204 results about "Attitude control system" patented technology

The invention belongs to the technical field of unmanned aerial vehicles and flight control thereof, and discloses a variable-pitch multi-rotor unmanned aerial vehicle and a flight attitude control method thereof. Wherein the variable-pitch multi-rotor unmanned aerial vehicle is provided with an active-disturbance-rejection attitude control system, the active-disturbance-rejection attitude control system is provided with a rolling control loop, a pitching control loop and a yawing control loop, and each control loop comprises an extended state observer, a differential tracker and a nonlinear state error feedback. And when the control parameters are optimized, the control parameters are optimized by using an improved cumberfish optimization algorithm, and a dynamic updating strategy of the improved cumberfish optimization algorithm adopts a cumberfish position updating rule based on a variable spiral sine-cosine strategy. According to the technical scheme, the technical problem that control parameters of the unmanned aerial vehicle are difficult to adjust due to factors such as model uncertainty, external interference and nonlinear coupling characteristics caused by variable-pitch rotors in a complex dynamic environment is solved, and the flight performance of the unmanned aerial vehicle can be improved.

A satellite for software-defined satellite imagery includes an optical assembly. The satellite further includes an attitude control system. The attitude control system is configured to control an orientation of the satellite such that the optical assembly slews across a ground track of the satellite. The satellite further includes a set of image sensors configured to capture an image using light directed to the set of image sensors at least in part by the optical assembly.

The invention belongs to the technical field of aerodynamic wind tunnel tests, and discloses a test device and method for a dynamic derivative wind tunnel test, and the device comprises an aircraft model which is formed by assembling a nose, a middle fuselage, a rear fuselage, a balance, wings and an empennage; the oscillation mechanism is provided with an adapter, and the adapter is connected with the balance; and one end of the wind tunnel strut is connected with the wind tunnel attitude control system and the other end is connected with the oscillation mechanism. The problem that an existing dynamic derivative wind tunnel test model and a test device are low in efficiency is solved, heaving, sidesway, yawing, pitching and rolling oscillation of the model are achieved by replacing the adapters, and the test efficiency of a dynamic derivative wind tunnel test can be effectively improved.

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 a power transmission line tower body assembly positioning and hoisting attitude control method in a desert environment, and relates to the technical field of power transmission engineering construction, and the method comprises the steps: obtaining power transmission line tower body structure parameters and desert environment parameters, the desert environment parameters comprise geological conditions, wind speed and wind direction; establishing a laser positioning reference system, wherein the laser positioning reference system comprises three laser emitting devices with angle and distance sensors; the tower body sections are assembled and positioned, space coordinates are established through laser marking projection, and the positions are corrected through a self-adaptive algorithm; installing an inertial measurement unit; establishing a hoisting attitude control system which comprises a main arm crane, an auxiliary crane and a tensioning device; in the hoisting process, the center-of-gravity offset is calculated based on the attitude data, and each device is controlled to realize attitude stabilization; and finally, curing materials are injected into the tower body foundation to complete installation.

The invention relates to the technical field of gyroscopes, and provides an attitude control system and method based on a gyroscope, and the method comprises the following steps: collecting angular velocity data, acceleration data and azimuth angle data of a target object in a three-dimensional space, and carrying out filtering processing on the collected angular velocity data to obtain a filtered angular velocity value; and inputting the filtered angular velocity value into a preset dynamic attitude model to generate an initial attitude estimation value, correcting the initial attitude estimation value by using the acceleration data and the azimuth angle data to obtain an attitude error value, and analyzing the attitude error value to generate an attitude control signal. Through multi-source fusion processing of angular velocity data, acceleration data and azimuth angle data, the accuracy of attitude control signals is improved, real-time response and stability in a complex dynamic environment are realized, and the problem that in a rapidly changing complex environment, noise interference easily causes inaccuracy or delay of attitude adjustment instructions is solved. The problems of poor real-time performance and weak stability of attitude estimation exist.

The present invention provides a method and system for optimizing the electric propulsion orbit transfer strategy for low-Earth orbit satellite constellation networking, including: Step 1: Based on the engineering constraints of only two states of on and off according to the thrust magnitude of the electric propulsion, establish an optimization problem of the time-optimal constellation networking electric propulsion transfer orbit; Step 2: Divide the networking process into stages, and perform phased parameterization on the thrust magnitude and direction; Step 3: Determine the variables to be solved, and convert the optimization problem of the constellation networking electric propulsion transfer orbit into a shooting problem with constrained control variables; Step 4: Guess the initial value of the shooting problem, and use the Newton iteration algorithm to solve it, and finally obtain the optimal solution of the optimization problem of the constellation networking electric propulsion transfer orbit. The present invention can ensure that the transfer orbit meets the preset networking constraints, has low requirements for the attitude control system, has a simple structure, high solution efficiency, is conducive to on-board implementation, and can effectively realize the joint control of orbital elements.

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.

An aeronautical vehicle performs horizontal flight and / or vertical flight, and has a fuselage, a wing assembly having a first wing part and a second wing part rigidly coupled to one another, a rotor assembly, a horizontal thruster, and an attitude control system. The wing assembly is arranged rotatably with respect to the fuselage to rotate about a vertical pivot axis between a stow position and an active position. The rotor assembly includes two vertical thrust rotors arranged on a rotor support rotatably with respect to the fuselage to rotate the rotor assembly between a stow position and an active position. In a horizontal flight mode the wing assembly is in the active position and the rotor assembly is in the stow position, and in a vertical flight mode the wing assembly is in the stow position and the rotor assembly is in the active position.

The present invention relates to the field of marine technology and engineering, and in particular to a floating wind power platform attitude control system. The present invention effectively controls the attitude of the floating wind power platform through the mutual cooperation between a measurement system, a control system, and a platform attitude control system, thereby providing good protection for the safe and stable operation of the floating wind turbine. At the same time, the platform attitude control system is provided with a second tidal energy power generation system to provide electrical energy for the electrical connection between the various systems, without additionally consuming the energy of the floating wind turbine, thereby improving resource utilization.

The invention provides a fire-fighting unmanned aerial vehicle attitude control system and a control method thereof, and relates to the technical field of fire-fighting unmanned aerial vehicle attitude control. A sensing terminal, a measuring terminal, a lateral rotor wing and a control terminal are arranged on the unmanned aerial vehicle; determining a target spraying position of the fire extinguishing medium based on the sensing terminal; the medium flow of a fire extinguishing medium in the fire gun and the heat convection vector force in the environment horizontal plane are measured based on the measuring terminal; reverse thrust is provided in the spraying direction of the fire extinguishing medium based on the lateral rotor wings; the control terminal determines the current muzzle position of the fire gun on the horizontal plane according to the medium flow and the heat convection vector force; determining the spraying position deviation of the fire gun according to the current muzzle position and the target spraying position; and the magnitude and direction of reverse thrust provided by the lateral rotor wings are controlled according to the jetting position deviation, so that the muzzle position of the fire gun when the fire gun executes a fire extinguishing task is corrected. The fire extinguishing efficiency of a fire scene and the completion quality of a fire extinguishing task are improved.

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 a self-adaptive integral concurrent learning consistency control method for an unmanned aerial vehicle cluster, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: building an unmanned aerial vehicle attitude dynamic model suffering from a hostile attack; a compensation variable and a first-order filter are introduced, and a coordinate conversion equation is established in combination with an adaptive dynamic surface control technology; an attack compensator is designed for online estimation and counteracting the influence of spoofing attacks on the system; an integral concurrent learning strategy and an event triggering control mechanism are fused, a memory event triggering interval type-2 fuzzy integral concurrent learning-based security consistency controller is designed, and the stability of a closed-loop attitude control system is analyzed based on a Lyapunov stability theory. Under the condition of limited excitation, the leadless attitude asymptotic consistency control under the unmanned aerial vehicle cluster spoofing attack is realized, the safety control problem under the condition that communication resources are limited in actual engineering application is effectively solved, and the robustness and the control precision of the unmanned aerial vehicle when the unmanned aerial vehicle is subjected to network attack are remarkably improved.

The invention discloses an electric aircraft cross compass attitude control system, and relates to the technical field of unmanned aerial vehicle attitude control, the electric aircraft cross compass attitude control system comprises # imgabs 0 # rotor motors and further comprises an annular base frame, and # imgabs 1 # rotor motors form an annular array based on the annular base frame; a controller; and the driving mechanism is used for receiving the driving electric signal of the controller and adjusting the position of the rotor motor. According to the cross compass attitude control system of the electric aircraft, when the function of the rotor motor is abnormal or damaged through automatic monitoring, the abnormal or damaged rotor motor is abandoned, and the position or the rotating speed of the rotor motor is correspondingly adjusted based on a corresponding strategy, so that the rotor motor annularly moves relative to the annular base frame; according to the invention, the attitude basis conforming to aerodynamics is reconstructed to optimize lift distribution to compensate imbalance, so that the aircraft can stably fly to the maximum extent in an extreme environment, high controllability is kept, and a better use prospect is brought.

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 invention relates to the technical field of underwater vehicle control, and discloses a undulating fin robot control method based on a residual MLP and an active disturbance rejection controller, and the method comprises the steps: obtaining the state information of a robot through a kinematics and dynamics model; a non-linear tracking differentiator is adopted to generate a smooth reference signal, disturbance such as ocean current and density change is estimated in real time in combination with an extended state observer, and high-precision depth tracking is achieved through a state error feedback controller. The attitude control system fuses a PID controller and a depth factor adjustment mechanism, and dynamically optimizes control parameters to maintain attitude stability; a fin ray cooperative control strategy is put forward, the swing amplitude and the offset angle are adjusted, output torque is adjusted in combination with a depth factor, and propulsion performance fluctuation caused by water pressure changes is solved; the depth and attitude control parameters are optimized by using the residual MLP, the nonlinear fitting capability is enhanced through the residual block structure, the parameter setting efficiency is improved under the finite computing power, and an efficient and reliable technical scheme is provided for ocean exploration and ecological monitoring.

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.

The invention discloses a parking attitude control system for a two-wheeled vehicle, and the system is characterized in that through the cooperative work of a sensor module, a calculation module, a control module and a feedback system, the sensor module senses the angles of front and rear wheels, the attitude of a vehicle body, the ground slope, the load, the friction coefficient and other information of the vehicle in real time; the calculation module can dynamically calculate the optimal parking posture most suitable for the current environment based on the real-time data and an optimization algorithm, and it is ensured that the vehicle can be kept stable under different ground conditions. The control module accurately adjusts the angles and the lengths of the single support and the double support according to the calculation result, the position of the supporting frame is accurately controlled through an electric servo system, and it is ensured that the vehicle reaches the optimal posture in the parking process and is prevented from inclining or falling to the ground. The feedback system plays a key role in the process, monitors the precision of the support frame in the adjusting process in real time, and returns feedback data to the calculation module and the control module, so that the system is always kept in the optimal adjusting state.

An embodiment of the present invention discloses a method, device and medium for estimating unknown interference and attitude during a satellite maneuver. The method may include: constructing an attitude control system model of the satellite based on the angular velocity and Euler angle of the satellite in a body coordinate system; designing a nonlinear interference observer for the attitude control system model using the constructed angular velocity channel model containing interference terms; discretizing the attitude control system model and obtaining a locally linearized attitude control system model based on Taylor expansion remainders; designing a maneuver controller for the satellite based on a proportional differential controller; designing a state / bias estimator to obtain an unbiased state estimation result and a bias estimation result, and obtaining an optimal state estimation value used as an attitude estimation result based on a coupling relationship between the bias estimation value and the state estimation value; and using the interference term observation value obtained by the nonlinear interference observer as an unknown interference estimation result.

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.