97 results about "Attitude control system" patented technology

The invention relates to the technical field of verification and evaluation, in particular to a reusable rocket attitude control system redundancy verification and fault tolerance evaluation method, which comprises the following steps: performing multi-dimensional combination on disturbance units according to disturbance types, action time periods and intensity grades to form a disturbance combination set, constructing a group of induction task profiles covering different attitude control abnormal situations; recording a switching state of an internal control path of the attitude control system, a redundant component intervention time sequence and a function takeover sequence in real time, and constructing a dynamic response path map of a redundant link; and generating a response integrity index and a fault tolerance conflict degree criterion of redundancy configuration as a fault tolerance capability evaluation result of the attitude control system. Compared with an existing method which only verifies individual static disturbance scenes, the method has the advantages that systematic design and composite excitation of disturbance conditions can be realized, scene complexity and coverage of redundancy verification are enhanced, and authenticity and representativeness of fault-tolerant testing are improved.

The application discloses a kind of leapable wheel-foot mobile robots, belongs to mobile robot technical field, including body and active attitude control system, the two sides of body are equipped with four jumping motors, the output end of jumping motor is connected with adaptive shock absorbing leg, adaptive shock absorbing leg is equipped with travel assembly on the side away from body.The application is coordinated through active attitude control and adaptive shock absorbing leg, can real-time correct attitude in the process of jumping off ground, air adjustment and landing recovery, ensure that wheeled structure lands downward, realize wheel-foot mode stable switching, utilize thigh, lower leg connecting rod and rotating joint cooperation torsional spring, grade absorption impact energy in full stroke, reduce landing impact peak value and assist leg reset, can improve landing stability, the lower leg connecting rod of body same side adaptive shock absorbing leg is fixed in same travel assembly, realize wheel-foot structure and shock absorption system coordination.

The application discloses an aircraft constraint attitude control method and system based on explicit reference management, belongs to the field of aerospace, and solves the aircraft attitude maneuver control problem existing multiple constraints (including attitude pointing constraint, angular velocity constraint and control constraint). The application separates constraint processing from control law design, designs a reference manager to generate a reference attitude trajectory, can provide a feasible maneuver trajectory satisfying the constraints and reaching the target attitude from the initial attitude, and designs a feedback control law based on an immersion and invariant disturbance observer to ensure the stability and robustness of the system and realize asymptotic tracking of the reference attitude trajectory. For an aircraft attitude control system with a flywheel as an actuator, the method can realize attitude maneuver control satisfying the pointing constraint, angular velocity constraint and control constraint in the presence of external disturbance. The numerical simulation result of the attitude control method proves the effectiveness and feasibility of the application.

1. Name of the design product: Spacecraft attitude control system (new 0.5 kg). 2. Use of the design product: The design product is used for high-precision attitude adjustment of spacecraft. 3. Design points of the design product: Combination of shape and pattern. 4. Picture or photo best indicating the design points: Perspective view.

This aims to create an attitude control system that can respond appropriately to pilot inputs during maneuvers such as turning and landing. [Solution] An attitude control device installed in a radio-controlled model airplane, which is a controlled object that is operated based on control signals received from an external device, includes a calculation unit that selectively outputs a first aileron control signal input as a control signal and a second aileron control signal calculated to maintain the horizontal position of the controlled object based on the roll angle of the controlled object. The calculation unit selects and outputs the second aileron control signal when the function is instructed to be ON by a function setting signal received from an external source, the first aileron control signal is a signal indicating neutral, and the roll angle of the controlled object is within a set angle.

The application discloses a kind of based on liquid rocket's interstage separation gap calculation method and system, including establishing the inertial coordinate system of liquid rocket launch, rocket body coordinate system and the coordinate system of storage tank;Obtain the dynamics equation of liquid rocket mass center motion in inertial coordinate system and the dynamics equation of liquid rocket rotation around mass center in rocket body coordinate system;Obtain the displacement H of liquid rocket core first stage and liquid rocket core second stage and attitude angle;Obtain the displacement L1 of liquid rocket core second stage mass center deviating from nozzle center line, the displacement L2 of liquid rocket core second stage mass center deviating from liquid rocket core first stage axis and the distance L3 of nozzle outer edge to nozzle center line;Obtain interstage separation gap as L4, L4=R-L3-(L1-L2), solve the problem that core second stage engine nozzle and interstage section sleeve may collide in the process of large-diameter liquid rocket separation, to improve the precision of separation scheme design, attitude control system design and storage tank anti-slosh structure design.

This invention discloses a dynamic noise active suppression suspension system for air-to-ground electromagnetic detection, belonging to the field of geophysical exploration technology. It includes a coil vibration suppression system connected to a UAV, a receiving coil sensor, and a coil attitude control system. The coil vibration suppression system is connected to the pitch frame of the coil attitude control system via a carbon fiber tube assembly. The pitch frame is connected to the receiving coil sensor via two roll shafts. One roll shaft is connected to a first motor, and a second motor is mounted on the frame edge of the pitch frame perpendicular to the roll shaft. Both the first and second motors are connected to a controller. The coil vibration suppression system suppresses the vibration amplitude of the receiving coil and absorbs the motion noise generated by the receiving coil vibration. The controller collects and controls the first and second motors to adjust the attitude of the receiving coil, suppressing the motion noise generated by the attitude change of the receiving coil. This application significantly reduces the motion noise of air-to-ground transient electromagnetic reception data, enabling low-noise detection using air-to-ground transient electromagnetic methods in complex environments.

This invention discloses a pole-holding attitude control system and its data transmission method, equipment, and medium, relating to the field of pole-holding attitude control technology. The controller constructs a channel multipath interference fluctuation index, a time slot integrity risk index, and a dynamic retransmission time window adjustment coefficient based on the signal strength and signal-to-noise ratio of the channel used for wireless communication, the pole's acceleration, the actual and theoretical reception times of data packets, the packet loss rate, and a preset standard time length. It then dynamically adjusts the data packet retransmission waiting time based on the dynamic retransmission time window adjustment coefficient. After the retransmission waiting time expires, a data retransmission request is sent to the inertial sensor. By dynamically adjusting the data packet retransmission waiting time, adaptive data retransmission is achieved: prioritizing real-time performance when the network is good and ensuring data integrity under strong interference, thus improving the reliability of data transmission.

This application discloses a simulation method and system for a launch vehicle attitude control system. The simulation method specifically includes the following steps: a host computer compiles a simulation model and generates an executable program, which is then downloaded to a simulation computer; the host computer runs the simulation model and selects a simulation mode; an industrial control computer simulates the flight test process, uploads the flight control software to the flight control assembly, and starts the process; the host computer controls the simulation computer to send ignition and takeoff command signals to the flight control assembly; the simulation computer calculates and obtains attitude angle and attitude angular velocity measurement information and sends it to the flight control assembly; the flight control assembly operates after receiving the ignition and takeoff command signals, issuing actuator control commands based on the received measurement information. This application achieves step-by-step, layered verification of the theoretical controller, flight control software algorithm, flight control assembly, and servo mechanism, facilitating problem localization and analysis, and ensuring the safety and reliability of the experimental process.

To allow for easily controlling posture of an object.SOLUTION: An object posture control program makes an information processing device perform steps of displaying an object with multiple interlocking parts placed in a virtual space on a display unit, and controlling posture of the object to move a target part of the multiple interlocking parts according to information on movement of the information processing device. With the object posture control program, the information processing device may include the display unit.SELECTED DRAWING: Figure 2

The application discloses a flexible spacecraft attitude control method and system, and the method comprises the following steps: establishing a flexible spacecraft attitude control model and a flexible accessory model; according to the homogeneous system theory, the flexible spacecraft attitude control model and the flexible accessory model are simplified for multiple times to obtain a simplified flexible spacecraft attitude control model and a simplified flexible accessory model; according to the coupling relationship between the simplified flexible spacecraft attitude control model and the simplified flexible accessory model, a full drive model is obtained; the output equation in the flexible accessory model is combined to design an observer, the modal variable in the flexible accessory model is estimated through the observer, the full drive model is combined, and a controller is designed based on a high-order full drive system method; the controller is substituted into the full drive model to obtain a linear closed-loop system; according to a parameterized design method, a parameterized controller is obtained, and a stable linear closed-loop system is obtained. The application can stabilize the flexible spacecraft attitude control system.

The application relates to a flywheel speed control method and device based on a polynomial trajectory planning, belongs to the flywheel speed control method and device based on the polynomial trajectory planning, and solves the problem of how to reduce the impact disturbance introduced when a flywheel tracks an expected speed instruction of attitude control and improve the attitude stability of a satellite. The method comprises the following steps: receiving an expected speed instruction sent by an attitude control system; for each attitude control period of the attitude control system, a speed response curve between two adjacent expected speed instructions is constructed by adopting an expected speed sequence based on the polynomial trajectory planning, so that the acceleration is smooth and the jerk is continuous. The flywheel speed control method and device based on the polynomial trajectory planning are suitable for flywheel speed control in satellite attitude control.

1. Name of the design product: Spacecraft attitude control system (new 8.5 kg). 2. Use of the design product: The design product is used for high-precision attitude adjustment of spacecraft. 3. Design points of the design product: Combination of shape and pattern. 4. Picture or photo best indicating the design points: Perspective view.

This invention belongs to the field of bridge inspection technology, specifically relating to a system and method for detecting defects in prestressed reinforced concrete using unmanned aerial vehicles (UAVs). It includes a small-unit UAV, a testing instrument load platform, testing instruments, and a multi-functional UAV airport control system. The small-unit UAV is locked to the load platform and carries the testing instruments, integrating flight control, power, and communication modules. Its bottom is equipped with a ducted lift fan, an elastic adsorption coupling ring, and a coupling surface movement mechanism. The multi-functional UAV airport control system includes a BeiDou positioning and attitude control system, which issues commands via wireless communication and collects UAV position, attitude, and distance data in real time. The detection method includes system assembly pre-setting, takeoff navigation, adsorption calibration, synchronous detection and acquisition, full area coverage, and recovery. A synchronous triggering mechanism achieves precise UAV positioning and synchronized instrument data acquisition. This invention avoids manual high-altitude operations, is compatible with various testing instruments, improves detection safety, efficiency, and accuracy, and enables comprehensive defect detection.

The present invention provides a occupant posture control system that can reduce energy consumption while suppressing swaying of the occupant's posture. [Solution] The system comprises one or more actuators 30 for generating different displacements in the seat width direction of the seat 3 of the vehicle 1, a vibration difference determination unit 62 for determining the vibration difference in the seat width direction of the vibrations transmitted to the seat 3, and a vibration control unit 63 for performing vibration difference reduction control, which controls the actuators 30 based on the vibration difference determined by the vibration difference determination unit 62 to reduce the vibration difference of the seat 3 in the seat width direction. The vibration difference reduction control can suppress the swaying of the posture of the occupant 2 seated in the seat 3 in the seat width direction. Since the vibration difference reduction control controls the actuators 30 based on the vibration difference in the seat width direction, it is not necessarily required to reduce the vibrations occurring in the seat 3 as a whole. Therefore, energy consumption can be reduced compared to when the vibrations occurring in the seat 3 as a whole are reduced.

A landing gear assembly for rotorcraft includes a shock absorber, a ground support assembly and an airframe linkage assembly. The shock absorber includes a force sensor to detect a pressure of an incompressible fluid within the shock absorber and a temperature sensor to detect a temperature of the fluid. The ground support assembly is linked to the shock absorber and includes an axle and a ground contact element movable in relation to the axle. The linkage assembly is linked to the shock absorber and / or the ground support assembly and includes a position sensor to detect movement of the axle between compressed and uncompressed conditions of the shock absorber. Various rotorcraft include one, two, three or more landing gear assemblies and an attitude control system. Various rotorcraft methods process sensor signals from one, two, three or more landing gear assemblies at the attitude control system to provide various rotorcraft functions.

The utility model relates to a pneumatic cigarette posture correcting device, which belongs to the technical field of cigarette conveying equipment, and comprises a conveying mechanism, a conveying mechanism, a conveying mechanism and a correcting mechanism, the pneumatic correction mechanisms are arranged on the two sides of the conveying belt and comprise angle-adjustable air nozzles, flow guide plates, air pumps and electromagnetic valves; the portal frame is erected above the conveying belt; the detection mechanism is arranged on the door frame and used for detecting the posture of the cigarette carton in real time; and the control system is electrically connected with the conveying mechanism, the pneumatic correction mechanism and the detection mechanism. The pneumatic correcting mechanism is arranged in the device, incorrect postures of the cigarette cartons on the conveying belt are rapidly corrected, and the situation that the cigarette cartons clamp a curve, and consequently the conveying belt machine stops and gives an alarm is avoided.

The invention provides a posture control system and method for obliquely entering a pickling pool of a steel pipe, and the system comprises a crown block which is used for moving a steel pipe pile to be immersed in the pickling pool; the electric hoist is used for lifting the steel pipe pile; the servo driver is used for adjusting the lifting speed of the steel pipe pile and controlling the posture of the steel pipe pile; the encoder is used for monitoring the lifting speed of the steel pipe pile; the programmable processor is in communication connection with the electric hoist, the crown block, the encoder and the servo driver and is used for controlling the steel pipe pile to be stably immersed into the pickling tank; the two electric hoists are connected with the two ends of the steel pipe pile, the crown block moves the steel pipe pile to the position above the pickling pool, and the electric hoists are driven according to the height value fed back by the encoder so that the steel pipe pile can be immersed into the pickling pool in the posture that one end of the steel pipe pile inclines. And an electric hoist is driven according to the left and right servo drive feedback torque values, so that the steel pipe pile steadily turns to a square posture and is completely immersed in the pickling tank. According to the device, the steel pipe is automatically kept in a stable posture when being obliquely immersed in the pickling tank, and collision is avoided.

The invention provides a titanium alloy pipeline assembly of a liquid attitude control system and a manufacturing method of the titanium alloy pipeline assembly. The pipeline assembly comprises a titanium alloy pipe, wherein the titanium alloy pipe comprises a titanium alloy main pipe and a titanium alloy branch pipe communicating with the titanium alloy main pipe through a through part; the outer sleeve nut is arranged at the end parts of the titanium alloy main pipe and the titanium alloy branch pipe in a sleeving manner; and the spherical joint is arranged at the end parts of the titanium alloy main pipe and the titanium alloy branch pipe in a sleeving manner, and the spherical joint is fixed by the jacket nut. The titanium alloy pipe is subjected to the steps of bending, cleaning, lofting, cleaning, ball passing testing, pressure testing and the like, the titanium alloy pipe is manufactured into the pipeline assembly conforming to the liquid attitude control system, the pipeline assembly is clean and free of foreign matter, and the market requirement is met.

This invention relates to a method, apparatus, device, and medium for aircraft control based on deep reinforcement learning. The method includes: arranging jet exciters on the aircraft to form a three-axis attitude control system; acquiring the actual angular acceleration of the three axes in real time; designating any one of the three-axis attitude channels as the master control channel and determining the desired angular acceleration of the master control channel; constructing an accuracy constraint term using the desired angular acceleration and actual angular acceleration of the master control channel; constructing a decoupling constraint term by suppressing the actual angular acceleration of non-master control channels to zero; constructing an energy consumption term using the energy consumption corresponding to the driving voltage of each jet exciter; constructing a control objective loss function; training the aircraft control model using a deep reinforcement learning algorithm based on the control objective loss function to obtain a trained aircraft control model; and outputting voltage commands through the trained aircraft control model to control the operation of each jet exciter. This invention can achieve decoupled control of each attitude channel while simultaneously considering control accuracy and energy consumption.

The invention discloses a divergence discrimination method for a deformable aircraft attitude control system based on multi-modal feature extraction, and belongs to the technical field of aircraft safety boundary evaluation. The method comprises the following steps: firstly, performing Gaussian smoothing filtering preprocessing on attitude angle tracking error signals of each channel to remove high-frequency noise; then, direct divergence judgment is realized based on sliding window linear regression and fluctuation intensity detection, and oscillation divergence judgment is completed by combining high-frequency and high-amplitude detection; and finally, correcting the divergence time, determining the earliest divergence channel, combining the divergence type and natural frequency of the error signal, analyzing the influence of nonlinear factors on the frequency domain characteristics of the system, and determining the relationship between divergence and cut-off frequency, thereby accurately identifying the divergence time and type. The method can effectively deal with non-linear interference such as atmospheric perturbation and execution mechanism saturation, realizes early divergence detection and mode recognition under multi-channel conjoint analysis, and has the characteristics of high accuracy, low calculation complexity and high engineering applicability.

The utility model discloses an auxiliary sinking and posture control system for a mechanical tunneling type vertical shaft, which is mounted on the inner side of a lifter of a tunneling machine and comprises a telescopic oil cylinder, a hoop, a guider, a force transmission plate, a vertical plate and a horizontal plate, the vertical plate is connected with the heading machine lifter through a positioning pin and a bolt, the horizontal plate is fixed to the top of the vertical plate, a cylinder body of the telescopic oil cylinder is fixed to the bottom of the horizontal plate, the telescopic rod is connected with the force transmission plate, the hoop tightly holds the cylinder body of the telescopic oil cylinder, and the telescopic rod is connected with the force transmission plate. One end of the hoop is connected with the vertical plate through a fixing frame, one end of the guider is connected with the horizontal plate, and the other end of the guider is connected with the force transmission plate. The auxiliary sinking device has the advantages that evenly-distributed downward pressure or unbalance loading is applied to the shaft, so that auxiliary sinking of the shaft and posture deviation adjustment of the shaft are achieved.

The invention relates to the technical field of shield segment assembly, and discloses a rapid segment assembly method and system for a synchronous push-assembly shield. According to the method, a six-degree-of-freedom platform is used for pre-adjusting the rolling, pitching and yawing attitudes of segments in the segment transportation stage; and the segment pose recognition device is combined to feed back data to the automatic pose control system in real time. The simplified segment erector only retains three degrees of freedom of radial extension, rotation and axial extension. According to the method, the time consumed for splicing is remarkably shortened through a posture pre-adjusting strategy, dynamic flow optimization of the pump control system and simplification of the freedom degree of the splicing machine are combined, the contradiction between high-speed moving and high-precision butt joint is solved, the splicing efficiency is improved, and the method is suitable for large-diameter tunnel synchronous pushing and splicing construction.

The invention provides an active pneumatic control system based on an electroactive polymer fiber array and a miniature flight detection device, belongs to the technical field of miniature robots and intelligent materials, and aims to solve the problem that a passive wind power aircraft cannot be actively controlled. The control system comprises a fiber array composed of a plurality of independent EAP flexible fibers, and a control module capable of applying accurate electric signals to specified fibers. The electric signals drive the fibers to generate reversible deformation, so that the collective pneumatic form of the fiber array is changed. The detection device mainly comprises a detector main body, a fiber system and an attitude control system. The fiber system is composed of a fiber array and is unfolded in a natural state to form a windward sail face providing pneumatic elasticity. The attitude control system symmetrically or asymmetrically drives the fiber array through a control module, changes the three-dimensional configuration of the sail surface, adjusts the aerodynamic characteristics in real time, and achieves the precise control of the flight height and direction. The passive aircraft is suitable for a deep space exploration environment.

This invention relates to a counterweight attitude adjustment device, an aircraft attitude control system, and a control method thereof, comprising a track module, a counterweight slider module, a motor drive module, a battery module, a limiting structure, and a guide rail. The counterweight slider module can slide at high speed within the track, releasing angular kinetic energy by impacting the limiting structures at both ends of the track to correct aircraft attitude deviations. The motor drive module is powered by the battery, supporting energy recovery during the sliding process to form a closed-loop power supply system. The counterweight slider module is slidably connected to the guide rail to suppress deflection and maintain sliding stability. The limiting structure employs a combination of buffer and energy-absorbing structures to ensure efficient energy transfer and prevent structural fatigue. This invention further proposes a formula combining the attitude deviation angle and the aircraft's rotational inertia to solve for the impact velocity, achieving precise control of the attitude adjustment force. The proposed solution has advantages such as compact structure, rapid response, and strong modular versatility, and is suitable for active stabilization control of high-dynamic flight platforms such as rockets and spacecraft.

This disclosure presents an intelligent star map recognition method, apparatus, device, and medium based on multi-network mapping. One specific implementation of the method includes: extracting features from a star image using a pre-constructed star feature extraction network and an extracted set of star information to generate feature information for each node; constructing a graph network from the star information set based on star-sensor camera parameters to generate a star network structure; performing star map recognition on the star network structure using a pre-constructed star map recognition network model, the feature information for each node, and prior attitude information to generate a star recognition result; caching the star recognition result; and outputting the star recognition result to the spacecraft's attitude control system in real time. This implementation can ensure a high star recognition rate while significantly reducing the storage complexity of the feature library and the computational complexity of the algorithm, and exhibits stronger robustness to changes in the number of stars and noise in star magnitude information.

The invention relates to the technical field of unmanned aerial vehicle attitude control, and particularly provides an unmanned aerial vehicle attitude control system based on instant positioning and visual fusion positioning. Comprising an unmanned aerial vehicle body, a data acquisition module, a first positioning module and a second positioning module. Three-dimensional point cloud data of a target environment, image data of the target environment, acceleration data, angular velocity data and original attitude angle data of the unmanned aerial vehicle body can be acquired through the data acquisition module. The first positioning module calculates the first pose of the unmanned aerial vehicle by constructing a 3D Gaussian primitive scene and constructing spatial geometric constraints according to the data acquired by the data acquisition module, and solves the problem of feature deficiency of a single sensor. And the second positioning module verifies and corrects the calculated pose of the unmanned aerial vehicle according to a label preset in the target environment, so that the precision of pose calculation of the unmanned aerial vehicle is further ensured.

The invention discloses hydraulic rapid tamping equipment suitable for reinforcing a soft foundation in the embankment breach plugging process. The hydraulic rapid tamping equipment comprises a skid loader body, a rapid changing device, a connecting frame, a tamping mechanism and an operation posture control system. The quick-change device realizes mechanical locking and hydraulic joint control through a bolt and a handle, and the movable arm and the connecting frame are quickly butted; the tamping mechanism is in sliding fit with a connecting frame slide way through a tamping frame slide way, a high-speed oil cylinder drives a hammer body to impact, a tamping frame lifting oil cylinder adjusts lifting, and a limiting plate achieves preset-depth tamping stopping; the operation posture control system is leveled through cooperation of a movable arm oil cylinder, a rotating bucket oil cylinder and a rammer frame lifting oil cylinder. The problems that traditional equipment cannot enter, cannot be compacted, cannot be controlled and is low in efficiency are solved, the equipment has the advantages of being rapid in deployment, precise in energy regulation and control, capable of achieving reinforcing of deep and shallow layers, low in disturbance and the like, the bearing capacity of a soft foundation can be rapidly improved, the equipment is adaptive to the narrow and muddy working condition of a breach, and efficient equipment support is provided for dike breach plugging emergency rescue.

The invention discloses a predictive attitude control system fused with road surface perception, and belongs to the technical field of vehicle active safety. The system comprises a sensing fusion module used for synchronously collecting multi-source data including front sensing data used for representing the three-dimensional shape and surface material characteristics of a road surface in front of a vehicle; the threat evaluation module is used for identifying a road surface abnormal area in front of the vehicle and quantifying the danger level of the road surface abnormal area; the predictive control module is used for generating a predictive intervention strategy according to the danger level and the vehicle driving state; and the actuator control module is used for executing a predictive intervention strategy to adjust the posture of the vehicle in advance before the vehicle arrives at the abnormal road surface area. According to the method, through pre-sensing and quantification of the front road surface risk and predictive generation and execution of the intervention strategy, control delay existing in a traditional attitude control system is eliminated, active avoidance of the instability risk is achieved, and the stability and safety of the motorcycle during high-speed driving are improved.

The invention discloses a rigid-flexible coupling dynamics modeling method based on a rigid-flexible coupling spacecraft and application, and belongs to the technical field of spacecraft dynamics and control. The method comprises the following steps: S1, in a floating coordinate system, determining a deformation displacement vector of any point P on a neutral axis OBP of the flexible accessory; s2, determining a position vector and a deformation displacement vector of any point Q0 on the flexible accessory; and S3, constructing a rigid-flexible coupling dynamic model of the rigid-flexible coupling spacecraft. According to the method, a single-frame control moment gyroscope is used as a vibration suppression execution mechanism of a flexible accessory, and a rigid-flexible coupling dynamic model is discretized and then used for attitude control of a rigid-flexible coupling spacecraft and design of an active vibration control system. According to the method, an analysis basis and a dynamical model support are provided for efficiently suppressing the vibration of the large flexible structure of the spacecraft.