152 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 invention provides an STM32-based autonomous underwater robot intelligent attitude control system and method, and relates to the technical field of underwater robot control, and the system comprises a sensor integration module which is used for collecting robot state data and environment data, a model construction module which is used for outputting a state estimation value and a disturbance force prediction value, and a control module which is used for controlling the state estimation value and the disturbance force prediction value. The fuzzy control module is used for determining the PID parameter adjustment amount according to the target attitude and the state estimation value, performing feed-forward compensation in combination with the disturbance force prediction value, and generating an attitude control instruction; the electric quantity monitoring module is used for sending a charging trigger signal, the fuzzy control module is further used for controlling the underwater robot to be in a charging posture according to the charging trigger signal, and the charging module is used for charging the power supply module when the wave energy power generation device reaches the optimal power generation position and sending a re-navigation signal to the fuzzy control module after charging is completed. According to the invention, the problems of low attitude control precision and low reliability of the underwater robot in the prior art are solved.

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

The invention discloses a large seaplane integrated with a distributed electric propulsion technology and a propulsion method, and relates to the technical field of seaplane. Comprising a fuselage, a left wing and a right wing are arranged on the two sides of the fuselage respectively, and a V-shaped hull is arranged at the lower end of the fuselage; and a T-shaped empennage is arranged at the tail part of the fuselage. Through the synergistic effect of the design of the V-shaped ship body and the distributed propulsion system, the whole ship body makes contact with the water surface to provide sufficient buoyancy at the low speed, only the main sliding face makes contact with the ship body to form an air layer at the high speed, and the air film drag reduction effect of a propeller at the bottom of the ship body is matched, so that the water resistance is reduced by 35%-50%, and the draft is reduced by 40%-60% along with speed increase; the problems that a traditional seaplane is large in water resistance and difficult to leave water are effectively solved, meanwhile, the left buoy and the right buoy are in linkage with the attitude control system, wave disturbance can be counteracted in real time, the transverse inclination angle is controlled within 1 degree, the wave resistance is improved to be capable of coping with waves with the height of 1.5 m, and the defects that a traditional seaplane is poor in wave resistance and has strict requirements for taking-off and landing water areas are overcome.

The invention provides an attitude control system for a short-wave satellite, and relates to the technical field of data processing, and the attitude control system comprises the steps: inputting a three-axis synthesis control torque instruction into a reaction flywheel controller, converting the instruction into a flywheel motor rotating speed adjustment instruction, and driving a reaction flywheel to execute; adjusting and analyzing the continuously updated attitude deviation angle based on the actual attitude change after the execution of the driving reaction flywheel, obtaining the updated gain parameter of the sliding mode controller, and feeding back the parameter of the updated sliding mode controller; performing control based on the updated parameters of the sliding mode controller, performing direction consistency verification on a newly output sun direction vector measurement value, and verifying an actual included angle; if the actual included angle is smaller than the preset precision threshold value, a new round of data acquisition cycle is triggered, and closed-loop control is achieved. According to the invention, the timeliness and effectiveness of attitude control are ensured, and the control efficiency and reliability 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 invention relates to the technical field of transportation equipment, and discloses a transport vehicle for pressure steel pipe transportation, a posture control system and a transport method.The transport vehicle is arranged on a track in a hole in pairs to synchronously advance and comprises a walking assembly, a rotating assembly, a clamping assembly and a control unit, the walking assembly is connected with the track, and a second sensor assembly is arranged at the advancing end of the top of the walking assembly; the scanning module is used for scanning an operation area and constructing a global map in combination with a GPS; the rotating assembly is connected to the upper end of the walking assembly and drives the clamping assembly to rotate according to the global map. The clamping assembly is provided with a clamping part and a lifting part, and the lifting part is electrically connected with the second sensor assembly; the control unit is in communication connection with each component; the traditional'manual leading 'transportation is upgraded to'autonomous control', the low manual turning efficiency and potential safety hazards are eliminated, the problems of steel pipe heeling, trembling and the like are solved through real-time posture adjustment, and the method is suitable for safe transportation of the pressure steel pipes in complex scenes such as in-hole rails and the like.

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 composite attitude control method for the maneuvering phase of a microsatellite. The method includes: constructing a novel composite actuator based on a zero-momentum gear train and a two-dimensional translational mechanism; establishing and optimizing attitude rotational dynamics and slider translational dynamics models considering inertial principal axis offset and additional disturbance torque; designing an exponentially convergent disturbance observer to monitor thrust eccentricity torque in real time; and designing an attitude control loop MPC (Model Predictive Control) controller and a thrust eccentricity torque compensation loop discrete PID (Proportional-Integral-Derivative) controller to form a dual-closed-loop composite attitude control system. This control method can effectively observe slowly time-varying thrust eccentricity torque, and features high control accuracy and no saturation in the momentum gear train, making it suitable for long-term thrust eccentricity disturbances in microsatellite maneuvering missions.

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.

The invention discloses an actuator capability and control rate explicitly coupled satellite attitude adjustment method, and belongs to the technical field of satellite attitude adjustment and control. The method comprises the following steps: firstly, establishing a satellite attitude kinematics and dynamics system, modeling an actuator dynamics system by adopting a hyperbolic tangent function, and widening an attitude control system with limited actuator capability into a three-order attitude control system; then designing an attitude anti-saturation regulation controller, taking the maximum control capability of an actuator as a parameter selection reference, and ensuring the asymptotic stability of the system through the Lyapunov theory; and finally, solving an inequality differential equation of the energy function, and establishing an explicit mathematical relationship between the actuator capability and the control rate. According to the method, the relevance between the actuator capacity and the control rate is revealed through an accurate mathematical equation, a theoretical basis is provided for satellite actuator type selection, and meanwhile, the attitude adjustment stability under the condition that the actuator capacity is limited is ensured.

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 invention relates to a ping-pong robot track recognition and ball hitting posture control system, which comprises a table surface environment sensing module, and is characterized in that the table surface environment sensing module is used for acquiring three-dimensional track data, table surface environment parameters and event signals of ping-pong balls in real time through a high-speed camera array unit and an environment state sensor unit; and a time label and a frame number are added to each frame of data, and the data are uniformly output to the multi-stage track processor module. A high-speed camera shooting array and a multi-source environment sensing technology are adopted, the three-dimensional space track of the table tennis ball can be captured in real time, dynamic adjustment is conducted according to table surface environment parameters, the multi-stage track processor can effectively remove noise and accurately extract track characteristics through a Kalman filtering self-adaptive algorithm, and therefore the table tennis ball track detection accuracy is improved. Compared with a traditional system, the system has the advantages that track recognition errors can be greatly reduced, and more accurate ball hitting angle and opportunity control can be provided.

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 discloses a kind of ultra-low orbit satellite high-precision attitude control system and method, the system includes: attitude measurement sensitive module, attitude controller and control execution mechanism;Wherein, attitude measurement sensitive module is used to measure the attitude information of current satellite;Attitude controller is used to combine the attitude information of current satellite, using preset control strategy, the control amount input of control execution mechanism is solved;Control execution mechanism is used to generate the moment of influence satellite attitude movement according to control amount input, to control satellite attitude by reaction flywheel control and jet control alternate use mode.This application is based on propulsion system, reaction flywheel and magnetic moment ware, realizes the full interval high-precision high-stability attitude control target for ultra-low orbit satellite.

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.

The invention discloses an unmanned aerial vehicle fixed-point landing and attitude control system based on APRILTAG. The system comprises an unmanned aerial vehicle body; the camera is mounted on the unmanned aerial vehicle body and is used for shooting an APRILTAG tag image on the ground; the image processor is connected with the camera and is used for identifying and processing the APRILTAG tag image shot by the camera and acquiring the position and attitude information of the tag; the attitude sensor is mounted on the unmanned aerial vehicle body and is used for detecting attitude information of the unmanned aerial vehicle; the controller is connected with the image processor and the attitude sensor and is used for calculating a flight control instruction of the unmanned aerial vehicle according to the label position and attitude information acquired by the image processor and the unmanned aerial vehicle attitude information detected by the attitude sensor; and the communication module is connected with the controller and is used for sending the flight control instruction to the unmanned aerial vehicle body and controlling the unmanned aerial vehicle to carry out fixed-point landing.

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.