395 results about "Fly control" patented technology

The present disclosure relates generally to flight control of electric aircraft and other powered aerial vehicles. In one embodiment, a method is disclosed, comprising: receiving a descent rate command from a pilot input device, determining a proximity of each propeller of at least two propellers to a vortex ring state; and controlling the aircraft's descent rate to be less than the commanded descent rate when at least one of the at least two propellers is within a first threshold proximity to the vortex ring state.

The invention discloses a flight control method and system for an electric power inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle inspection flight control. According to the flight control method of the electric power inspection unmanned aerial vehicle, the current flight position of the unmanned aerial vehicle is obtained in real time, deviation analysis is performed on the current flight position and a target inspection position, and when the deviation exceeds a preset threshold value, disturbance sensing data in a set area is further obtained and a disturbance sensing intensity index is calculated; according to a comparison result of the index and a disturbance attribution judgment threshold value, an offset cause is judged, and a corresponding disturbance response control strategy or a flight error correction strategy is executed respectively, so that the flight stability and the control precision of the electric power inspection unmanned aerial vehicle are dynamically guaranteed; according to the invention, through dual discrimination of the disturbance perception intensity index and the flight error adjustment index, external interference and flight control error causes are accurately distinguished, path offset cause identification and strategy matching are realized, and the flight stability and control precision of the electric power inspection unmanned aerial vehicle in a complex environment are improved.

Aspects of the present disclosure generally relate to systems and methods for flight control of aircrafts driven by electric propulsion systems and in other types of vehicles. In some embodiments, a computer-implemented method for controlling an aircraft is disclosed, comprising: receiving, from a source processor, a first copy of a signal corresponding to an input device; sending a second copy of the signal to all other processors; receiving a number of second copies of the signal from all other processors, the number of second copies being equal to the number of all other processors excluding the source processor; determining a consensus signal based on the first copy and the second copies of the signal; and determining a command signal for an effector of the aircraft based on the consensus signal, and wherein no two processors are configured to receive signals from a same input device.

The invention discloses an aircraft voice instruction security analysis method and system based on natural language processing, and aims to realize intelligent identification and execution control of aircraft operation instructions. The method comprises the steps of receiving a voice instruction audio input by an aircraft operator, and performing preprocessing to generate a standardized voice segment; converting the standardized voice segment into text content, and extracting structured semantic information related to the instruction; calculating a semantic intention confidence score of the instruction in combination with the structured semantic information, the aircraft operation state, the historical instruction and the current task mode; according to the confidence score and the security policy rule, jointly evaluating the security of the instruction and outputting an executable state identifier; when the state identification is executable, calculating a flight control command and submitting the flight control command to a flight control system for execution; and when the state identifier is non-executable, the interception operation is automatically executed, and abnormal prompt information is fed back to an operator through the man-machine interaction module.

The invention relates to the technical field of flight control, in particular to a hybrid control FPV unmanned aerial vehicle flight control system and method. The method comprises the following steps: acquiring triaxial angular velocity data of the unmanned aerial vehicle in real time by using an inertial navigation system, eliminating high-frequency noise and performing zero offset calibration; constructing a corresponding linear extended state observer to adjust a gain parameter in real time based on an absolute value of an observation error, and filtering tiny noise disturbance through a dead zone function to realize high-precision estimation of the system state and total disturbance of the unmanned aerial vehicle so as to obtain an error and an error change rate; and designing a self-adaptive PID control law to dynamically adjust PID control quantities corresponding to proportion, integral and differential gains, carrying out dynamic weighted stacking according to a flight mode, generating a three-axis control quantity, carrying out flight control on the FPV unmanned aerial vehicle, and meanwhile, realizing real-time visual verification of a control effect corresponding to the flight control. According to the invention, high-precision and high-robustness attitude control can be realized.

The invention discloses an unmanned autonomous cluster flight control method based on a bionic alert mechanism, which is applied to the field of unmanned autonomous cluster control, and is characterized in that a W-MSR algorithm and a dynamic weighted bionic alert mechanism are fused, the W-MSR filters and eliminates extreme values of neighbor individuals, the dynamic weighted bionic alert mechanism strengthens input from informed individuals, and the dynamic weighted bionic alert mechanism is used for improving the robustness of the unmanned autonomous cluster flight control. And meanwhile, the influence of suspicious individuals is inhibited, so that the local information aggregation degree is effectively improved, and group splitting can be prevented. Different from a scheme depending on explicit attacker recognition, the method can improve the motion accuracy and connectivity of the unmanned autonomous cluster in a confrontation environment by probabilistically suppressing the influence of suspicious individuals and amplifying a consistent signal, provides a new idea for improving the security of a swarm intelligence system, and has a wide application prospect. Damage of malicious individuals to the cluster is effectively defended, and robustness and recovery capability of the cluster in a complex environment are improved.

The invention relates to the technical field of flight control, in particular to an unmanned aerial vehicle single-shot failure control method, system and device and a medium, and the method comprises the steps: single-shot failure control in the take-off stage of an unmanned aerial vehicle, namely, taking-off is interrupted, an engine on the other side is closed, a brake is used, and a rudder and a front wheel are used for carrying out deviation correction control on the unmanned aerial vehicle; single-engine failure control in the air cruise stage of the unmanned aerial vehicle: compensating additional yaw moment brought by a single-side engine through a transverse heading automatic compensation controller and a flight control system together to enable the aircraft to reach a balanced state, and adjusting the heading of the unmanned aerial vehicle to a designed emergency course to complete recovery; the single-shot failure control in the landing stage of the unmanned aerial vehicle comprises the following steps of: keeping the balance of the unmanned aerial vehicle by utilizing a transverse heading automatic compensation controller before landing, immediately closing an engine on the other side after touching the ground, and adopting a rudder and a front wheel to rectify deviation to control and track a ground route. The flight safety of the unmanned aerial vehicle is guaranteed, and the single-shot failure emergency processing capacity of the unmanned aerial vehicle is improved.

The invention relates to the field of unmanned aerial vehicle inspection, in particular to a multifunctional mechanical arm system for distribution network unmanned aerial vehicle inspection. The system comprises an unmanned aerial vehicle platform, a mechanical arm module, a bionic control system and a replaceable operation assembly. The unmanned aerial vehicle platform provides flight control and load bearing functions; the mechanical arm module executes grabbing, spraying and laser operation through a multi-degree-of-freedom joint structure and a driving unit; the bionic control system collects arm motion trail data of an operator in real time and converts the arm motion trail data into a mechanical arm motion instruction, and synchronous motion control is achieved. The replaceable operation assembly is connected through a standardized interface, and different operation requirements are met. Through the bionic control system, the problems of complex operation and insufficient precision in the prior art are solved, and the precision and response speed of the unmanned aerial vehicle in tasks such as laser foreign matter removal, insulating paint spraying and foreign matter grabbing are remarkably improved.

The folding type rotor unmanned aerial vehicle comprises a cylindrical shell, a flight control cabin, a folding mechanism cabin, a communication and load cabin and an image cabin are arranged in the shell from top to bottom in a longitudinal row mode, a multi-rotor unmanned aerial vehicle body with longitudinally-folded machine arms is arranged in the folding mechanism cabin, and containing openings are formed in the positions, corresponding to the machine arms, of the side wall of the shell. The outer ends of the vehicle arms are connected with propellers through motors, and the propellers can be clamped into the corresponding containing openings after being folded. According to the folding type rotor wing unmanned aerial vehicle, the blades of the propellers can be automatically clamped in the containing openings of the shell after being folded, meanwhile, the folded vehicle arms are restrained in the shell together, other special restraining structures are not needed, and therefore extra space occupation and restraining operation are reduced, and the carrying performance is greatly improved; and the blades of the propeller can be automatically unfolded after being separated from the containing opening, the vibration problem caused by the fact that the propeller is not unfolded in place when the motor rotates is avoided, and the take-off stability of the unmanned aerial vehicle is improved.

Disclosed here are unmanned aerial vehicle embodiments including some embodiments having a fuselage, tail, and wings including example embodiments with an adaptable payload section, alternatively or additionally, modular flight surfaces including tail, wings and motor, alternatively or additionally the vehicle configured for short landings with reversible thrust, alternatively or additionally, the unmanned aerial vehicle configured with direct connection to moveable flight control surfaces.

Aspects of the present disclosure generally relate to systems and methods for flight control of aircrafts driven by electric propulsion systems and in other types of vehicles. In some embodiments, a system of an aircraft is disclosed, configured to determine one or more desired commands for the aircraft, retrieve engine information for at least one electric propulsion unit (EPU) of a plurality of EPUs of the aircraft, wherein the engine information includes at least one time-based metric for temperature associated with the at least one EPU, generates control commands based on the received engine information, and controls effectors according to the generated control commands to meet the desired commands of the aircraft.

The invention provides a personal aircraft chassis and a personal aircraft. The chassis comprises a main framework and a chassis body, the personal aircraft comprises a main framework and a thrust array assembly, the thrust array assembly is fixed to the main framework, thrust of the thrust array assembly is achieved through a plurality of first turbojet engines, the geometric position relation between the thrust action point and the thrust direction of the thrust array assembly and the main framework is kept fixed, and when the personal aircraft stops on the ground, the thrust array assembly is fixed to the main framework. The thrust direction of the thrust array assembly is perpendicular to the ground. The vector nozzle assemblies are fixed to the main framework, thrust of the vector nozzle assemblies is achieved through the second turbojet engines, the central axes of the second turbojet engines are perpendicular to the central axis of the first turbojet engine, and vector nozzles of the vector nozzle assemblies at least have one degree of freedom relative to the main framework. And high-dynamic, high-fault-tolerance and reconfigurable flight control which cannot be realized by utilizing pure thrust difference control can be realized.

A flight control system, including a flight control computer (FCC) configured for providing a first and second flight function, and sending, to effectors of an aircraft, first command signals based on the first and second flight functions, and a second computer configured for providing one or more autonomy functions associated with operation of the aircraft, and that are different from the first and second flight functions, monitoring operation of the FCC, determining whether the FCC has failed, and providing a fail-safe mode for at least the first flight function in response to determining that the FCC has failed. Providing the fail-safe mode includes providing one or more critical flight functions that includes the first flight function, and sending, to the effectors, second command signals that replace a first command signal associated with the first flight function and that are based on the critical flight functions.

The invention belongs to the technical field of flight control, particularly relates to a simulation control method and device for a control load system and a storage medium, and aims to solve the problem of limited effect during simulation control of the control load system in the prior art. The method comprises the following steps: acquiring manipulation input data; carrying out filtering processing on the joystick force / torque data, and carrying out dynamic simulation on the control load system through a pre-constructed digital twin system based on the filtered joystick force / torque data and the control position data so as to determine a virtual force / torque track of the control load system for responding to the control input data; acquiring current flight parameters of the flight simulator, and resolving according to a preset aerodynamic model to obtain a reference force / torque trajectory; and taking the reference force / torque track as a control target, performing optimization solution on the virtual force / torque track, and determining an actuator driving instruction. According to the method, the effect is better when the control of the control load system is executed.

The invention relates to the technical field of low-altitude aircrafts, in particular to an emergency landing system and method for an aerocar, and ensures stable operation of a parachute in emergency through accurate opening judgment, starting, unfolding control and wind resistance adjustment functions of a parachute module. Secondly, the low-altitude sensing and obstacle avoidance module realizes real-time monitoring of the surrounding environment of the hovercar and formulation of an obstacle avoidance strategy by integrating various sensors and intelligent algorithms. And the emergency landing safety air bag module is used for rapidly unfolding a safety air bag before landing, so that an effective buffer layer is formed, and the impact force during landing is reduced. And the precise flight control module is responsible for keeping the stable attitude and precise path planning of the hovercar in the landing process. And finally, the power management module is automatically switched to the standby power supply when the main power supply fails, so that the continuous operation of the key system is ensured.

The invention discloses a bionic butterfly based on a flapping wing structure, and belongs to the field of flapping wing type aircrafts, a butterfly main body comprises a rack, two motors assembled with speed reduction groups, two couplings, two wings and two wing connecting pieces; the wing connecting piece comprises connecting parts and a transmission shaft which are connected with each other, and the two wings are respectively fixed on the two connecting parts; the rack is T-shaped, longitudinal mounting holes matched with a transmission shaft in shape are formed in the two ends of the transverse part of the rack, and semicircular fixing grooves matched with a motor in shape are formed in the two sides of the tail end of the longitudinal part of the rack; the two transmission shafts are respectively mounted in the two mounting holes; the two motors are respectively bonded in the two fixing grooves; one ends of the two couplings are connected with the output ends of the two speed reduction sets respectively, and the other ends of the two couplings are connected with the two transmission shafts respectively. The flapping wing type bionic butterfly provided by the invention is small in size and light in weight, and more efficient flapping wing driving and more stable flight control can be realized.

The invention discloses a semi-open source control system for unmanned aerial vehicles and a design method thereof which is constructed single-chip multi-core processor and shared register on a UAV. A main processing core of the single-chip multi-core processor is built with a semi-open source control module configured to control the UAV. The semi-open source control module includes a closed source control function module and an open source control program module. The closed source control function module includes data processing function module, communication function module, flight control function module and hardware setting function module, enabling the semi-open source control module to perform power management, ground communication, aviation sensing, flight control, navigation calculation and flight record information processing of the UAV. A secondary processing core of the single-chip multi-core processor is built with user application programs enabling users to program working task application programs according to their required tasks, and the working task application programs are composed with the open source control program module through the shared register. Thereby, an autopilot program is capable to be built in the main processing core and flight status and waypoints saved in shared registers, users can develop other application programs through other processing cores for navigation or AI computing, then achieve the aims of increasing the stability of system software and hardware, reducing space and weight, and reducing current consumption and cost.

The invention provides a modular free-combination rotor unmanned aerial vehicle and a combination method, and the unmanned aerial vehicle comprises a plurality of independent rotor unmanned aerial vehicle units, and each rotor unmanned aerial vehicle unit comprises a fuselage and a rotor; a battery, a motor, a communication module and a power control module are arranged in the machine body; a standard socket is arranged outside the fuselage and used for being fixedly connected with other rotor wing unmanned aerial vehicle units or rods with the same interfaces, and sharing of power supply and communication is achieved through the standard socket. The power control module dynamically adjusts rotor power distribution in real time according to the form of the combined unmanned aerial vehicle, and the communication module automatically establishes a master-slave control relation after combination to achieve unified coordination of flight control. According to the technical scheme provided by the invention, through free combination of the modular rotor unmanned aerial vehicle units, a specific unmanned aerial vehicle can be quickly formed, the purchase and use cost is reduced, and the flight stability and safety are improved.

The invention discloses an aircraft attack angle protection control method based on dynamic instruction correction, belongs to the field of flight control methods, and is used for solving the tracking control problem under the condition that the aircraft attack angle is limited. Firstly, based on an aircraft dynamics model, a backstepping method is utilized to design an adaptive controller to ensure stable tracking of a system, a virtual attack angle instruction part needs to be limited by adopting a saturation function, and a limited boundary value is provided by a subsequent protection system. And then, designing a prediction model representing correlation between the attack angle and the attack angle instruction and dynamics based on the designed closed-loop control system, reversely deducing a complex function relationship between the attack angle instruction and the system state and dynamics through the prediction model, and constructing an attack angle protection system. And finally, calculating an attack angle instruction boundary value through the prediction model and a system motion state trend under the current input, and correcting an original virtual attack angle instruction boundary so as to realize attack angle protection. According to the method, stable tracking of the system under attack angle constraint can be ensured, the residual attack angle in the envelope can be fully utilized, the maneuverability of the aircraft is improved, and the method has an engineering application reference value.

A method may include receiving, from a ground station and at an aircraft computing system onboard the aircraft, a definition of a primary route, the primary route representing a trajectory, for the aircraft, from an origin location to a destination location, causing the aircraft to autonomously traverse the primary route using a flight controller, the flight controller configured to automatically control a set of flight control surfaces of the aircraft, while autonomously traversing the primary route, receiving an input from an inceptor, automatically mapping a direction and magnitude of the input to a predetermined flight maneuver, computing a definition of a modified route, the modified route initiating the predetermined flight maneuver, validating the modified route, including determining whether the modified route intersects known obstacles, and in response to the validation succeeding, causing the aircraft to autonomously traverse the modified route using the flight controller.

A differential actuator system for controlling a flight control surface is provided, which includes a first control lane subsystem, a second control lane subsystem, a differential subsystem and a differential lock subsystem. The differential subsystem includes a first gear set forming a first load path from the first control lane to the flight control surface, and a second gear set forming a second load path from the second control lane to the flight control surface. The differential lock subsystem operably couples to the first gear set and the second gear set and is switchable between a locked state to couple the first and second gear sets in a torque-summing mode for moving the flight control surface and an unlocked state to couple the first and second gear sets in a velocity-summing mode for moving the flight control surface. Control signals issued from a controller operate the differential actuator system.

The invention discloses an intelligent cleaning unmanned aerial vehicle for high-rise building curtain wall maintenance and a cleaning method of the intelligent cleaning unmanned aerial vehicle. The cleaning method comprises the steps that data such as wind speed, temperature and humidity are detected in real time through a sensor system, and a flight control unit dynamically adjusts the flight path and attitude according to the information. The image recognition technology is used for recognizing the stain type and distribution of the building curtain wall, generating a cleaning path and adjusting the working mode of the cleaning module. And the spraying and cleaning modes are automatically adjusted according to the types of stains. The intelligent calculation module monitors the cleaning effect in real time, and feedback information is used for adjusting cleaning parameters. Meanwhile, the flight control unit plans a flight path to ensure that obstacles outside the building are avoided; according to the intelligent cleaning unmanned aerial vehicle for high-rise building curtain wall maintenance and the cleaning method thereof, the defects in the prior art are overcome, the intelligent cleaning unmanned aerial vehicle has the advantages of being high in wind resistance, intelligent in cleaning, high in endurance and high in efficiency, and automatic cleaning of the high-rise building curtain wall is achieved.

Unmanned and remotely controlled airship constituted from system of multirotor combined with inflatable envelope. The airship may be lifted / powered by a power system comprising three or more rotors. In some embodiments, the airship may be constructed using rods, connectors, the main system / control box and the rotors. The airship system may have a systemic symmetry for weight distribution and flight control and may be, for example, a symmetric ellipsoid envelope / blimp.

The invention discloses a control method and system for automatic landing of a shipborne unmanned rotorcraft in a specified deck area, and belongs to the technical field of automatic control of unmanned rotorcrafts. The method comprises the following steps: step 1, planning an ideal landing line of the unmanned rotorcraft based on the position of the unmanned rotorcraft and the position of a ship deck; step 2, obtaining a position error of the rotor unmanned aerial vehicle based on the ideal landing line; step 3, predicting the operation attitude of the ship to obtain a ship attitude prediction result; and step 4, generating a predicted ideal landing line of the unmanned rotorcraft based on the ship attitude prediction result, and performing trajectory tracking flight control on the unmanned rotorcraft based on the position error of the unmanned rotorcraft to complete automatic landing of the unmanned rotorcraft in the specified deck area. According to the invention, the automatic landing task of the shipborne unmanned rotorcraft in the designated area on the ship can be realized.

An automated control system for a glider towed by a tug employs a sensor system (e.g., cameras mounted on at least one of the aircraft) to determine the relative position and velocity of the glider. A controller determines corrections to the flight characteristics of the glider in response to this data from the sensor system to maintain the glider on the surface of a limit sphere extending behind the tug with a predetermined radius based on the length of the tow cable. An interface to the flight controls of the glider maintains the desired flight characteristics of the glider provided by the controller.

A system for flight control configured for use in an electric aircraft includes an inertial measurement unit (IMU) and configured to detect an aircraft angle and an aircraft angle rate. The system includes a flight controller including an outer loop controller configured to receive the input datum from the sensor, receive the aircraft angle from the IMU, and generate a rate setpoint as a function of the input datum. The system includes an inner loop controller configured to receive the aircraft angle rate, receive the rate setpoint from the outer loop controller, and generate a moment datum as a function of the rate setpoint. The system includes a mixer configured to receive the moment datum, perform a torque allocation as a function of the moment datum, and generate a motor command datum as a function of the torque allocation.

A flight control system, including a flight control computer (FCC) configured for providing a first and second flight function, and sending, to effectors of an aircraft, first command signals based on the first and second flight functions, and a second computer configured for providing one or more autonomy functions associated with operation of the aircraft, and that are different from the first and second flight functions, monitoring operation of the FCC, determining whether the FCC has failed, and providing a fail-safe mode for at least the first flight function in response to determining that the FCC has failed. Providing the fail-safe mode includes providing one or more critical flight functions that includes the first flight function, and sending, to the effectors, second command signals that replace a first command signal associated with the first flight function and that are based on the critical flight functions.

The embodiment of the invention discloses an unmanned aerial vehicle soft fence control method, and the method comprises the steps: obtaining personnel state information, generating environment risk distribution information based on the personnel state information, and carrying out the time alignment processing of the environment risk distribution information, so as to obtain the risk distribution information corresponding to the current moment of an unmanned aerial vehicle; acquiring a current flight state of the unmanned aerial vehicle, predicting a motion state of the unmanned aerial vehicle in a future period of time, and determining a risk assessment result according to the motion state and the risk distribution information; performing constraint processing on the operator control input according to the risk assessment result to generate a safety control instruction; inputting the safety control instruction into the flight controller to execute flight control, and triggering a safety protection strategy when the risk degree meets a preset condition; the unmanned aerial vehicle can be effectively prevented from entering a crowded or high-risk area, and the flight safety and controllability of the unmanned aerial vehicle in a complex personnel environment are improved.

The invention discloses a self-coupling PID (proportion integration differentiation) flight control method of a rudder-controlled transverse-row type rotor unmanned aerial vehicle based on dynamic multi-dimensional heterogeneous fuzzy logic, and belongs to the technical field of flight control of rudder-controlled transverse-row type rotor unmanned aerial vehicles. A flight control system architecture of the self-coupling PID flight control method is composed of three core modules: (1) a dynamic multi-dimensional fuzzy logic coupling PID controller (DMHFL-SCPID); (2) control instruction distribution; and (3) a six-degree-of-freedom dynamical model of the rudder-controlled transverse rotorcraft. According to the control algorithm, input and output dynamic parameters of a system are analyzed in real time, and four-dimensional flight control quantities (roll, pitch, yaw and height instructions) are generated. A control distribution strategy based on the aerodynamic characteristics of the rotor converts the instructions into actuating quantity of an actuating mechanism, and flight attitude adjustment is realized by changing aerodynamic load distribution of a rotor system, so that the unmanned aerial vehicle is guided to realize accurate tracking along a predetermined flight path.