36 results about "Climb" patented technology

The invention relates to an unmanned aerial vehicle track decision-making method based on turbulence prediction, and belongs to the technical field of unmanned aerial vehicle navigation and weather prediction. Aiming at the problems of difficulty in monitoring and predicting low-altitude turbulence and high air route planning risk, the defects of data heterogeneity, insufficient numerical weather forecast resolution and the like exist in the prior art; according to the method, a three-dimensional turbulence intensity field is generated through multi-source meteorological observation data fusion to serve as an observation benchmark, a diagnosis model is constructed in combination with numerical weather forecast data, linear calibration is carried out, or short-term prediction is generated by adopting an observation extrapolation model when forecast data is lacked; further, the turbulence field is mapped into a weighted graph, the height, the climbing rate and the airspace constraint are combined, the optimal track is solved by using a path search algorithm, and the accumulated turbulence cost is minimized; the method is clear in structure, full-process optimization from data fusion to decision making is achieved through multi-model complementation, and the method is suitable for the fields of low-altitude logistics, urban air travel and the like.

This invention discloses an aircraft flight status identification method and system based on ADS-B, comprising: acquiring ADS-B data of the aircraft in real time and caching the ADS-B data in a high-speed cache database; extracting the latest ADS-B data points of the aircraft from the high-speed cache database at set time intervals, and storing multiple consecutively extracted latest ADS-B data points into a fixed-length queue of a preset length to form a temporal ADS-B data sequence; calculating estimated parameters for status determination by combining the aircraft's flight dynamic data with preset geospatial information; and identifying the current flight stage of the aircraft through a state machine model based on the temporal ADS-B data sequence and the estimated parameters, wherein the current flight stage includes one of taxiing, takeoff, climb, cruise, descent, approach, and landing. The method and system of this application improve the accuracy, continuity, and real-time performance of flight status identification.

This invention discloses a plug-in independent power supply hybrid power system for aircraft, which can be installed in situ without altering the original aircraft's core structure. The system employs an external independent power battery module, a small-power engine generator, and a small battery module to form a "three-level independent redundant power architecture," with each unit's power supply circuit electrically isolated from the others. The external independent power battery only charges on the ground and discharges unidirectionally during flight, without energy recovery or reverse charging. It only replaces all functions of the flight control system and electronic control system when the engine and small battery fail. The small-power engine does not participate in takeoff and climb, but is dedicated to cruise power supply. The small battery is responsible for powering the flight control system, electronic control system, and engine starter, sharing a high-voltage DC bus with the generator to achieve bus voltage stabilization and short-term power compensation. Ground charging simultaneously performs a full system self-check. When the battery power is insufficient or the test fails, there is no manual bypass, and the electronic control system is forcibly locked, prohibiting engine starting and ensuring absolute flight safety.

The invention discloses an accumulative climbing algorithm and system, electronic equipment and a storage medium, and the method comprises the steps: calculating an air pressure elevation change value at a current moment according to an air pressure value at the current moment and an air pressure value at a previous moment; calculating a gradient elevation change value according to the average gradient and the average speed within the latest set time length; calculating an absolute value of a difference value between the air pressure elevation change value and the gradient elevation change value; judging whether a first condition or a second condition is met; if the first condition is met, the air pressure elevation change value is less than or equal to 0; the air pressure elevation change value is updated to be 0; if the second condition is met, the difference absolute value is greater than or equal to the difference threshold; if yes, correcting the air pressure elevation change value, and updating the air pressure elevation change value into the corrected air pressure elevation change value; if the first condition and the second condition are not met, the air pressure elevation change value is not changed; and accumulating the air pressure elevation change value into the accumulated climbing value. The technical problem of poor accuracy of the air pressure elevation change value in the prior art is solved.

This invention discloses an airport photovoltaic design method and system based on three-dimensional airspace constraints, which relates to the field of airport photovoltaic engineering technology. S1: Collect legal airspace control data of the target airport, site topography data, flight parameters, and regional annual meteorological and solar radiation data. Based on the collected multi-source data, construct a three-dimensional airspace constraint surface model of the airport, fully integrating four types of core airspace constraint boundaries within the airport: horizontal plane, conical surface, approach surface, and takeoff / climb surface, achieving a three-dimensional quantitative definition of the airspace constraint range. This airport photovoltaic design method and system based on three-dimensional airspace constraints is the first to deeply couple the airport's three-dimensional airspace constraint surface with photovoltaic design, abandoning the traditional two-dimensional uniform height restriction model. It constructs a full-space quantitative model based on the four types of core airspace constraint surfaces, representing a novel technical solution not disclosed in existing technologies, with significant design characteristics specific to airport scenarios.

The invention belongs to the technical field of aircraft system design, and relates to a motor power determination method and device for an electric fixed-wing unmanned transport plane. The method comprises the following steps: S1, determining a weight coefficient of a battery; s2, calculating the maximum weight and the wing area of the aircraft; and S3, first motor power is calculated according to the lift limit constraint, second motor power is calculated according to the take-off and lift gradient standard of the single-motor failure aircraft, third motor power is calculated according to the take-off ground takeoff distance, and the maximum value of the first motor power, the second motor power and the third motor power is selected as final motor power. According to the method, the motor top-layer parameter calculation time of aircraft system design is shortened, and the top-layer parameter iteration speed is increased.

The invention belongs to the field of aviation safety and flight data processing, particularly relates to a flight data-based aircraft re-flight climbing gradient determination method, and aims to solve the problem that the existing aircraft re-flight climbing gradient is inaccurate. The method comprises the following steps: based on flight data of a target aircraft, identifying a re-flight action starting moment and a re-flight performance reconstruction moment; based on the flight data, non-standard atmospheric environment factors and local geographical environment factors influencing the geometric height of the aircraft are corrected, the corrected geometric height of the target aircraft is obtained, and a corrected flight track is reconstructed in combination with the real-time horizontal position of the target aircraft; and according to the re-flight motion starting moment, the re-flight performance reconstruction moment and the corrected flight path, determining a re-flight net climbing gradient of the target aircraft in a re-flight initial stage formed from the re-flight motion starting moment to the re-flight performance reconstruction moment. According to the method, the re-flight net climbing gradient containing the initial height loss can be quantified, and the actual re-flight performance of the target aircraft is truly restored.

The invention discloses an unmanned aerial vehicle air route climbing angle dynamic planning method in combination with terrain constraints, and relates to the technical field of low-altitude economy and unmanned aerial vehicle traffic management, and the method comprises the steps: carrying out the parameterization construction of a multi-channel parallel skeleton of a strip-shaped infrastructure, obtaining a central line digital vector path of a target strip-shaped infrastructure as a main axis, and carrying out the calculation of the central line digital vector path; a parallel and multi-channel air route skeleton structure is constructed; according to the dynamic planning method for the air route climbing angle of the unmanned aerial vehicle in combination with the terrain constraint, common violent and high-frequency height adjustment in a traditional terrain following method is avoided through the generated smooth vertical section, and the aircraft can execute tasks with more stable and more continuous power output due to smoothness; and extra energy loss caused by frequent acceleration and deceleration is reduced.

This invention relates to an optimization method for the climb conditions of a high-altitude cruise drone, comprising the following steps: using the climb angle and flight speed of the drone at different altitudes as design variables, a population of N individuals is randomly generated within the variable space formed by the upper and lower bounds of the design variables; the climb time and climb energy consumption of the drone are selected as the flight cost of the drone, and a fitness function is constructed based on flight mechanics analysis; the individual position update method for the chasing behavior is a jump-chasing behavior, and the individual position is updated accordingly; for the jump-encirclement behavior, the individual position is updated; if the maximum number of iterations is met, the update is terminated, and the optimal solution is output as the climb condition optimization scheme. This invention can comprehensively consider the climb time and energy consumption of the high-altitude drone, enabling the drone to reach the cruise altitude more quickly and economically.

The utility model relates to a lubricating oil tank oil supply device, an aero-engine and an aircraft, belongs to the technical field of aerospace, and solves the problem that in the prior art, a lubricating oil tank cannot continuously supply oil and ventilate under various postures of the aircraft. The device comprises an oil supply pipe, an oil suction pipe assembly and a breather pipe, the oil supply pipe is arranged in the lubricating oil tank and can rotate around the axis of the lubricating oil tank. The oil suction pipe assembly comprises an oil suction pipe which is vertically arranged on one side of the oil supply pipe. The central axis of the oil suction pipe and the central axis of the oil supply pipe are coplanar. A balance weight ball is arranged at a pipe opening of the oil suction pipe and used for enabling the oil suction pipe to be located below the oil supply pipe. According to the utility model, oil supply and ventilation of the aircraft can be completely and continuously completed in different postures such as diving, climbing and inverted flying.

A climb assist system dynamically adjusts a rate and a level of load assist that the system provides to a climber during traverse of a structure. The system includes a load sensor system configured to detect the state of the climber, such as the load applied by the climber to an assist rope, to provide an upward support force on the climber to compensate the climber's weight. Additionally, the system includes a sender configured to transmit data to a receiver of the system. The system includes a controller configured to interpret the received data and thereafter provide control through a controlled motor and drive system to provide load assist to the climber. A safety function of the system is configured to receive data indicative of a rate of descent of the climber, and slow or stop the descent if one or more conditions are met.

The invention relates to the technical field of unmanned aerial vehicle path planning, and particularly provides a fixed-wing unmanned aerial vehicle path planning method considering flight performance constraints, which comprises the following steps of: dynamically adjusting an initial coordinate of a target task point according to target topographic data and flight performance constraint parameters of a target unmanned aerial vehicle; obtaining constraint coordinates conforming to the flight performance constraint parameters; the flight performance constraint parameters comprise the maximum climbing angle, the maximum lift limit and the safety height of the target unmanned aerial vehicle; processing the constraint coordinates according to an improved fast exploration random tree algorithm to obtain constraint paths of at least part of the target point pairs; the target point pairs are two adjacent target task points; the constraint path comprises at least one constraint point obtained according to an improved fast exploration random tree algorithm, and the inter-point turning radius between the constraint point and an adjacent point is not smaller than the minimum turning radius of the target unmanned aerial vehicle; and determining a path planning result of the target unmanned aerial vehicle according to the constraint path. According to the invention, the path planning quality is effectively improved.

The invention provides an electric vertical take-off and landing aircraft endurance enhancement method and system, electronic equipment and a storage medium, and the method comprises the steps: employing a full-task-cycle staged energy optimization strategy, firstly obtaining the division information of five stages of take-off, climbing, cruising, descending and landing in a flight task profile; monitoring the output power of the power system at each stage, the residual capacity of the energy storage unit and the influence of the external environment on the energy demand in real time; if the output power of the power system cannot meet the requirement at any stage, energy is supplemented by switching a standby energy storage unit or adjusting a power distribution strategy, and the high-power-density energy storage unit is preferentially called in the take-off and climbing stages, and thrust distribution is optimized in combination with airflow conditions; the power output proportion is dynamically adjusted according to the energy storage residual capacity and the task distance in the cruising stage, and gravitational potential energy is converted into electric energy to charge the energy storage unit through a mechanical energy-electric energy conversion device in the descending and landing stages; and full-period energy accurate management is realized, and stable operation under complex working conditions is ensured.

This application discloses a method, system, device, and medium for correcting the maximum continuous power of a piston engine for unmanned aerial vehicles (UAVs). The method includes: conducting a climb test flight of the UAV under the maximum continuous power of the engine, and collecting data during the climb process. N This application establishes relevant parameters at different air pressure altitudes; establishes a mapping relationship between the intercooler outlet gas temperature and the atmospheric static temperature; and obtains coefficients at different air pressure altitudes based on this mapping relationship. When simulating the climb performance and full-load cruise performance of the UAV, the mapping relationship between the intercooler outlet gas temperature and the atmospheric static temperature is integrated into the performance simulation system to correct the engine's maximum continuous power. This application enables high-precision correction of the maximum continuous power of a piston engine.

1. The name of the design product: electronic device with climbing eVTOL performance calculation graphical user interface. 2. The use of the design product: for an electronic device. 3. The design points of the design product: in the graphical user interface. 4. The picture or photo that best shows the design points: design 1 interface change state diagram 2. 5. Omit the view: the electronic device is a common design, omit other views. 6. Design 1 is designated as the basic design. 7. The use of the graphical user interface: for simulating and analyzing the performance and behavior of eVTOL aircraft (electric vertical take-off and landing aircraft) in the climbing phase. 8. The human-computer interaction mode of the graphical user interface: click the right arrow of "climb" in the main view of design 1 to enter design 1 interface change state diagram 1; in design 1 interface change state diagram 1, click the "constant speed climb" button to enter design 1 interface change state diagram 2. Click the right arrow of "climb" in the main view of design 2 to enter design 2 interface change state diagram 1; in design 2 interface change state diagram 1, click the "constant path climb" button to enter design 2 interface change state diagram 2. 9. Other circumstances that need to be explained: "X" in the interface represents replaceable text, numbers, letters or symbols.

This invention discloses an automatic throttle speed control method and system for aircraft based on dynamic inverse, belonging to the field of design technology. The method includes: multiplying the difference between the ground speed command and the ground speed feedback by an acceleration gain proportional term to obtain the desired ground speed acceleration increment; solving for the ground speed acceleration increment using climb angle, angle of attack, sideslip angle, axial overload, lateral overload, and normal overload; multiplying the difference between the desired ground speed acceleration increment and the ground speed acceleration increment by a state function related to the aircraft's mass to obtain the desired thrust acceleration increment; obtaining the engine thrust efficiency matrix by taking the partial derivative of the engine thrust with respect to the throttle opening; multiplying the calculated desired thrust acceleration increment by the inverse of the thrust efficiency matrix, and then adding the throttle state variable from the previous cycle to obtain the final throttle control command. The automatic throttle control law of this invention is derived from pure equations of motion, with clear physical meaning. The control law structure does not contain integrators, feedforward compensation, or other terms, reducing the "trial and error" work of gain preset while achieving consistent control performance. It exhibits high robustness and has broad engineering application prospects.

The invention discloses an airport clearance three-dimensional visual management system, particularly relates to the technical field of three-dimensional space analysis, and performs parametric modeling on clearance limiting surfaces such as an approach surface, a take-off and climbing surface, a re-flying surface, a transition surface, a horizontal surface and a conical surface based on Technical Standard for Airport Flying Area. On the basis, an airport feature ground feature high-fidelity scene is constructed, and precise registration of the limiting surface, the ground features and the terrain is achieved; the platform introduces a terrain adaptive permission height calculation mechanism, and supports dynamic switching of a normal projection fast mode, a terrain enhanced profile mode and a mixed mode of the two modes; through a multi-temporal remote sensing image and a change detection technology, the platform can automatically identify and mark over-limit obstacles, generate a risk list and link patrol task scheduling. Meanwhile, three-dimensional modeling and automatic detection of a reference height protection area and a flight program protection area are provided, data management and intelligent retrieval functions are provided, and a traceable digital clearance management archive system is formed.

The application discloses an aircraft take-off mass estimation method based on an improved simulated annealing algorithm, mainly comprising the following steps: step (1), based on an aircraft basic performance database (BADA), starting from a total energy equation of particle kinematics, considering the influence of wind, an aircraft take-off mass estimation model is constructed; step (2), aiming at the take-off mass estimation model constructed in step 1, considering the track points in the initial climb stage, a target function and a constraint condition are proposed; step (3), the tabu table function in the tabu search algorithm is introduced into the simulated annealing algorithm as an improved algorithm, and the improved algorithm is applied to solve the take-off mass estimation model. The method can establish a take-off mass estimation model based on historical track data, and the simulated annealing algorithm with the tabu search is used for optimization calculation, thereby providing technical support for high-precision track simulation work.

This application relates to a method for generating full flight profile time-series data based on TimeGAN. The method divides the original flight data into stages using a sliding window smoothing and threshold determination method, marking takeoff, climb, cruise, descent, and landing stages. After standardizing the multivariate time-series data, a two-layer LSTM TimeGAN model is constructed, and the generator and discriminator are optimized by combining an alternating training strategy and gradient pruning. Altitude correction, velocity limiting, and local cumulative change constraints are applied to the staged generated data to ensure that the generated data conforms to engineering principles. The data from each stage is stitched together by inheriting stage boundary conditions and numerical integration to form a continuous and complete flight profile. This invention significantly improves the structural integrity and physical rationality of the generated data through staged modeling and physical post-processing mechanisms, making the generated data suitable for flight simulation, control verification, and energy management.

This invention relates to the technical field of scheme design for automatic UAV flight around no-fly zones, specifically to a method and system for automatic UAV flight around no-fly zones. The method includes: identifying the mountainous environment based on terrain features (roughness, elevation standard deviation, continuous climb segments) and constructing a safe path framework; generating an initial path using the A* algorithm incorporating energy consumption factors, and optimizing the climb rate through a dynamic slope control model (combining real-time pitch angle, roll angle, and terrain gradient); applying Bézier curves to achieve trajectory smoothing; and responding to no-fly zone changes based on a local replanning strategy. Through the coordinated control of terrain feature identification and dynamic constraints, path optimization with low climb rates in mountainous areas is achieved. This invention solves the problems of insufficient physical feasibility of paths in complex terrain and lag in dynamic environment response, significantly improving the safety and energy efficiency of UAVs flying in no-fly zones and mountainous areas.

The utility model discloses an unmanned aerial vehicle intelligent landing device, which relates to the technical field of unmanned aerial vehicle accessories and comprises a supporting leg, a filter screen and a water guide hole are respectively arranged at the bottom of the supporting leg, a liquid level sensor penetrates through one side of the water guide hole, and a first one-way valve is mounted between the water guide hole and the supporting leg. Partition plates, first powder materials and second powder materials are arranged in the supporting legs correspondingly, second one-way valves are installed on the two sides in the supporting legs correspondingly, and one ends of the second one-way valves are connected with air bags through air guiding pipes. Through the arrangement of the filter screen, the water diversion hole and the liquid level sensor, when the unmanned aerial vehicle lands, if the unmanned aerial vehicle wades into water, the supporting legs can be submerged into water, water passes through the water diversion hole, if the unmanned aerial vehicle wades into water such as a river, the water can make contact with the liquid level sensor along with slow landing of the unmanned aerial vehicle, and therefore an electric signal is sent out to enable the unmanned aerial vehicle to climb; the falling-into-water phenomenon of the unmanned aerial vehicle is reduced; the safety is improved, and the phenomenon that the unmanned aerial vehicle lands in water is reduced.

The utility model relates to the technical field of high-altitude protection, and discloses a high-altitude safety rope sliding limiting structure which comprises a first fixing plate, the rear end of the first fixing plate is fixedly connected with a second fixing plate, the top end of the second fixing plate is fixedly connected with a motor, and the driving end of the motor is fixedly connected with a first rotating wheel. A limiting frame is fixedly connected to the rear end of the second fixing plate, an adjusting air cylinder is fixedly connected to the interior of the limiting frame, a driving plate is fixedly connected to the driving end of the adjusting air cylinder, a second rotating wheel is rotationally connected to the front end of the driving plate, and a braking assembly is fixedly connected to the rear end of the first fixing plate. The front end of the first fixing plate is fixedly connected with a limiting assembly. According to the climbing device, the second rotating wheel is driven by the adjusting air cylinder to move to a proper position, the safety rope is clamped through the second rotating wheel and the first rotating wheel, the first rotating wheel is driven by the motor to drive the device to move outside the safety rope, and therefore the effect of reducing physical output when a user climbs is achieved.

The present application relates to a kind of fixed-wing unmanned aerial vehicle cluster rapid assembly method, device and medium considering constraint, the formation assembly process is divided into take-off climb, hover waiting, lateral separation and formation formation four stages: by height stratified management ensures vertical safety interval;Multiple machine collaborative waiting is realized using hover waiting mechanism;Based on cut-in and cut-out strategy, the horizontal interval is accurately adjusted;Eliminate formation error by introducing master-slave collaborative speed control.Simultaneously, the composite PID controller based on ESO is designed, the disturbance estimation information of ESO is introduced and real-time compensation is carried out, and the control precision is improved.The present application improves the response speed and robustness of formation assembly process, and improves the adaptability of take-off timing change by introducing constraint, to ensure the formation safety in complex environment;Help to solve the challenges of low efficiency, poor robustness and insufficient safety in large-scale unmanned aerial vehicle cluster assembly process, and has wide application prospect.

The application discloses a kind of based on energy flow's new energy aircraft comprehensive thermal management system performance evaluation method and system, and relates to thermal field. Including: establishing loss analysis model;Determine minimum loss, compare with actual loss, obtain thermal management system external characteristic index;Determine the design matching degree of all electric energy equipment of each cooling branch, adjust the selection of all electric energy equipment of each branch in combination with energy flow coupling value index;After unit value processing to take-off, climb and cruise condition, classification is carried out, energy flow operating value index is established, the operation of the determined thermal management architecture under the whole flight envelope is evaluated, and the final thermal management selection scheme is determined.The application is used to improve the accuracy of aircraft thermal management system conceptual design stage architecture trade-off, and can also be used for effective monitoring of the operating state of thermal management system under flight condition.

A control method for a flight level change mode, and an automatic flight system. The control method comprises: on the basis of a signal acquired from engines regarding whether the engines operate in a dual-engine mode or a single-engine mode, selectively setting respective different vertical speed thresholds during climb and descent processes in a flight level change mode.

This disclosure relates to the field of multirotor aircraft technology, specifically to a method, apparatus, device, and medium for detecting rotor blade protectors. The method includes: if the multirotor aircraft is determined to be in a stable hovering state based on detected moving speed, detected acceleration, and detected angular velocity, then acquiring the detected climb speed and rotor speed of the multirotor aircraft; acquiring the nominal weight of the multirotor aircraft, and obtaining the theoretical climb acceleration based on the rotor speed and nominal weight; acquiring the theoretical climb speed and disturbed climb acceleration based on the detected climb speed and theoretical climb acceleration; and determining whether the model of the multirotor aircraft matches the model of the rotor blade protector installed on the multirotor aircraft based on the theoretical climb speed and disturbed climb acceleration. This solution can determine whether the model of the multirotor aircraft matches the model of the rotor blade protector installed on the multirotor aircraft, facilitating timely replacement of incompatible rotor blade protectors by reminding operators, thus improving the user experience.

This invention relates to a control device for bidirectionally limiting the rate of change of cabin pressure, comprising an upper cover, a housing, a lower cover, an upper diaphragm, a lower diaphragm, a spring, and a needle plug gap adjustment mechanism. This invention enables the rapid change of cabin pressure during high-speed climbs or dives, while simultaneously controlling the rate of increase and decrease of cabin pressure to not exceed specified values, thereby improving pilot comfort and safety.

A hybrid propulsion system (102) for high endurance fixed wing vertically take-off and landing (VTOL) aircraft (100), comprising internal combustion (IC) engine (104) to provide propulsive power, electric motor (106) configured to provide supplemental propulsive power during climb phase, first propulsion unit (108) and second propulsion unit (114), and controller (110) configured to determine total propulsive power required during climb phase based on desired rate of climb, dynamically allocate total propulsive power between IC engine (104) and electric motor (106) during the climb phase based on power density of electric motor (106) being greater than power density of IC engine (104), enabling electric motor (106) to provide higher supplemental propulsive power, and changes in brake specific fuel consumption (BSFC) of IC engine (104) with varying throttle settings, and operate IC engine (104) alone at optimal throttle setting to provide propulsive power required to maintain desired airspeed during the cruise phase.

Systems and methods according to embodiments of the present technology vary engine throttle and flight control surfaces (such as high-lift devices, which can include flaps and / or slats) during takeoff, climb, approach, and / or landing of a supersonic aircraft to reduce noise. A representative computing device automatically controls thrust output of the propulsion system according to a schedule of thrust output, such that the thrust output remains below levels at which the jet exhaust becomes supersonic, and such that noise is reduced to comply with noise regulations or other limitations. The computing device also automatically controls the position and configuration of flight control surfaces to compensate for the reduced thrust and to maintain an appropriate climb and / or descent rate.

The invention belongs to the field of hypersonic flight vehicle trajectory optimization and guidance control, and relates to a trajectory optimization and guidance method in a mode conversion process of a combined power flight vehicle. An aircraft particle dynamics model is established, trajectory optimization is performed on a climbing section and a modal conversion section in combination with an adaptive Gaussian pseudo-spectrum method, and a flight strategy of converting potential energy into kinetic energy is designed, so that the aircraft crosses a thrust trap through diving acceleration when thrust is insufficient. Meanwhile, flight-thrust integrated control is achieved based on a trajectory linearization control method, an error equation is linearized along the optimized trajectory, a time-varying feedback control law is designed, and high-precision stable tracking of the optimized trajectory is achieved by cooperatively adjusting an attack angle and an accelerator. According to the online application-oriented intelligent tracking method, a deep neural network is trained to learn a mapping rule of a flight state, an error and an optimal parameter, an optimal control parameter is screened in combination with a time-frequency domain performance index, and the tracking robustness of a complex working condition is enhanced.