, and a control system configured to dynamically adjust operation of the at least one rotor assembly based on buoyancy conditions of the airship. The control system monitors buoyancy conditions and automatically activates the rotor assembly to generate downward thrust when over-buoyancy is detected, eliminating the need for ballast release. The rotor assembly operates in reverse thrust mode to provide precise altitude control and stability during flight operations. The lifting gas comprises helium or hydrogen contained within the envelope structure.