191 results about "Attitude stability" patented technology

The invention relates to the technical field of aerocar mode switching, and discloses a distributed driving aerocar self-adaptive fault-tolerant control method for actuator multimode failure, which comprises the following steps: constructing a unified six-degree-of-freedom dual-mode state space model; residual signals are generated based on extended Kalman filtering and a sliding-mode observer, and fault types and positions are positioned in real time through a lightweight classifier; the method comprises the following steps: extracting residual time-frequency features, identifying hard faults by using a lightweight convolutional neural network, quantifying soft fault degrees through an incremental support vector machine, fusing multi-source information based on a Bayesian network to output fault types, levels and confidence coefficients, and introducing an incremental learning mechanism to realize self-evolution of a diagnosis model; a virtual control instruction is generated by adopting hierarchical sliding mode control, thrust and torque distribution of remaining actuators is optimized based on a dynamic quadratic programming algorithm, control parameters are adjusted online in combination with a Lyapunov adaptive law, aerodynamic interference and model uncertainty are inhibited, attitude stability and trajectory tracking in air-ground mode switching are guaranteed, and the method has the advantages of being high in reliability and high in reliability. And the fault-tolerant performance and the operation safety of the hovercar in the air-ground mode switching process are obviously enhanced.

The invention provides a multi-rotor unmanned aerial vehicle adaptive attitude stability control algorithm and device, and relates to the technical field of unmanned aerial vehicle control. The control algorithm comprises a geometric phase driving control process, a fractional order chaos game control process, a manifold resonance self-adaptive control process, a topology manifold self-adaptive control process and a multi-scale disturbance prediction control process, and all the processes of the control algorithm are executed through the main control processing unit. In order to solve the problems that a traditional PID control attitude error is 0.02-0.05 degree and is difficult to adapt to a dynamic environment, a geometric phase drive control flow is combined with a plasma pneumatic fine tuning array and an inertial measurement unit, a high-precision 3 * 3 rotation matrix is generated by adopting Lie algebraic transformation and a Newton-Rafson iteration method, the rotation speed of a rotor wing is optimized, and the precision of the rotor wing is improved. The attitude error is controlled to be 0.006 degrees, and the effect is improved compared with a traditional PID control effect.

The invention belongs to the technical field of comprehensive utilization of ocean renewable energy sources, and particularly relates to a pilot frequency coupling-based wind wave energy multi-degree-of-freedom broadband control method, which comprises the following steps of: performing frequency domain identification on wind wave environment characteristics, and constructing a wind wave pilot frequency energy coupling model; based on the motion response characteristics of the multi-degree-of-freedom floating platform, designing a pilot frequency energy regulation and conversion mechanism; a full-working-condition dynamic optimization control strategy is adopted, and cooperative operation and energy flow self-adaptive distribution of the wind energy conversion unit and the wave energy conversion unit are achieved. Aiming at the significant difference and relevance of wind energy and wave energy in frequency characteristics, time scale and spatial distribution, a pilot frequency wind wave coupling dynamic model is established, and broadband capture of low-frequency wind-induced and high-frequency wave-induced coupling energy is realized under complex sea conditions through multi-degree-of-freedom motion decoupling and state observation, so that the wind-induced and high-frequency wave-induced coupling energy is obtained. The energy utilization rate, the attitude stability and the structural safety of the system are effectively improved, and good robustness and engineering adaptability are achieved.

The invention discloses an offshore rocket recovery platform attitude stability control method based on particle swarm optimization, and the method comprises the following steps: S1, collecting and preprocessing multi-source attitude data, and generating a time series data set; s2, constructing a fuzzy PID controller, and setting nine three-axis control parameters; s3, performing global optimization by adopting an improved particle swarm algorithm, and outputting an initial parameter solution; s4, introducing a zebra optimization algorithm to carry out local refined optimization; s5, constructing a collaborative optimization architecture, and fusing and outputting optimal control parameters; s6, the optimal parameters are input into a controller, and a servo system is driven to adjust the three-axis attitude; s7, monitoring disturbance amplitude, dynamically triggering a zebra strategy and feeding back the zebra strategy to the particle swarm; and S8, evaluating the control performance, and feeding back iterative optimization if the control performance does not reach the standard. According to the method, the improved particle swarm optimization algorithm and the zebra optimization algorithm are fused, so that self-adaptive optimization and accurate attitude stable control of attitude control parameters of the offshore rocket recovery platform are realized.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle accurate attitude control method fusing multiple sensors and a flight controller thereof. The method comprises the following steps: acquiring the position and attribute characteristic data of an unmanned aerial vehicle through multiple sensors; determining the offset degree of the statistical period and the offset direction of the unmanned aerial vehicle according to the position difference between the unmanned aerial vehicle position and the planned route in the previous statistical period, the unmanned aerial vehicle direction and the planned route angle; attitude angles are obtained through attitude calculation, the attitude angles form a fluctuation curve, the fluctuation degree is analyzed, and the attitude stability degree of the unmanned aerial vehicle is obtained; the deviation of the unmanned aerial vehicle relative to the initial position is obtained according to the fluctuation curve slope of the yaw angle; comparing the direction with the offset direction to determine a correction angle; and calculating a three-axis error signal through the correction angle, and inputting the three-axis error signal into a PID (Proportion Integration Differentiation) controller for control. A more accurate attitude angle is obtained, so that the control precision is improved.

The invention discloses a spatial non-cooperative target form reconstruction-oriented perception planning control integration method, which comprises the following steps of: extracting local semantic features of a target component in a single-view observation image through a pre-trained semantic segmentation network, coding the local semantic features and RGB (Red, Green and Blue) information into an MLP (Markup Language Protocol) of NeRF, perceiving a target geometric form and component-level semantics, and obtaining a component-level semantic feature of the target component; the perception result is optimized along with fly-around observation, evaluation is carried out, and an uncertainty thermodynamic diagram is generated; based on the uncertainty thermodynamic diagram, a space observation value function is constructed, spacecraft dynamics and view field constraints are combined, and an initial fly-around trajectory is generated by adopting an information gain weighted three-dimensional A * algorithm and optimized in real time; and designing a trajectory tracking control law and an attitude stability control law based on a time synchronization stability theory, and controlling the spacecraft to execute the optimized fly-around trajectory. According to the invention, a perception-planning-control closed-loop execution system is realized, and a closed-loop collaborative process of perception-evaluation-planning-control-re-perception is formed.

The invention relates to a tilting quad-rotor unmanned aerial vehicle with a rotor fault protection function, and belongs to the technical field of unmanned aerial vehicles. In order to solve the problem that an existing four-rotor unmanned aerial vehicle cannot maintain all-attitude stability and safe landing after rotor faults, the invention provides an innovative scheme that the lift force direction of propellers is dynamically adjusted through a tilting structure, and stable flight and autonomous landing after the faults are achieved in combination with an 8-control input cascade double-closed-loop PID control algorithm and a fault judgment system. The unmanned aerial vehicle comprises a fuselage, wings, a tilting structure and a flight control module. The tilting structure is driven by a servo steering engine, and the included angle between the propeller and the machine body can be adjusted to balance torque. The flight control module monitors attitude information in real time, judges fault types (single-rotor, diagonal double-rotor or steering engine jamming), and is switched to a double-rotor mode or adjusts the angle of an opposite steering engine through an overdrive system to recover stability. And after stabilization, the OpenMV machine vision module plans an obstacle avoidance path and guides safe landing. The reliability and safety of the four-rotor unmanned aerial vehicle under the fault condition are remarkably improved, and the complex environment application scene of the four-rotor unmanned aerial vehicle is expanded.

The invention relates to the technical field of robot and unmanned aerial vehicle control, and solves the technical problems that in the prior art, when an unmanned aerial vehicle platform carries a mechanical arm for operation, the total center of mass of a system drastically shifts due to movement of the mechanical arm, then dynamically changing disturbance torque is generated, and the attitude of an unmanned aerial vehicle is unstable and even out of control. The coupling dynamics compensation and vibration suppression method for the aerial work platform comprises the steps that feedforward compensation torque used for counteracting disturbance torque generated due to the change of the position of the total mass center is obtained and decoupled into a control instruction for controlling thrust of multiple rotor wings of an unmanned aerial vehicle platform through a mixed control matrix, and accurate control of the unmanned aerial vehicle platform is realized. According to the method, the self-adaptive feed-forward compensation mechanism is introduced, the mass center change caused by movement of the mechanical arm can be sensed and predicted in real time, the feed-forward compensation torque is generated accordingly, the disturbance torque generated accordingly is actively counteracted, and therefore the attitude stability and operation precision of an unmanned aerial vehicle platform are remarkably improved.

The invention discloses a distributed spacecraft low-communication attitude fine control method based on event triggering, and aims to solve the problems of high communication frequency, serious resource waste and difficulty in effective compensation of multi-source interference in the prior art. According to the method, a spacecraft attitude deep coupling model is constructed, and the dynamic influence of compound interference such as centroid change and flexible vibration is comprehensively considered; designing an event triggering mechanism based on the control signal variation, and updating a control instruction as required to reduce the communication frequency; and a self-adaptive composite controller is constructed, interference and communication errors are estimated and compensated on line, and the attitude control precision is ensured. According to the method, only 75 times of communication is triggered in 50-second simulation, meanwhile, the attitude tracking error is controlled within 5 * 10 <-3 > rad, and the method has the advantages of being low in communication load, high in control precision, high in anti-interference capacity and the like and is suitable for a distributed spacecraft system with strict requirements for attitude stability and communication resource consumption.

The invention relates to the technical field of aircraft attitude control, and discloses an aircraft attitude auxiliary braking control system based on a high-speed permanent magnet synchronous motor, which comprises the following steps of: defining an aircraft attitude braking instruction as a target energy dissipation power instruction, and acquiring a motor operation angular speed in real time; a target braking current instruction is dynamically calculated based on the energy dissipation power instruction and the angular velocity, and a motor is controlled to execute braking. Through energy management mode reconstruction, a braking system becomes a self-adaptive energy dissipater, the current is automatically adjusted under turbulence disturbance to maintain constant power, conversion from force tracking control to energy flow management is achieved, and the braking efficiency is improved. And meanwhile, by controlling an input linear mapping and global working condition switching mechanism, the control consistency at different speeds is ensured, and the attitude stability of the aircraft is improved.

The invention relates to an unmanned aerial vehicle attitude control method based on motor state disturbance compensation, belongs to the technical field of unmanned aerial vehicle control, and solves the problems of hysteresis and limited control effect of an existing unmanned aerial vehicle attitude control method. The position controller calculates to obtain expected tension, a roll angle and a pitch angle; the attitude feedback controller calculates a feedback torque according to the expected attitude, the actual Euler angle and the body angular velocity; the load identification module calculates an estimated disturbance torque based on the target rotating speed, the actual rotating speed and the current of each motor; the feedforward neural network module adopts a trained RBF neural network to calculate torque residual error estimation, and torque synthesis is carried out to obtain a torque feedforward compensation amount; adding the feedback torque and the feed-forward compensation amount to obtain a total control torque; and the mixing controller calculates the target rotating speed of each motor according to the expected tension and the total control torque, and finally the control distributor drives the motors to execute. The attitude stability and the control response speed of the unmanned aerial vehicle in the wind disturbance environment are remarkably improved.

The invention discloses an anti-shaking device and method for hoisting an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle hoisting operation. The device comprises a mounting plate and a fixing shell fixed to the bottom of the mounting plate, and a mounting shell is arranged on the mounting plate. The innovative point is that a passive stabilizing system composed of a wind guide mechanism, a wind power conversion mechanism and a gyro mechanism and an active adjusting system composed of an adjusting mechanism and a reverse thrust stabilizing system are integrated. The air guide mechanism guides airflow to drive a rotating column of the wind power conversion mechanism to rotate, a gyro disc is driven to rotate at a high speed through multi-stage gear transmission acceleration, and the posture of goods is passively stabilized through the generated gyroscopic effect. Meanwhile, the adjusting mechanism adapts to posture changes of the unmanned aerial vehicle by adjusting the length of a hoisting steel cable, and the reverse thrust stabilizing system actively counteracts wind disturbance through vector air injection. The invention further provides a corresponding anti-shaking method. According to the scheme, swinging of hoisted goods in the high altitude can be restrained, the posture stability and the wind resistance are improved, and the automatic unloading function is achieved.

The invention discloses a fault early warning method and system for an anti-wind-disturbance multi-rotor unmanned aerial vehicle. Comprising the following steps: synchronously acquiring multiple data through a main processing link and an auxiliary processing link; generating a future disturbance torque sequence facing the wind disturbance priority and a first risk assessment value; generating a flight attitude deviation sequence facing the attitude priority and a second risk assessment value; obtaining an early warning grade and a corresponding composite feedforward control instruction; monitoring the attitude stability of the unmanned aerial vehicle; when the main processing link fails, an emergency control instruction is generated according to the evaluation result of the auxiliary processing link; and if the attitude angular velocity after differential compensation is not reduced to the safety threshold, upgrading the early warning level and switching the control link. According to the invention, through synchronous acquisition of the main link and the auxiliary link, asymmetric fusion driven by the task context label and redundancy switching, context-adaptive parallel early warning control is realized, and the problems of single early warning upgrade path and lack of context-adaptive parallel decision in the prior art are solved.

The invention discloses a multi-unmanned aerial vehicle formation control method and system based on deep reinforcement learning, relates to the field of unmanned aerial vehicle control, and aims to solve the problem that high robustness, safety and reliability are difficult to ensure when unmanned aerial vehicles in existing formation cope with model uncertainty and multi-source interference. Comprising the steps of 1, building an external airflow interference model by considering external airflow interference faced by an unmanned aerial vehicle when the unmanned aerial vehicle passes through a narrow channel to fly; 2, constructing an unmanned aerial vehicle flight dynamics model influenced by external airflow interference; 3, a PD controller is used as a basic controller, and a UDE-based controller is adopted to estimate and compensate the model uncertainty and multi-source interference; and 4, constructing a state space and an action space for unmanned aerial vehicle robust control optimization based on deep reinforcement learning, and constructing a segmented reward function which focuses on position tracking, attitude stability and control smoothness and safety, thereby improving the adaptive ability of the unmanned aerial vehicle under complex interference.

The invention discloses an inflatable aerial carrying platform and a flying method, and relates to the field of aerostats, and the key point of the technical scheme is that the inflatable aerial carrying platform comprises a platform main body cabin with an annular structure, a spherical auxiliary balance cabin arranged above the platform main body cabin and connected through a cable, and a balance control system. A plurality of groups of partition sheets are arranged in the platform main body cabin, the platform main body cabin is uniformly divided into a plurality of independent air chambers which are symmetrically arranged, and each air chamber is provided with an independent inflation and deflation hole, so that fine air pressure regulation and control and high-altitude attitude stability are realized. The auxiliary balance cabins form a composite buoyancy system through upper and lower layered layout, and the gravity center control and anti-instability capacity of the whole platform under load fluctuation or airflow disturbance is improved. According to the invention, the fault resistance, the safety and the pneumatic stability of the aerial platform are obviously improved.

The invention provides a six-rotor unmanned aerial vehicle position-attitude layered composite adaptive sliding-mode control method, which comprises the steps of introducing a terminal sliding-mode robust controller into a position loop to realize finite time convergence of a system state, and performing real-time compensation on unknown disturbance and modeling uncertainty through a sliding-mode adaptive rate. The quick response and anti-interference capability of a complex track are improved; superspiral sliding mode control is adopted in an attitude ring, sliding mode gain is adjusted in real time through an adaptive law, a controller is made to automatically match flight state changes, and attitude stability and robustness are enhanced; and meanwhile, a position signal output by the position controller is converted into a specific attitude angle reference by utilizing an attitude resolving module, so that hierarchical cooperative control of the position and the attitude is realized. Compared with traditional PID and SMC controllers, the method is faster in convergence and higher in tracking precision, has stronger adaptivity and robustness to external disturbance and parameter uncertainty, and can significantly improve the motion control performance of the six-rotor unmanned aerial vehicle in complex environments and tasks.

The invention discloses a high-storage-ratio folding method for a large conical film structure, and belongs to the technical field of space debris removal and satellite light shields. The problems that an existing plane deorbit sail is poor in attitude stability and low in deorbit efficiency are solved. Comprising the following steps: S1, drawing equidistant circumferential folding lines on a conical film structure, wherein the circumferential folding lines comprise a circumferential ridge line and a circumferential valley line; s2, circumferential folding is carried out, axial compression is carried out along the axis of the cone, and then circumferential contraction is carried out; and S3, folding from a cone to a cylinder. The three-dimensional conical film sail can be folded into the three-dimensional conical film sail which is high in posture stability, relatively high in unfolding reliability and capable of correcting the posture, and the folding efficiency is high.

The invention relates to the technical field of data acquisition, in particular to an equipment target control data acquisition system and method, and the system comprises a state potential energy module, a speed projection module, a trajectory fusion module, a collaborative preloading module and an acquisition trigger module. According to the method, a potential function sequence is constructed by obtaining an angular velocity change rate and angular momentum, a characteristic stable section is determined by comparing an identification change point with a fall-back point, attitude stability description is improved, characteristic capture under interference is carried out, an included angle rate is calculated by using inertial navigation velocity projection filtering, and a motion mode analysis section and a data quality focusing key interval are determined by comparing. A multi-node early warning section is determined by fusing radar coordinate trajectory recognition composite section and analysis section time overlapping, early warning accuracy is enhanced by combining internal and external information, a unified scheduling instruction is generated to cooperate with preloading to improve timeliness, a sensor is activated according to the instruction to record and store, accurate and loss-free cooperative acquisition in a key period is guaranteed, and data integrity is improved.

The invention discloses a vector propulsion underwater robot and a control method thereof. The vector propulsion underwater robot comprises an aluminum alloy sealed cabin, a vector propulsion base, symmetrically distributed vector propulsion devices, a short baseline positioning system and an autopilot. The sealed cabin provides waterproof protection for core components; the propelling base is rigidly connected with the sealed cabin; the vector propulsion device generates multidirectional power and feeds back an azimuth angle in real time; the short baseline positioning system obtains an underwater position; and the autopilot integrates positioning, depth and attitude data, plans a navigation path in real time, solves the thrust direction and magnitude of the propulsion device, realizes three-dimensional motion and attitude stability, and dynamically adjusts the propulsion orientation at the same time. The modular vector propulsion design is adopted, the mechanical complexity is remarkably reduced, and the deep sea operation stability and the energy efficiency are improved. And accurate position / attitude control is realized through multi-directional thrust adjustment, and the problem of water flow disturbance is solved. Disturbance compensation and a self-adaptive mechanism are integrated, thrust distribution is dynamically optimized in combination with the battery state, and the operation time is prolonged.

The invention discloses an unmanned ship attitude stabilization and intelligent anti-interference method and system under a complex sea condition, and relates to the technical field of unmanned ship intelligent control and marine environment perception, and the method comprises the steps: building a sea condition model, and judging the sea surface disturbance level; performing nonlinear adaptive control on the unmanned ship based on the sea surface disturbance level; and based on a state prediction algorithm, combined control is carried out on the attitude of the unmanned ship in combination with nonlinear adaptive control. According to the method disclosed by the invention, the accuracy of attitude control pre-judgment and the environment adaptability are improved; the comprehensive performance of the unmanned ship between energy efficiency utilization and dynamic control is improved; combined control is performed by combining a state prediction algorithm and nonlinear control, so that the control system has the ability of pre-judging the attitude change trend in advance and performing dynamic correction, the control strategy conversion from passive response to active pre-control is realized, and finally, the attitude stability, the control foresight and the task continuity of the unmanned ship under the complex sea condition are remarkably 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 invention belongs to the technical field of floating equipment, and particularly relates to a tethered airship with a propelling device and a conveying system for the tethered airship. A connecting part is arranged on the outer surface of a boat body, a propelling device comprises a horizontal propelling part and a vertical propelling part, the horizontal propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the horizontal direction, and the vertical propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the vertical direction. The horizontal direction is perpendicular to the vertical direction, and the mooring rope is detachably connected with the connecting part. According to the tethered airship with the propelling device in the technical scheme, the horizontal propelling part is used for providing propelling force in the horizontal direction to achieve the functions of headwind adjustment, yaw control and the like of the airship body, and the vertical propelling part is used for providing pulling force in the vertical direction to achieve height adjustment and pitching control of the airship body. The propulsion device improves the propulsion efficiency of the boat body, and further enhances the wind measurement resistance and attitude stability of the boat body.

This invention discloses a distributed, event-triggered, low-communication fine-grained attitude control method for spacecraft, aiming to overcome the problems of high communication frequency, severe resource waste, and difficulty in effectively compensating for multi-source interference in existing technologies. This method constructs a deeply coupled attitude model for the spacecraft, comprehensively considering the dynamic effects of combined interferences such as center-of-mass changes and flexural vibrations; designs an event-triggered mechanism based on changes in control signals to update control commands as needed, thereby reducing the communication frequency; and constructs an adaptive composite controller to estimate and compensate for interference and communication errors online, ensuring attitude control accuracy. In a 50-second simulation, this method triggers only 75 communications while controlling the attitude tracking error to within 5 × 10⁻⁶. ‑3 Within rad, it has the advantages of low communication load, high control precision, and strong anti-interference capability, and is suitable for distributed spacecraft systems with strict requirements for attitude stability and communication resource consumption.

The invention relates to the technical field of tunnel construction, in particular to a water conservancy tunnel construction axis deviation real-time measurement method based on inertial navigation, which comprises the following steps: acquiring data based on a water conservancy tunnel construction section, identifying a key measurement area, tracking attitude angle change and correcting navigation reference, and extracting cross section structure change characteristics; and judging the main shaft direction offset and the spatial coincidence relation between the main shaft direction offset and the trigger section, and adjusting the sampling rule and the amplitude limiting boundary. According to the method, a synchronous analysis chain of an attitude angle and an acceleration sequence is established through continuous acquisition of inertial navigation data and dynamic recognition of a structural response signal in the water conservancy tunnel construction process, and a data circulation mechanism with attitude drift monitoring, section stable recognition and main shaft direction correction as the core is formed; and the deviation trend is identified through the spatial coincidence relation, a constraint correction interval is generated, closed-loop management of the axis trend, the posture change and the displacement deviation is formed, and it is ensured that the posture stability and the deviation controllable state are maintained in the tunnel closed environment.

The application provides a crane group boom anti-collision early warning method and system based on digital twinning, which comprises the following steps: based on the data collected by a rotary encoder, an angle sensor, an inertial measurement unit, a laser radar and a ship body attitude measuring device, a dynamic three-dimensional digital twinning model is constructed and updated in real time; in the model, real-time path planning is performed on each crane boom, the spatial interference risk with the bulkhead, hatch coaming and other booms is evaluated, and a collision-free optimal action path is generated; the path nodes are dynamically risk evaluated, the minimum distance, relative speed, motion direction angle and ship body swing disturbance are comprehensively considered, and a collision risk score is generated; according to the score, hierarchical intervention control is implemented, the collision is avoided, and the attitude stability of the suspended goods is maintained. The application realizes the safety early warning and intelligent regulation and control of multi-machine cooperative operation under high dynamic sea conditions, and effectively improves the operation efficiency and safety.

The invention discloses an energy-saving multi-rotor express delivery unmanned aerial vehicle flight control method, and relates to the technical field of unmanned aerial vehicle flight control, in the sensor deployment and data acquisition step, sensors are reasonably configured, original data are accurately acquired, and basic information is provided for subsequent control; through the sensor data preprocessing step, the data quality is improved, and the accuracy and stability of data are ensured; by means of the key action node recognition step, dynamic sensing of the loading and unloading process is achieved, and key nodes such as lifting, translation and placement are precisely recognized; in the step of state parameter analysis, quantitative parameters are extracted for different nodes, and a scientific basis is provided for power adjustment; and finally, in the rotor power output dynamic adjustment step, according to the analysis result of the state parameters of each node, a targeted power adjustment strategy is adopted, so that the energy consumption waste caused by instantaneous high power in the initial hoisting stage is effectively avoided, the extra power consumption for maintaining the stable attitude in the translation stage is reduced, and the power distribution in the placement stage is optimized.

This invention provides a method, apparatus, and electronic device for determining the longest on-orbit operating time of a thruster. The method includes: establishing an installation position matrix for the thrusters based on their installation at preset tilt angles on the satellite; establishing the installation position matrix based on the satellite's body coordinate system; determining the sign relationship of the torque components along each axis of the satellite body coordinate system based on the on / off state of each thruster on the satellite; analyzing the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total disturbance torque generated by all thrusters. This invention ensures the attitude stability and orbital adjustment capability of the satellite in complex environments and solves the problem of insufficient accuracy in predicting the longest operating time of thrusters in existing related technologies.

This disclosure relates to the field of multirotor aircraft technology, specifically to a degradation control method, device, multirotor aircraft, and chip. The method includes: when a fault is detected in at least one of the multiple motors of the multirotor aircraft, acquiring the current original motion attitude control command vector and degrading it based on a preset degradation strategy; acquiring faulty motor information to update the position of the current reference control point; generating a degraded control allocation matrix based on the updated reference control point position; obtaining the thrust command vector of the normal motors on the multirotor aircraft based on the degraded motion attitude control command vector and the degraded control allocation matrix; and controlling the multirotor aircraft based on the thrust command vector. Therefore, after detecting a faulty motor, the stability and controllability of the aircraft are maximized, improving the attitude stability and controllability of the multirotor aircraft and thus avoiding serious consequences.

The invention relates to the technical field of aircraft control, in particular to a fan carrier attitude self-adaptive power electric control device and method.The electric control device comprises a processor, and the processor is configured to execute the following steps that the real-time motion state of a fan carrier is monitored; when it is detected that the motion state of the fan carrier changes suddenly, an initial posture stability index and a counter electromotive force transient value generated in the state sudden change process of each fan motor are obtained; based on the back electromotive force transient value of each fan motor, controlling an energy recovery circuit of each fan motor to carry out energy recovery so as to obtain total recovery electric energy of the fan carrier; according to the electric energy value of the total recovered electric energy and the initial attitude stability index, generating total power for coping with the state sudden change; determining a target commutation advance angle of each fan motor based on the total power; and applying the target commutation advance angle of each fan motor to a motor control system of each fan motor. The problem of thrust response lag is solved.

The invention belongs to the technical field of four-rotor unmanned aerial vehicle control systems, and particularly relates to a nonsingular terminal sliding mode and second-order linear active disturbance rejection attitude control method, which comprises the following steps of S1, integrating flight attitude data of a four-rotor unmanned aerial vehicle; s2, establishing a kinetic model for describing the four-rotor unmanned aerial vehicle; s3, designing a nonsingular fast terminal sliding mode controller; s4, adding a second-order linear active disturbance rejection controller; and S5, proving the stability of the Lyapunov. The non-singular terminal sliding mode is combined with the improved second-order linear active-disturbance-rejection controller, it can be guaranteed that a quad-rotor unmanned aerial vehicle control system has the excellent performance such as quick response, robustness and higher tracking precision, and it is convenient for the quad-rotor unmanned aerial vehicle to keep the attitude stable in real time.