35 results about "Attitude stability" patented technology

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 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 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.

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.

This invention discloses a method, system, and spacecraft for real-time autonomous on-orbit space debris avoidance, belonging to the field of on-orbit safety control technology for spacecraft. The method embeds a lightweight AI model, refined through knowledge distillation, structured pruning, and 8-bit quantization, into an onboard chip. Employing a "standard strategy library + AI fine-tuning" architecture, it calls pre-stored orbital lag / lead / out-of-plane maneuver templates, and the embedded AI fine-tunes the template parameters in orbit to generate candidate trajectories. Safety verification is performed based on a simplified dynamic model to ensure compliance with miss distance, fuel, and attitude stability constraints. A dual-threshold emergency redundancy mechanism is constructed. In normal mode, the optimal fuel trajectory is selected for command generation and execution. When the collision probability is too high or the chip malfunctions, a pre-stored emergency command sequence is immediately invoked, quickly parsed by the propulsion controller, and executed directly. This invention reduces the response time from hours to minutes, significantly improving the spacecraft's autonomous survivability and mission reliability under extreme conditions.

The application discloses a launch vehicle flight data intelligent interpretation and attitude stability analysis method and system, relates to the launch vehicle flight data processing and attitude analysis technical field, wherein the launch vehicle flight data intelligent interpretation and attitude stability analysis method comprises the following steps: standardizing preprocessing of multi-source data in the flight process of a launch vehicle to obtain a standardized flight data set; obtaining fusion attitude feature data based on the standardized flight data set, and constructing a dynamic self-adaptive interpretation threshold to complete intelligent interpretation of the fusion attitude feature data; calculating an attitude stability margin value by fusing the fusion attitude feature data, the dynamic self-adaptive interpretation threshold and a dynamic correction coefficient of an attitude real-time change rate, so as to realize quantitative grading and determination of the flight attitude stability of the launch vehicle. The application can improve the accuracy of attitude analysis and the timeliness of early warning, realize fine active control of the attitude, and effectively guarantee the flight attitude safety and controllability of the launch vehicle.

The application discloses a ground effect vehicle flight control method, device and system and a ground effect vehicle. The method determines initial attitude distribution information based on the basic configuration parameters of the ground effect vehicle in the initialization state, combines historical flight information and an initial operation condition to speculate the attitude stability of a cruising mode, and then dynamically determines a flight control strategy. In the cruising mode, the strategy is executed through core components such as a power system and a hydrofoil adjusting mechanism to realize attitude stability control. The application effectively solves the problems of existing ground effect vehicle flight control response lag and the inability to adaptively adjust, adapts to the unique needs of ground effect vehicle near-water flight, improves flight control efficiency and accuracy, and improves safety and stability during flight.

This invention discloses a distributed passive acoustic decoy simulator with a multi-buoy spatial structure, comprising multiple individual models arranged linearly along the towing direction and sequentially connected by flexible connectors. Each individual model has a streamlined shape and a rigid frame structure welded from stainless steel square tubing. The rigid frame structure contains an array of floats, along with a counterweight unit to balance buoyancy. This invention utilizes multiple floats to form spatially discrete acoustic scattering units, and multiple individual models connected in series to form a distributed passive acoustic equivalent, effectively simulating the distribution characteristics and directional features of underwater vehicle target intensity. The rigid frame structure, as the main load-bearing component, combined with the design of the fairing and counterweight unit, improves the attitude stability of the simulator and the spatial positional stability of the scattering units under towing and complex hydrodynamic conditions. Furthermore, this simulator is inexpensive and easy to assemble and maintain.

The application belongs to the technical field of flying wing unmanned aerial vehicle control, and discloses a flying wing unmanned aerial vehicle dynamic inverse glide control method based on cascade observation. First, a flying wing unmanned aerial vehicle dynamics model is established, a nonlinear dynamic inverse method is adopted to design attitude loop and angular velocity loop control law respectively, and unmanned aerial vehicle three-channel dynamic decoupling control is realized. In view of the problem that traditional dynamic inverse control is sensitive to model accuracy and weak in anti-interference ability, a cascade extended state observer is introduced to realize real-time estimation and dynamic compensation of model uncertainty and wind disturbance. Meanwhile, a control distribution strategy based on weighted pseudo-inverse is designed to realize high-precision distribution of control moment. The simulation result shows that the method can effectively inhibit the three-channel coupling effect in the glide process of the unmanned aerial vehicle, significantly improve the trajectory tracking accuracy, attitude stability and system robustness, and adapt to the high-precision glide control requirement of the flying wing unmanned aerial vehicle.

The application discloses a long-time flight unmanned aerial vehicle attitude stabilization control method based on multi-redundant sensor data fusion, and belongs to the technical field of unmanned aerial vehicle attitude stabilization. The method specifically comprises the following steps: obtaining original measurement data of multi-redundant sensors, generating self-generated attitude observation based on unmanned aerial vehicle kinematics or aerodynamic constraints, and jointly forming a redundant observation set; assigning a time-updated credibility weight to each observation source in the redundant observation set to obtain a fusion weight set; performing fusion estimation on the attitude state of the unmanned aerial vehicle based on the fusion weight set, and outputting an attitude estimation result and corresponding uncertainty information; and performing stable control on the attitude of the unmanned aerial vehicle according to the attitude estimation result and the uncertainty information. The application can adaptively adjust the attitude control process according to the sensing credibility, and better meet the comprehensive requirements for attitude stability and operation reliability in a long-time flight scene.

The application discloses a kind of space debris on-orbit real-time autonomous avoidance method, system and spacecraft, belong to spacecraft on-orbit safety control technical field.The method is solidified and burned in on-board chip by light-weight AI model of knowledge distillation, structured pruning and 8-bit quantization;Adopt "standard strategy library+AI fine-tuning" architecture, call pre-stored orbit lag / advance / out-of-plane maneuver template, generate candidate trajectory by on-orbit fine-tuning of template parameter by solidified AI;Safety check is carried out based on simplified dynamics model, to ensure that meet off-target distance, fuel and attitude stability constraint;Build double-threshold emergency redundancy mechanism, select fuel optimal trajectory generation instruction execution in normal mode, when collision probability is too high or chip is abnormal, immediately call pre-stored emergency instruction sequence, directly execute after being quickly analyzed by propulsion controller.The application shortens response time from hour level to minute level, significantly improves the autonomous survival ability and mission reliability of spacecraft under extreme working conditions.

The application discloses a kind of multi-dimensional attitude adjusting mechanism and method suitable for wall-climbing robot air landing, it is related to wall-climbing robot technical field, wherein multi-dimensional attitude adjusting mechanism includes: front wing attitude adjusting mechanism and tail pitch adjusting mechanism;Front wing attitude adjusting mechanism is straddled between the forelimb of wall-climbing robot and fuselage, for adjusting robot air roll angle;Tail pitch adjusting mechanism is installed in the tail of robot fuselage, for adjusting robot air pitch angle;Front wing attitude adjusting mechanism and tail pitch adjusting mechanism are independently decoupled, and the pitch and roll two-dimensional attitude stability control of wall-climbing robot air landing is realized in cooperation.The application realizes the pitch and roll direction attitude adjustment of robot in the process of air landing by independently decoupling front wing attitude adjusting mechanism and tail pitch adjusting mechanism, to improve its attitude stability under the condition of jump, sliding and disturbance.

This invention relates to the field of underwater equipment control technology, specifically disclosing a suspended ore harvesting device. The ore harvesting device includes: a mining vehicle body; a robotic arm harvesting assembly; multiple vertical and horizontal spiral propellers; an ore position acquisition unit that acquires the three-dimensional spatial position of the target ore in the world coordinate system at the current location; an ore gripping unit that controls corresponding grippers to grasp the target ore; an adaptive hovering control unit that ensures the ore harvesting device is hovered; and a layered collaborative control unit that stabilizes the attitude of the ore harvesting device. The layered collaborative control unit includes a position layer MPC controller for controlling sway, pitch, and heave in the position layer, and an attitude layer controller for controlling roll, pitch, and yaw in the attitude layer. This invention achieves accurate and efficient ore harvesting while maintaining underwater hovering and attitude stability.

The application discloses a kind of multi-robot track real-time tracking method based on multi-sensing fusion, it is related to trajectory tracking technical field, for solving the problem of the task execution efficiency reduction of unmanned aerial vehicle group cooperative flight, by obtaining main unmanned aerial vehicle and secondary unmanned aerial vehicle group number, based on main unmanned aerial vehicle video analysis unmanned aerial vehicle number order and judge whether into depth tracking mechanism, in tracking period, the number of visible unmanned aerial vehicle is collected to calculate unmanned aerial vehicle group change rate, combined with the three-axis angular velocity obtained by main unmanned aerial vehicle inertial measurement unit generates attitude stability, comprehensive sampling deviation coefficient is obtained;According to sampling deviation coefficient, the number sequence of secondary unmanned aerial vehicle group is collected, and based on the number of occurrences, the alternative main unmanned aerial vehicle is screened, combined with the historical correction record and current position of alternative main unmanned aerial vehicle, the replacement benefit score is calculated, the unmanned aerial vehicle group is rechecked and handled, to ensure the task execution efficiency of unmanned aerial vehicle group cooperative flight.

The application belongs to the technical field of aircraft control. The application provides an aircraft roll attitude stability control method based on a predetermined time sliding mode. The disclosed embodiment can converge quickly as expected, the expected sliding mode convergence time and the expected error convergence time are set independently of the initial conditions, the number of control parameters is small and easy to set, and the phenomenon of excessive overshoot and peak oscillation formed by too fast response can be avoided. Through two-stage design of the trigonometric function type predetermined time scale function, combined with the predetermined time sliding mode control law, while ensuring that the system realizes the quick stability of the roll attitude at a predetermined arbitrary time, the overshoot and oscillation are effectively suppressed, the parameter setting is simple, the robustness is strong, and the engineering implementation is easy.

This utility model discloses an integrated mounting device for multi-source airborne sensors, relating to the field of airborne sensor mounting technology. The integrated mounting device includes an irregularly shaped topology-optimized substrate made of carbon fiber composite material. The substrate has an asymmetrical "T"-shaped structure with arc-shaped cutouts and local bosses at its edges. Its thickness is gradient-distributed along the principal stress direction. Multiple heterogeneous sensor modules are magnetically mounted in mounting grooves on the upper surface of the substrate. Triaxial silicone shock absorbers are bolted to the four corners of the substrate's bottom. This utility model integrates a carbon fiber irregularly shaped topology-optimized substrate, a magnetic quick-release structure, a triaxial shock absorption system, and a high-precision synchronous triggering and dynamic balancing mechanism to achieve lightweight, low-interference, and highly stable integrated mounting of multi-source airborne sensors. This improves the spatial registration accuracy, time synchronization performance, and flight attitude stability of UAV platforms in multimodal collaborative observation.

The application discloses a kind of library unmanned plane inventory path planning method, it is related to unmanned plane path planning technical field, the application solves the indoor GPS failure of library and causes positioning drift, complex environment is not enough to sense, path planning does not consider priority and safety efficiency, poor unmanned plane attitude stability, breakpoint reflight precision low technical problem.The application adopts multi-modal dynamic environment modeling, dynamic priority multi-objective path planning, scene intelligent obstacle avoidance, anti-disturbance adaptive attitude control, breakpoint five core methods of five-step method, fusion multi-source sensor data, in combination with quantitative fusion formula, genetic algorithm, PID+PPO hybrid control, A* algorithm etc.Each link optimization is realized, and corresponding planning model is also constructed.The application realizes the precise positioning of library unmanned plane inventory, full-scene safe obstacle avoidance, anti-disturbance stable flight and breakpoint accurate reflight, greatly improves inventory efficiency and task continuity, reduces operation interference, adapts to the special operation scene of library indoor.

This application belongs to the field of unmanned aerial vehicle (UAV) control technology, and provides a method and apparatus for automatic landing control of UAVs. The method includes: collecting operational state parameters and environmental disturbance data of the UAV during the automatic landing phase; determining the dynamic model and landing constraints of the UAV landing process based on the operational state parameters and environmental disturbance data; constructing a multi-objective fitness function for evaluating landing performance based on the landing constraints; globally optimizing the landing control parameters of the UAV using a particle swarm optimization algorithm, with the goal of optimizing the multi-objective fitness function, to determine the target landing control parameters; and controlling the UAV to complete the automatic landing based on the target landing control parameters. This application improves the landing accuracy and attitude stability of UAVs in disturbed environments, and achieves safe, accurate, and efficient autonomous landing of UAVs in complex scenarios such as strong winds and turbulence without relying on precise mathematical models.

This invention relates to a method and system for assessing the hovering safety of an aircraft mounted on a truck under longitudinal wind conditions. The method includes the following steps: collecting relevant data on the truck, the aircraft, and the ambient wind; designing hovering conditions for the aircraft; conducting hovering tests of the aircraft on the truck roof using computational fluid dynamics simulation to obtain hovering safety index data; assessing feature importance using machine learning algorithms, extracting key hovering safety indicators using feature selection algorithms, and determining the safety thresholds of key indicators using receiver operating characteristic curve analysis; constructing a hovering safety assessment model by combining perception reliability, attitude stability, and aerodynamic adaptability, and determining the hovering safety level of the aircraft using fuzzy comprehensive evaluation. This invention can accurately quantify the hovering safety level of an aircraft under longitudinal wind-induced flow field disturbances from a truck, effectively identify specific wind condition characteristics that cause hovering risks, and provide technical support for the safe operation of aircraft.

The application discloses a transition mode comprehensive weight intelligent control method for a compound wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control and intelligent control. In view of the problems of lift switching, nonlinear coupling, control chattering and stall risk in the transition from a rotor mode to a fixed wing mode, a dual-variable comprehensive weight distribution mechanism with airspeed dominance and angle of attack correction is adopted to construct rotor / fixed wing control weights which are continuous, smooth and meet the normalization constraint; meanwhile, the unmanned aerial vehicle is modeled as an integral nonlinear system, and strong robustness, low chattering and high precision integral control input solutions are realized through integral sliding mode control, neural network disturbance compensation and Moore-Penrose pseudo-inverse control distribution; finally, the control commands are distributed to the rotor, rudder and propulsion system according to the comprehensive weight, and the control dominance is smoothly transferred. The height and attitude stability, anti-interference ability and flight safety margin in the transition stage are improved, the engineering realizability is strong, and the method is suitable for mode transition control of various compound wing unmanned aerial vehicles.

The application discloses a tail wing device fusing efficient heat dissipation and a coaxial helicopter with the same, and relates to the technical field of helicopters. The tail wing device comprises a heat dissipation horizontal tail structure, which comprises a mounting frame and a heat dissipation fin group. The middle part of the mounting frame is provided with a hollow area penetrating through the top surface and the bottom surface. The mounting frame is provided with a cooling liquid inlet and a cooling liquid outlet. The heat dissipation fin group is distributed in the hollow area and fixed on the mounting frame. A plurality of ventilation and heat dissipation gaps penetrating through the top surface and the bottom surface are formed in the heat dissipation fin group. The inlet and the outlet of the cooling liquid flow channel in the heat dissipation fin group are in one-to-one correspondence with the cooling liquid outlet and the cooling liquid inlet. Left and right vertical tails are symmetrically arranged on the left and right sides of the mounting frame. The application can realize the dual goals of enhancing the heading / longitudinal attitude stability control ability and greatly improving the heat dissipation efficiency.

This application discloses a method and system for intelligent interpretation and attitude stability analysis of launch vehicle flight data, relating to the field of launch vehicle flight data processing and attitude analysis technology. The method includes: standardizing and preprocessing multi-source data during launch vehicle flight to obtain a standardized flight dataset; obtaining fused attitude feature data based on the standardized flight dataset and constructing a dynamic adaptive interpretation threshold to complete the intelligent interpretation of the fused attitude feature data; calculating the attitude stability margin value by using the fused attitude feature data, the dynamic adaptive interpretation threshold, and a dynamic correction coefficient for the real-time attitude change rate, thereby achieving quantitative classification and judgment of the launch vehicle's flight attitude stability. This application can improve the accuracy of attitude analysis and the timeliness of early warning, enabling refined proactive control of attitude and effectively ensuring the safe and controllable flight attitude of launch vehicles.

The utility model belongs to the remote sensing measurement and water environment monitoring technical field discloses a kind of shipborne water area spectral radiometric equipment, including controller, measuring mechanism and with the positioning orientation mechanism and stabilizing platform of controller connection, the stabilizing platform is used to realize the attitude stability of measuring mechanism;The stabilizing platform includes three rotatable connection drive shaft assemblies, and three drive shaft assemblies are heading shaft assembly, pitch shaft assembly and cross roll shaft assembly respectively, each described drive shaft assembly includes driving element and joint arm driven by the driving element, the joint arm can be executed relative rotation under the driving of the driving element, and the measuring mechanism is supported by the joint arm of the heading shaft assembly, the controller is connected with the driving element of the cross roll shaft assembly;The positioning orientation mechanism is used to determine the included angle between the direction of heading shaft assembly and the earth north direction.

The embodiment of the application discloses a kind of unmanned plane near ground complex obstacle pre-perception and emergency hover method and system, through the synchronous acquisition of environment data of multiple sensor array;Data is carried out three-layer fusion perception processing including data layer, feature layer and decision layer, constructs real-time obstacle map, and generates virtual obstacle when point cloud is sparse through semantic completion mechanism;Based on obstacle map and flight state, the flight risk value is dynamically calculated using risk quantification model;When risk value exceeds emergency hover threshold, immediately generate hardware interrupt signal;In response to the interrupt signal, directly take over flight control, execute emergency hover logic including thrust boost and high gain attitude stability, so that unmanned plane instantaneously hovers.The present application solves the problem of inaccurate small obstacle perception and large obstacle avoidance response delay in near ground complex scenarios, realizes high detection rate, millisecond-level response active safety protection, and improves the flight safety and reliability of unmanned plane in narrow and dynamic environment.

This invention relates to a high-speed collision avoidance and descent control method for a vector rotor UAV based on a bidirectional motor, belonging to the field of flight control technology. Addressing the problem in existing technologies where severe turbulence in the airflow around the aircraft occurs at the moment the rotor switches from forward to reverse rotation, compounded by the influence of random environmental wind fields, easily leading to attitude oscillations and trajectory deviations in the UAV, this application utilizes a wind speed estimation method and a linear quadratic controller to accurately capture real-time wind field changes. This data is then used to compensate for the severe turbulence in the airflow around the aircraft and the combined effects of random environmental wind fields, thereby resolving the issues of attitude oscillations and trajectory deviations in the UAV. This application can significantly improve attitude stability in complex wind environments, greatly enhancing mission accuracy and reliability.

This invention discloses a drone logistics transportation management system based on dynamic balance compensation of cargo center of gravity, belonging to the field of drone transportation management technology. To address the problem of low dynamic adaptability between drone flight status and cargo center of gravity compensation parameters in existing technologies, this system provides a full-process dynamic center of gravity control system. First, it collects cargo center of gravity data during drone transportation, predicts the risk of center of gravity imbalance caused by cargo on different transportation segments, obtains predicted center of gravity offset parameters, and statistically analyzes the predicted center of gravity offset parameters for all drones in the logistics and distribution area. Then, combined with pre-set airspace constraints, it analyzes the impact of cargo center of gravity offset on drone flight trajectories, obtains the trajectory overlap probability, and finally, based on the collision risk level judgment result corresponding to the trajectory overlap probability, performs balance compensation control under differentiated scenarios, effectively improving the attitude stability of drones in complex airspaces and paths, and ensuring cargo transportation safety.