634 results about "Angular acceleration" patented technology

The invention discloses a use monitoring method and system for a knife gate valve, and relates to the technical field of knife gate valve monitoring, and the method comprises the steps: integrating a multi-mode sensor array at the root of a valve rod of the knife gate valve, an adjacent region of a sealing surface and in a valve cavity flow channel, and collecting multi-source signals in real time; performing dynamic fusion processing on the multi-source signal, and determining a feature extraction algorithm combination based on the current valve rod temperature and historical working condition data to extract a sealing surface damage feature, a transmission chain wear feature and a particle impact feature; constructing a dynamic anomaly judgment model, updating a clustering boundary of a vibration and torque characteristic space in real time, and performing decoupling diagnosis on a sealing surface dry friction risk, thread clearance expansion and gear wear in combination with time-frequency domain fluctuation analysis of a gear meshing frequency harmonic attenuation rate and an angular acceleration; and generating a three-level maintenance strategy according to the diagnosis result, dynamically adjusting the output torque of the execution mechanism and optimizing the switching frequency of the valve.

The invention relates to the technical field of fault diagnosis, in particular to an automatic anomaly detection method for a high-speed rotating transmission device, which comprises the following steps of: acquiring angular acceleration, rotating inertia and strain data of the high-speed rotating transmission device, calculating a transient strain gradient and matching a rotating speed change rate, adjusting a strain deviation range according to the change of the rotating inertia, and detecting the anomaly of the high-speed rotating transmission device. And screening strain abrupt change points to obtain a rotation strain matching result. According to the method, the dynamic strain response interval is set, the strain deviation range is adjusted, the strain abrupt change points are screened, the frequency response of the equipment is monitored in real time and compared with the normal frequency, so that continuous monitoring of the frequency deviation rate is more accurate, the frequency deviation rate jointly acts on identification and clustering of abnormal characteristics, the accuracy and the real-time performance of fault diagnosis are improved, and the fault diagnosis efficiency is improved. By calculating the deviation degree of the abnormal characteristics and the normal track, the abnormal detection threshold can be adjusted, potential faults can be identified and processed more effectively, the maintenance cost of the high-speed rotating transmission device is reduced, and the operation efficiency is improved.

The invention discloses a physical and data hybrid driven mechanical arm dynamic model identification method which is characterized by comprising the following steps: S1, acquiring parameters of each axis of a robot, establishing a dynamic model of a mechanical arm, and linearizing the dynamic model according to a minimum inertia principle to obtain a dynamic minimum parameter set and a corresponding regression matrix; s2, an excitation track of the mechanical arm is designed based on the finite Fourier series; s3, the mechanical arm runs the designed excitation track, angles, angular velocities, angular accelerations and torque data of all joints of the mechanical arm in the movement process are collected and filtered, and an observation torque vector and an observation matrix are calculated; s4, performing preliminary estimation on the minimum parameter set by using an iterative reweighted least square method; and S5, aiming at the dynamic characteristics of LuGre friction force in the movement process of the mechanical arm, establishing a mechanical arm dynamic model under physical and data hybrid driving.

The invention discloses a GNSS (Global Navigation Satellite System) signal quality adaptive integrated navigation method, and relates to the technical field of vehicle navigation. IMU and GNSS positioning information and positioning states are read, integrated navigation is realized through an ESKF loose combination algorithm, a measurement covariance matrix is changed in real time according to the GNSS positioning state and a DOP factor, and finally, an error state value is estimated and fed back to an integrated navigation system. Position and speed information errors and attitude Euler angle errors under a navigation coordinate system are fed back to INS mechanical arrangement, angular acceleration zero offset errors of the IMU are fed back to the IMU, and updating of the state quantity is completed. A measurement covariance matrix is changed in real time according to a GNSS positioning state and a DOP factor by aiming at IMU and GNSS data through a loosely combined ESKF fusion algorithm, an error state is estimated and fed back to an integrated navigation system, and the positioning precision can be effectively improved.

The invention provides a robot teleoperation method and a robot. The robot teleoperation method comprises the steps that an acceleration command, an angular acceleration command and an expected attitude quaternion of an end effector are determined based on the current linear acceleration, the current angular acceleration and the current attitude quaternion of a control end; the current position and the current speed fed back by the end effector are obtained, a torque control signal for controlling the position of the end effector is determined based on the acceleration command, the current position and the current speed, and end acceleration feedforward is obtained; determining a torque control signal for controlling the attitude of the end effector based on the angular acceleration command and the expected attitude quaternion to obtain attitude feedforward; and a joint torque instruction of a mechanical arm joint corresponding to the end effector is determined based on the end acceleration feedforward and the posture feedforward, and the joint torque instruction is sent to a corresponding joint driver so that the end effector can synchronously act along with the control end. According to the invention, the problem of attitude lag of the end effector can be avoided, and the tracking error of the end effector is reduced.

The invention provides a manned aircraft landing aid decision-making system and method, and relates to the technical field of aviation. The method specifically comprises the following steps: acquiring current state data of an aircraft in real time, planning a landing trajectory of the aircraft by adopting an index leveling trajectory method, and determining an optimal glide path of the aircraft; based on the current state data of the aircraft and the optimal glide path of the aircraft, calculating an expected attitude angle and an expected thrust variation of the aircraft by adopting an instruction decision algorithm, performing attitude control on the aircraft according to the expected attitude angle of the aircraft, and generating a flight decision suggestion; wherein the attitude control is divided into two parts: one part is used for calculating an expected three-dimensional angle and a three-axis attitude angular velocity by utilizing angle control; according to the other part, the three-axis attitude angular acceleration is calculated through angular velocity control; and the pilot controls the flight path of the aircraft according to the generated flight decision suggestion to ensure that the aircraft lands along the optimal glide path of the aircraft. The invention aims to solve the problem that the landing trajectory is inaccurate when the aircraft lands.

The invention discloses a multi-signal fusion yaw velocity credibility calculation method and electronic equipment. The method includes calculating a first yaw velocity based on a vehicle model; calculating a second yaw velocity based on the lateral acceleration; calculating a third yaw velocity based on the geometric constraint of the wheel speed difference; determining whether a credibility updating condition is satisfied; and if yes, determining the credibility of the actually measured yaw velocity of the sensor according to the first yaw velocity, the second yaw velocity, the third yaw velocity and the actually measured yaw velocity of the sensor. Multi-dimensional signals such as the wheel speed, the steering angle and the acceleration are fused, and fault tolerance is improved. And through threshold screening and weighted fusion, noise and sudden change interference are suppressed. And front wheel calculation can be switched when a rear wheel breaks down, so that the system continuity is guaranteed.

The invention relates to the field of data processing, in particular to an on-orbit calibration method and device for a scale factor, and the method comprises the steps: obtaining attitude data of a spacecraft after maneuvering through a star sensor, converting the attitude data into an angular acceleration signal under a test mass coordinate system, constructing a Kalman filter in combination with an excitation voltage read by an inertial sensor, and carrying out the on-orbit calibration of the scale factor; on-orbit calibration of the angle scale factor is completed, and on-orbit calibration of the line scale factor is completed through the conversion relation between the angle scale factor and the line scale factor. By combining and considering related factors such as linear acceleration and angular acceleration, the calibration process can more comprehensively consider the motion state of the spacecraft, and more accurate calibration is provided. In the maneuvering process of calibrating the scale factor, other parameters such as centroid offset and rigidity of the inertial sensor of the spacecraft can be calibrated at the same time. Through the technical scheme of the invention, the additional mass increase can be reduced, the unnecessary control complexity is avoided, the reliability of the system is improved, and the cost is reduced.

The invention relates to a UUV (Unmanned Underwater Vehicle) control method based on a feed-forward PID (Proportion Integration Differentiation). The objective of the invention is to solve the problems of poor precision and poor stability of a traditional PID control algorithm in UUV control. The method comprises the following steps: 1, setting an initial position and a target position of the UUV in an inertial coordinate system; 2, real-time sea wave interference information and the real state of the UUV are obtained; 3, outputting angular acceleration by the PID attitude controller; 4, outputting the optimized depth information by the filter; 5, outputting linear acceleration by the PID position controller; 6, the angular acceleration and the linear acceleration act on an executing mechanism, the thrust and the torque of a propeller are changed by controlling the rotating speed of the executing mechanism, the thrust and the torque act on the UUV, and the underwater movement track of the UUV is changed; 7, judging whether the UUV reaches the target position or not; if yes, the UUV stops sailing; and if not, repeatedly executing the steps 2-6 until the UUV reaches the target position. The method is applied to the field of UUV control.

The invention relates to the technical field of vehicle dynamics, and discloses an adhesion coefficient determination method and device and electronic equipment. The method comprises the steps that the wheel end torque, the wheel angular acceleration, the wheel slip rate and the wheel vertical load of the vehicle are obtained; determining a first longitudinal force of each wheel based on the wheel end torque and the wheel angular acceleration; determining a basic adhesion coefficient of each wheel based on the first longitudinal force and the wheel vertical load; determining a second longitudinal force of each wheel based on the wheel slip rate and a tire model corresponding to the wheel; if the basic adhesion coefficient is smaller than a preset adhesion coefficient threshold value, the second longitudinal force is adopted to correct the basic adhesion coefficient, and the target adhesion coefficient of each wheel is obtained. According to the method, the attachment state of each wheel can be known in time, potential safety hazards caused by inaccurate calculation of the attachment coefficient are reduced, and the driving safety of the vehicle is improved.

The invention relates to the technical field of mechanical arm motion planning and digital twinning, in particular to a mechanical arm multi-target trajectory planning method and system based on digital twinning, and aims to solve the problems that during large-scale rapid disordered feeding, a mechanical arm continuously grabs and transports materials with high strength, and the working efficiency is high. In order to solve the problems of large start-stop impact, easy shaking, reduced production operation efficiency, shortened service life and the like in the prior art, a multi-objective function of efficiency, impact and energy consumption is solved through LNSGA-II, and a seven-order B spline curve is utilized to optimize a joint track of the mechanical arm, so that angular displacement, angular velocity and angular acceleration motion curves of multiple joints of the mechanical arm are smoother and more continuous, a servo motor can be protected, and the mechanical arm is more stable in operation. And a digital twin platform is built through an MATLAB-AppeliaSim entity mechanical arm, the trajectory planning model is applied to an actual operation task of the mechanical arm, the working condition of the mechanical arm is monitored, and a factory task scene is coped with.

Safety head wear for use for example in high risk activities such as sports and industrial purposes where protection from head injuries is required. Components are provided inserted between the liner and outer shell and consists of two parts; a chamber or bladder and a fluid or gel like material. The fluid or gel material is contained in the chamber or bladder and is positioned in such a way to create low friction between the surface of the shell and liner or liner and head. It can also be used on the outer surface of the shell or placed within two layers of the liner. The device provides a method of independently managing both compression and shear force characteristics of the helmet around the head designed to decrease brain trauma resulting from high linear and angular acceleration during impacts to the helmet.

The invention discloses a feedforward torque compensation control method and system for a photoelectric pod. The method belongs to the technical field of photoelectric pod real-time control. The technical problem that the requirement for high dynamic performance of the photoelectric pod is difficult to meet in photoelectric pod control is solved. The method comprises the following steps: sensor arrangement: arranging accelerometers at each motion axis of the photoelectric pod; signal acquisition and calculation: calculating the angular acceleration of each motion axis through acceleration data output by an accelerometer; calculating the disturbance torque: calculating the disturbance torque of each motion axis through the angular acceleration of each motion axis; calculating a current value of a feed-forward path: calculating a current value required by a motor of each motion shaft to resist the disturbance torque through the disturbance torque of each motion shaft; feed-forward path current and feedback path integration: injecting the current value as a feed-forward signal into a current loop given link in the servo control system, and resisting disturbance of each motion axis by controlling motor current of each motion axis.

The invention discloses a method for reducing an angle measurement error of a fiber-optic gyroscope under a launching load. The method comprises the following steps: establishing a full-gun finite element dynamic model; correcting dynamic model parameters based on the seat ring test acceleration data; establishing a fiber-optic gyroscope mounting platform angular acceleration response maximum pulse value and pulse width prediction model taking a firing angle as an input variable by adopting an approximate modeling technology, and predicting the fiber-optic gyroscope mounting platform angular acceleration response maximum pulse value and pulse width corresponding to firing data; establishing a three-axis fiber-optic gyroscope zero offset increment prediction model under a half-sine angular acceleration impact load by adopting an angular impact test platform calibration method, and predicting the fiber-optic gyroscope zero offset increment corresponding to the obtained maximum pulse value and pulse width; and compensating the zero offset error of the fiber-optic gyroscope according to a zero offset increment prediction result before emission. According to the invention, the angle measurement precision of the fiber-optic gyroscope in a launching impact environment is effectively improved.

The present invention provides a satellite flexible vibration suppression attitude control method. By adopting the idea of cascading input-to-state stability design, an attitude angle closed-loop control and an angular velocity tracking control form a cascaded system. The attitude controller is designed in a hierarchical manner. A second-order command filter is used to assign saturation constraints for tracking the virtual angular velocity and the virtual control quantity. The control method has the characteristics of small computational load and easy implementation in engineering. The flexible vibration suppression attitude controller realizes the smoothing processing of the angular velocity tracking command and the actuator control command by configuring the constraint amplitude, damping coefficient, and natural oscillation frequency of the command filter, so that the maximum angular velocity and angular acceleration of the satellite are constrained, and the angular acceleration of the excitation source of the satellite flexible attachment is limited. During the large-angle attitude maneuver, the satellite is constrained by the second-order saturation command filter, and the angular acceleration becomes zero after reaching the maximum angular velocity, and the vibration of the flexible attachment is suppressed.

The invention discloses an anti-interference flight control method for a multi-rotor unmanned aerial vehicle. The method comprises the following steps: establishing an attitude dynamic model of the multi-rotor unmanned aerial vehicle; according to a moment of momentum theorem and an Euler equation, establishing an unmanned aerial vehicle attitude kinetic equation; setting a control moment in the man-machine attitude kinetic equation as a dependent variable, and performing first-order Taylor expansion at any point; adding expectation into the expanded kinetic equation to obtain an improved incremental nonlinear dynamic inverse controller; using real-time measured values of motion variables of the multi-rotor unmanned aerial vehicle in the improved incremental nonlinear dynamic inverse controller, and optimizing the improved incremental nonlinear dynamic inverse controller by adopting a control closed-loop transfer function of an attitude angular acceleration loop and a disturbance closed-loop transfer function of the attitude angular acceleration loop; and controlling the attitude of the multi-rotor unmanned aerial vehicle by using the optimized improved incremental nonlinear dynamic inverse controller. According to the method, the dependence of the unmanned aerial vehicle control method on the model can be reduced, and the stability of the multi-rotor unmanned aerial vehicle is improved.

The invention relates to a calibration method for a quantum inertial navigation system, the quantum inertial navigation system comprises a three-axis atom interference gyroscope and a three-axis atom interference accelerometer, and a calibration test is realized on a three-axis turntable; the calibration method comprises the following steps: according to a rotation scale factor, an output phase noise amplitude and a data updating frequency of the atomic interference gyroscope, calculating a maximum rotation angle acceleration of a Z axis of a rotary table; according to the linear acceleration scale factor, the output phase noise amplitude and the data updating frequency of the atomic interference accelerometer, calculating the maximum rotation angular velocity of the X axis and the Y axis of the rotary table; determining a rotation strategy of the rotary table in the calibration test according to the maximum rotation angular acceleration of the Z axis of the rotary table and the maximum rotation angular velocities of the X axis and the Y axis of the rotary table; according to the rotation strategy of the rotary table, the rotary table is controlled to carry out calibration tests on the atom interference gyroscope and the atom interference accelerometer respectively. According to the invention, the inertial navigation calibration precision of the quantum IMU can be improved.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention provides a rotating speed determination method in aero-engine complete machine three-dimensional simulation, and belongs to the technical field of aero-engine simulation, and the method specifically comprises the steps: constructing a fluid-structure interaction control equation on each grid unit of an aero-engine complete machine geometric model; forming an integral coupling matrix, and solving the integral coupling matrix; simulating the calculated thermal state geometric model; the gas compressor and the turbine can only rotate around the rotating shaft; calculating aerodynamic forces acting on the compressor blades and the turbine blades; in each time step, the rotating speed is updated according to the angular acceleration; and after a plurality of iterations, when the difference value of the aerodynamic torque borne by the gas compressor and the aerodynamic torque borne by the turbine accords with a preset range, the corresponding rotating speed is the steady-state working rotating speed of the engine under the thermal state geometry. According to the processing scheme, the engine can automatically match and dynamically determine the working rotating speed in the simulation process, the inaccuracy of the preset rotating speed is avoided, and the precision and reliability of a simulation result are improved.

The invention relates to the technical field of torque calculation, in particular to a torque adaptability regulation and control method and system for an electric power-assisted bicycle, and the method comprises the steps: receiving a torque regulation instruction, starting a system regulation unit based on the torque regulation instruction, collecting a side-sway angle and a side-sway angular velocity, calculating transmission delay, and if the transmission delay is not in a delay range, starting the system regulation unit; if the transmission delay is within the delay range, screening the transmission data packet set to obtain a standard data packet set and an over-limit data packet set, adjusting the over-limit data packet set to obtain an adjusted data packet set, and obtaining an integrated data packet set based on the standard data packet set and the adjusted data packet set; and if not, calculating an external interference estimated value, calculating a side-sway angular acceleration by using the external interference estimated value, calculating a side-sway torque and an offset torque, calculating a regulation and control torque according to the side-sway torque and the offset torque, and completing torque adaptive regulation and control according to the regulation and control torque. According to the invention, the regulation and control speed and accuracy of torque adaptive regulation and control can be improved.

The present invention relates to a working method of kitchen appliances, in particular to a low-noise crushing method of a food processing machine and a pulping method thereof, wherein the method of a crushing blade crushing materials once comprises: a material pushing stage: controlling the crushing blade to increase from 0 to a first rotational speed at a first angular acceleration, the duration of the material pushing stage not exceeding 600ms, so as to instantly push the mixture of materials and water to move; a uniform acceleration stage: controlling the crushing blade to uniformly accelerate to a second rotational speed at a second angular acceleration to drive the accelerated movement of the material, the second angular acceleration being less than the first angular acceleration, and the second rotational speed being greater than the first rotational speed; a constant speed crushing stage: controlling the crushing blade to maintain the second rotational speed to crush the material. The crushing method of the present invention controls the single crushing process of the crushing blade through a brushless motor, so as to achieve lower noise in the pulping process, especially the noise of each start-up of the crushing. Moreover, the slurry beverage obtained using the above-mentioned crushing method is also delicate and fragrant.

The invention discloses a control method for a motor in an unmanned aerial vehicle, and the method comprises the steps: obtaining the attitude data, air pressure altitude data and motor rotating speed data in the flight process of the unmanned aerial vehicle, calculating the pitch angle acceleration, roll angle acceleration and yaw angle acceleration of the unmanned aerial vehicle based on the attitude data, and judging whether the unmanned aerial vehicle is in an airflow disturbance state or not. In the airflow disturbance state, a pre-trained deep learning model is adopted to calculate the target rotating speed compensation value of the motor, and input parameters of the model comprise various angular accelerations, the air pressure height change rate and the current rotating speed of the motor. And then, combining a preset fuzzy control rule, calculating a correction value of the PWM driving signal of the motor, and applying the corrected driving signal to the motor. Meanwhile, weight parameters of the deep learning model are dynamically adjusted by collecting motor rotating speed feedback information in real time. The flight stability of the unmanned aerial vehicle in a complex airflow environment can be effectively improved.

The invention belongs to the technical field of mixing equipment, and particularly relates to a non-intrusive homogenizer operation process abnormity monitoring method and system, and the method comprises the steps: calculating the mechanical angular acceleration according to the real-time rotating speed of a motor shaft end; on the basis of a pre-constructed inverse dynamic model, according to the motor orthogonal axis current, the motor shaft end real-time rotating speed and the mechanical angular acceleration, a rheological resistance characteristic index is calculated; processing the rheological resistance characteristic index by using a singular spectrum analysis algorithm, and extracting a trend line of the rheological resistance characteristic index through construction of a trajectory matrix, singular value decomposition and diagonal averaging operation; the information entropy of the first-order difference sequence of the trend line is calculated to serve as the mixing stability entropy, and the mixing end point of the operation process of the homogenizer is judged according to the convergence condition of the mixing stability entropy relative to the reference entropy, so that anomaly monitoring of the operation process of the non-intrusive homogenizer is achieved. According to the invention, abnormity monitoring and end point determination of the mixing process of the homogenizer are realized.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention discloses a control method of an attitude-orbit composite lower interceptor, and relates to the technical field of automatic control. Obtaining a strong coupling state space equation according to an angular acceleration calculation formula of the sight angle and a kinetic equation of the interceptor; constructing a high-order multi-dimensional sliding mode matrix according to the strong coupling state space equation, and designing a strong coupling control law of an attitude control engine and an orbit control engine of the interceptor according to the high-order multi-dimensional sliding mode matrix; according to a stable condition and a fixed time convergence condition of an interceptor guidance control system under attitude and orbit combination, solving an interference term in the strong coupling control law to obtain an estimated value of the interference term; and substituting the estimated value of the interference item and the state data of the interceptor into a strong coupling control law of the interceptor to obtain lateral thrust which is generated by an attitude control engine and an orbit control engine and is vertical to a projectile body shaft so as to control the interceptor. The method can improve the control precision of the interceptor.

The invention relates to a method and a system for measuring angular acceleration of a rotating object based on fractional Fourier transform, and the method comprises the following steps: a detection light beam irradiates the rotating object, and the rotating object modulates the detection light beam to generate a scattered light signal; a scattered light signal on the surface of the rotating object is obtained and subjected to photoelectric conversion to obtain a linear frequency modulation electric signal, namely a time-varying signal; applying different transformation orders to the time-varying signal to carry out fractional Fourier transform, and converting the time-varying signal from a time domain to a fractional domain; determining an optimal transformation order in the fractional domain through a peak search algorithm; and obtaining the angular acceleration of the rotating object according to the corresponding relation between the fractional Fourier transform order and the angular acceleration based on the optimal transform order. According to the method, the fractional Fourier transform is introduced, and the optimal transform order is determined through the peak search algorithm, so that the energy focusing characteristic and the anti-noise capability of the signal are remarkably improved, and non-contact high-precision measurement of the uniformly accelerated rotating object is realized.

The invention discloses a vector six-rotor aircraft full-state control method based on a high-order dynamic model, and belongs to the field of vector rotor aircraft tracking control. The invention aims to solve the problems of poor angular acceleration estimation accuracy and low precision of the existing vector rotorcraft control method based on a jerk dynamics model. According to the invention, an angular acceleration observer based on a high-order dynamic model and a full-drive system theory is designed, effective estimation of an angular acceleration signal can be realized without depending on external sensor equipment, and high-precision and high-speed tracking of the position attitude of the six-degree-of-freedom vector six-rotor aircraft can be realized. The method is mainly applied to the pose tracking of the six-degree-of-freedom vector six-rotor aircraft.

A patient litter basket spin control assembly includes a first gyroscope and a motion sensor for sensing an angular acceleration of a patient litter basket. The first gyroscope generates a counter torque to the litter basket to slow the angular acceleration of the litter basket to provide stabilization. The first gyroscope and a second gyroscope may be configured as a pair and located at opposite ends of the litter basket.

The invention belongs to the technical field of robot intelligent control, provides a robot double-source joint information impedance control method and system, a medium and a robot, and aims at motion control of a 3R-configuration robot. Joint motion information including a filtering angle, a filtering angular velocity and a filtering angular acceleration is obtained, the pose and / or velocity information of the end effector is mapped to a joint space based on a kinematic model of the robot, and joint motion information including a mapping angle and a mapping angular velocity is obtained; fusing the angle and the angular velocity to obtain a fused angle and a fused angular velocity; and generating a control torque by combining the fusion angle, the fusion angular velocity and the filtering angular acceleration with a preset target impedance parameter and an expected trajectory. The angular velocity and the angular acceleration can be obtained without adding velocity and acceleration sensors on the motor, and the increase of the size, the complexity and the cost of the joint control motor is avoided.

Disclosed are systems, apparatuses, and methods for and related to dynamic control of torque and or lateral thrust applied to a load suspended load on a suspension cable to thereby achieve a target orientation or position or to otherwise move through use of a hyperparameter, wherein the hyperparameter comprises a normalized moment of inertia, wherein the hyperparameter comprises a ratio of a force command to a thruster and an angular acceleration.