138 results about "Attitude stability" patented technology

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 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 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 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.

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.

The invention relates to a rapid maneuvering underwater unmanned vehicle deepening control method and system and a medium, and the method comprises the steps: Q1, setting the initial depth start, the target depth target and the rotating speed rpm information of a deepening direct navigation task of an underwater unmanned vehicle, and recommending a stable trim value theta stable in the navigation task and a first-time steering angle (s1, b1) according to the depth difference and the navigation speed; q2, searching all rudder angle combinations of which the stable trim values meet the range of theta table + / -0.01 from a calibration table through the stable trim values theta table, and randomly selecting a rudder angle combination (s3, b3) from the rudder angle combinations; and Q3, on the basis of the stable trim value theta < stable > and the rudder angle combination (s3, b3), controlling and adjusting the variable-depth operation of the underwater unmanned vehicle by adopting an exhaustion operation algorithm. The problem that a traditional PID controller is prone to overshoot or oscillation is solved, and meanwhile the multiple requirements for rapid maneuvering, depth control, attitude stability and the like are met.

The invention discloses a rocket fairing ocean recovery control method based on dynamic adaptive learning, which is executed by a flight control processor on a fairing, and comprises the following steps: firstly, collecting and fusing sensor data in real time to generate a flight state vector; estimating a current pneumatic parameter in real time through a pneumatic parameter online identifier; calculating the mismatch degree with the nominal model, and dynamically and adaptively adjusting the parameters of the attitude controller when the mismatch degree exceeds a threshold value; and generating a flight control instruction by using the updated controller, and driving an execution mechanism. Sensor data are collected in real time and fused to generate a flight state vector, a pneumatic parameter online identifier is used for estimating current pneumatic parameters, the model mismatch degree is calculated, attitude controller parameters are dynamically adjusted, and a flight control instruction is generated. According to the method, the mismatching problem of the fixed aerodynamic model in cross-domain flight is solved, the attitude stability and the drop point precision are improved, and a reliable guarantee is provided for offshore recovery.

The invention provides an unmanned aerial vehicle pointing calibration and drop point prediction method and device, and a medium. The method comprises the steps of obtaining a real-time image sequence and obtaining a target pixel coordinate sequence; acquiring and fusing attitude angle data of the holder IMU and the airborne IMU; obtaining a target direction vector in the dynamically normalized camera coordinates based on the target pixel coordinate sequence; converting a target direction vector in the camera coordinate into a target direction vector in an unmanned aerial vehicle body coordinate according to the fused attitude angle data; obtaining a target direction vector in the unmanned aerial vehicle body coordinates after dynamic normalization according to the scene to which the target belongs; and obtaining a target prediction pixel drop point coordinate based on a target direction vector in the unmanned aerial vehicle body coordinate after dynamic normalization. According to the method, the device and the medium, the problems of insufficient pointing control real-time performance, poor attitude stability and large drop point pre-judgment deviation of the existing unmanned aerial vehicle in a maneuvering target real-time indication and drop point prediction scene can be solved.

The application discloses a kind of eVTOL aircraft parachute safety systems with active trigger mechanism, it is related to flight landing equipment technical field, the system includes umbrella package module, quick release module, umbrella opening trigger module, deployment induction module, impact slow-release module and attitude stability and tension control module;For electric vertical take-off and landing aircraft in emergency or emergency state Safety slow descent protection, with artificial command control and automatic fault recognition dual trigger mechanism as the core of parachute, can be triggered by artificial or system automatic trigger to complete umbrella body deployment in the critical situation such as aircraft out of control, power interruption, significantly reduce the impact load in the early stage of deployment and maintain the attitude stability during descent process.The system has the characteristics of fast response, compact structure, slow-release adjustable, strong adaptability, etc., and is suitable for the safe landing requirements of eVTOL aircraft in low-altitude operation in emergency situations such as loss of control or power failure.

The invention relates to a tiltable eight-rotor unmanned aerial vehicle and a control method thereof. The tiltable eight-rotor unmanned aerial vehicle comprises a vehicle body, four vehicle arms, two tilting mechanisms, four sets of coaxial motor pairs and a flight controller. The fuselage and the four arms are distributed in an H shape, the tail end of each arm is provided with two coaxial motors with opposite rotating directions, and a large thrust-weight ratio can be provided. Besides, the arms on the two sides of the unmanned aerial vehicle can be driven by the two tilting mechanisms respectively to realize synchronous tilting, so that decoupling of pitch angle and position control is realized, the flexibility of yaw angle control is improved, and the flight speed, efficiency and attitude stability of the unmanned aerial vehicle are improved. The flight controller is electrically connected with the tilting mechanism and the motor and used for controlling the position and attitude of the unmanned aerial vehicle. The control method comprises a position controller, an attitude controller and a control distribution algorithm with a clear analytical solution, and stable flight of the tiltable eight-rotor unmanned aerial vehicle can be achieved.

The invention discloses a high-perpendicularity airborne towed antenna system and a control method thereof. The aircraft communication device comprises an aircraft, a towed antenna is arranged below the aircraft, and the tail end of the towed antenna is connected with a perpendicularity control device; the perpendicularity control device comprises a machine body, a fairing is arranged at the front end of the machine body, and a fixed horizontal wing face and a fixed vertical wing face are arranged at the tail end of the machine body. The middle section is rotationally connected with an all-moving horizontal wing surface and an all-moving vertical wing surface; the machine body is further provided with a servo steering engine used for driving the machine body and the machine body to rotate. The lift force of the perpendicularity control device is adjusted in real time through the all-moving horizontal airfoil and the all-moving vertical airfoil, so that the perpendicularity of the towed antenna during operation is improved, and an aircraft obtains a good communication effect; meanwhile, the transverse swing of the towed antenna can be reduced through the perpendicularity control device and the micro stabilizer, and the attitude stability of the towed antenna is ensured.

The invention provides a high-precision inertia product control method for a light and small reentry capsule, and aims to solve the problems that nutation and precession of a rotating shaft are caused by the existence of a free sliding section and an inertia product after a ballistic reentry reentry capsule is separated, and the larger the inertia product is, the larger the nutation and precession amplitude is, so that the attack angle is increased when the reentry capsule is reentered, and the attitude stability is influenced. According to the high-precision inertia product control method for the light and small reentry capsule, precise quantitative control over the size of the inertia product of the reentry capsule is achieved, the inertia product is reduced to restrain nutation and precession, and the stability of the reentry process of the reentry capsule can be improved.

The application relates to a configuration design method of a three-dimensional orbiting sail with posture stability, and belongs to the field of spacecraft attitude dynamics and structure design.The application is realized by the following method: considering the environmental perturbation of atmospheric resistance, atmospheric resistance moment and gravity gradient moment, an orbit attitude coupling dynamics model of a three-dimensional orbiting sail system is established based on a position vector and Euler angles; the three-dimensional orbiting sail and a spacecraft body are regarded as rigid bodies, and the windward area is considered to be blocked by airflow so as to more accurately describe the orbit movement and attitude movement of the system in the orbiting process; the attitude movement is simplified for the attitude dynamics of the system; the attitude stability of the system in the orbiting process is analyzed by using a phase plane method, a Lyapunov energy function method and other stability analysis methods of nonlinear dynamics systems; the relationship between important structure parameters such as a cone angle and a support rod length of the three-dimensional orbiting sail and the attitude stability is further constructed; and the three-dimensional orbiting sail satisfying the preset attitude stability requirement is obtained based on the relationship, so that the configuration design is realized.

The invention relates to the technical field of ship unloaders, and discloses a grab ship unloader positioning system which comprises a first positioning mobile station and a first positioning antenna which are mounted on a trolley, a positioning base station and a second positioning antenna which are cooperatively mounted on a fixed building, and a correction mechanism of a control terminal for mobile station coordinates based on the base station, and a high-precision differential positioning system is constructed. Compared with a traditional mode that the position of the trolley is indirectly measured by means of an encoder, direct, real-time and accurate positioning is achieved, the problem that accuracy is insufficient due to measurement errors of a steel wire rope reel is solved, the positioning accuracy of the trolley reaches the centimeter level, the strict requirement for position accuracy of full-automatic control of the ship unloader is completely met, and the working efficiency is improved. The grab attitude stability is effectively guaranteed, and the operation safety is improved.

This application relates to the field of unmanned aerial vehicle (UAV) technology and discloses a method for the safe airdrop of multiple airdrop components from a UAV. The method includes: determining the time interval for airdrop component deployment based on the UAV's deployment speed, the height and diameter of the airdrop component after the parachute is fully deployed; generating all feasible airdrop sequences based on the number of airdrop components carried on the UAV's belly; eliminating deployment sequences that do not meet the requirements based on a first constraint condition to obtain an initial deployment sequence set; further filtering the initial deployment sequences based on a second constraint condition to determine a baseline deployment order; obtaining an airdrop timeline based on the time interval for airdrop component deployment and the baseline deployment order; and deploying the corresponding airdrop components according to the airdrop timeline. This application effectively improves the overall deployment efficiency of multiple airdrop components while ensuring the safety and attitude stability of UAV airdrop flight.

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 relates to the field of mechanical automation and control engineering, and discloses a six-degree-of-freedom stabilizing system for an unmanned aerial vehicle in under-stable take-off and landing, the six-degree-of-freedom stabilizing system comprises a mechanical frame, the mechanical frame comprises a lower bottom plate, a middle bottom plate, an upper bottom plate and a lower layer adjusting mechanism, and the lower layer adjusting mechanism is composed of six first electric push rods; the two ends of each first electric push rod are rotationally connected to the upper surface of the lower bottom plate and the lower surface of the middle bottom plate correspondingly, the upper-layer adjusting mechanism is composed of six second electric push rods, and the two ends of each second electric push rod are rotationally connected to the upper surface of the middle bottom plate and the lower surface of the upper bottom plate correspondingly. A lower-layer adjusting mechanism and an upper-layer adjusting mechanism are arranged to form a double-layer compensation structure, the lower-layer adjusting mechanism executes coarse adjustment to compensate large-amplitude motion, and the upper-layer adjusting mechanism performs fine adjustment to compensate residual motion on the basis of coarse adjustment. The structure decomposes a compensation task, can cope with large-amplitude low-frequency and tiny high-frequency composite disturbance at the same time, and realizes high-precision attitude stability of the upper bottom plate.

This invention discloses a high verticality airborne towed antenna system and its control method; it relates to the technical field of aircraft communication equipment, including an aircraft with a towed antenna mounted below it, and a verticality control device connected to the end of the towed antenna; the verticality control device includes a fuselage, with a fairing at the front end and a fixed horizontal wing and a fixed vertical wing at the rear end; a fully movable horizontal wing and a fully movable vertical wing are rotatably connected in the middle section; the fuselage is also equipped with a servo motor for driving the rotation of both; this application uses the fully movable horizontal wing and the fully movable vertical wing to adjust the lift of the verticality control device in real time, thereby improving the verticality of the towed antenna during operation and enabling the aircraft to achieve good communication performance; at the same time, the verticality control device and the miniature stabilizer can also reduce the lateral sway of the towed antenna, ensuring the attitude stability of the towed antenna.