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58 results about "Geometric control" patented technology

Optical fiber loop for optical fiber gyroscope

The invention relates to an optical fiber loop for an optical fiber gyroscope. The loop comprises a sensing framework and a polarization maintaining fiber wound on the sensing framework and is characterized in that: the polarization maintaining fiber is a polarization maintaining fiber ribbon which is formed by bonding 2*n polarization maintaining fibers in parallel, wherein n is 1, 2, 3 and the like and the polarization maintaining fiber ribbon with 2*n cores is formed; the head and the tail of adjacent optical fibers at two head ends of the wound polarization maintaining fiber ribbon are connected with each other by melting; and the head end of a first optical fiber and the tail end of a last optical fiber are taken as an input end and an output end of the optical fiber loop. The loop has the advantages of greatly improving the winding quality and increasing the winding speed of the optical fiber loop, improving the performance index and winding efficiency of the optical fiber loop, improving the geometry control accuracy and temperature performance of a circling optical fiber, improving the temperature stability and accuracy index of the optical fiber loop, simplifying the winding process of the optical fiber loop, and high repeatability and improving winding efficiency, along with simple and reliable winding mode.
Owner:武汉长盈通光电技术股份有限公司

Four-rotor flying robot maneuvering formation control method for wireless speed measurement

ActiveCN111596690AEliminates the need for line speed measurementEliminates the need for velocity measurementPosition/course control in three dimensionsRobotic systemsGeometric control
The invention discloses a four-rotor flying robot maneuvering formation control method for wireless speed measurement, and the method comprises the steps: building a kinetic model of each four-rotor flying robot by employing a Newton-Euler equation for a multi-four-rotor flying robot system capable of maneuvering in a three-dimensional space; based on an auxiliary filtering signal generator, introducing second-order signals of a plurality of auxiliary variables to eliminate the requirement for linear speed measurement in formation control of the multi-four-rotor flying robot; and finally, based on a geometric control method, designing a nonlinear control law comprising an inner and outer ring cascade structure on the Euclidean group SE (3), the inner ring controlling attitude dynamics andthe outer ring coordinating translation dynamics of each four-rotor flying robot to realize a high maneuvering formation control target. Compared with the prior art, the control law (net thrust and body torque) involved in the method does not depend on the linear velocity vector, that is, the four-rotor flying robot maneuvering formation control method provided by the invention realizes wireless velocity, and does not need linear velocity measurement.
Owner:HUNAN UNIV
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