2770 results about "Propulsor" patented technology

The invention provides an underwater vehicle multi-source information fusion accurate navigation method and system. The method comprises the following steps: firstly, acquiring inertial navigation data, DVL data and ocean current information of an underwater vehicle and observation information of a distance between the underwater vehicle and a beacon, and preprocessing the inertial navigation data, the DVL data and the ocean current information; then, establishing a state model according to the kinematics principle of the underwater vehicle, and establishing an observation model by combining various types of information; carrying out fusion processing on the state model and the observation model by adopting a self-adaptive Kalman filtering algorithm; and finally, estimating the current position of the underwater vehicle according to the fused state vector, comparing the current position with a preset target position to calculate a deviation, and correcting the deviation by adjusting a rudder angle and the rotating speed of a propeller. According to the method, multi-source information is integrated, innovation is carried out on construction of a state model and an observation model and position estimation and deviation correction, adaptive Kalman filtering is adopted, and the method has the advantages that the navigation precision is improved, the ocean current influence is considered, adaptive adjustment is realized, and real-time navigation is realized.

The invention relates to the technical field of combined fleet navigation, and discloses a combined fleet intelligent navigation data processing system, which comprises a data acquisition unit used for acquiring navigation data and ship lock data of each ship of a combined fleet in real time, fusing the preprocessed navigation data and ship lock data to obtain a comprehensive data set, through dynamic data fusion and self-adaptive grid division, the spatial-temporal characteristics of a flow velocity abrupt change area during opening and closing of a ship lock are captured in real time, the limitation that a traditional algorithm depends on a static environment is broken through, a dynamic power distribution strategy is generated based on flow field characteristics and navigation data, and precise power matching is achieved in combination with a propeller efficiency priority and a self-adaptive weight algorithm. The response time is shortened, the cooperation efficiency is improved, course deviation is avoided, a multi-stage early warning and time difference judgment mechanism is constructed, the power margin is evaluated in real time, the weight, the navigational speed and the formation are adjusted according to the risk level, it is guaranteed that power distribution adjustment of the whole fleet does not lag behind water flow changes, and normal course of the fleet is guaranteed.

The invention discloses an unmanned ship distributed cooperative dynamic target surrounding control method under multiple constraints, and relates to the field of unmanned ship cooperative control. In order to solve the problems that multiple constraint coupling is not fully considered in cooperative surrounding of multiple unmanned ships, target state estimation is insufficient in an intermittent communication environment and the like, the following technical scheme is provided: firstly, a motion model of the unmanned ships and a target is established; a distributed internal model observer is arranged for each unmanned ship, and the internal motion state of the target is estimated; then designing a distributed type progressive average surrounding guidance algorithm, and performing distributed scheduling on the expected speed and heading of the unmanned ship, so that the unmanned ship can still keep safe surrounding when the speed or direction of the target is changed; the input saturation constraint of a propeller or a steering engine is considered, so that each unmanned ship can be autonomously controlled according to an expected trajectory and speed; and finally, stable and collision-free surrounding of the dynamic target is realized under multiple constraint conditions. The method can be applied to scenes such as ocean escort and maritime search and rescue which need to perform collaborative operation around a dynamic target.

The invention provides a fluid-structure interaction vibration simulation and suppression method for a water-jet propeller, and belongs to the field of numerical simulation of computational fluid mechanics. The method comprises the following steps: establishing a finite element model of a water-jet propeller impeller-shafting coupling system; performing dry mode and wet mode comparative analysis on the finite element model by utilizing a finite element method, and verifying the effectiveness of the model; dividing finite element grids of a structural domain and a flow field domain; establishing a fluid-solid coupling model; on the basis of bidirectional fluid-solid coupling numerical calculation, the flow field speed and acting force are solved through CFD, the structure movement speed and displacement are updated, a flow field grid is further updated, flow numerical calculation continues to be conducted, and iteration is conducted till the simulation time ends; flow-induced vibration characteristics are analyzed through post-processing, and the vibration amplitude is restrained by adjusting the mass center position of the impeller airfoil. According to the method, the bidirectional fluid-solid coupling model of the impeller-shafting system of the water-jet propeller is constructed, structural deformation and transient flow field information are directly associated, and the hydrodynamic performance is improved.

An unmanned ocean vehicle apparatus having a hull, solar array, hydrofoil, and electric thruster is operable on a surface of a body of water to travel from one point to another with long range capabilities. The unmanned ocean vehicle can further be placed in a more compact configuration, incorporating a mechanism to alternate between operational mode and collapsed storage mode to facilitate physical storage or shipment of the vehicle. Methods are described for optimizing travel and determining favorable movements of the unmanned ocean vehicle by calculating current and predicted conditions at certain waypoints using a combination of a sensor, a computer, and a control system. The physical support of hydrofoils, a drag reducing system, capsize-prevention technique, and a three-dimensional arrangement of solar panels provides efficient power management, optimal route strategy, and sustainability of the vehicle's high speeds in wildly varying ocean conditions.

The invention discloses an aircraft attitude control method and device based on a semiconductor microcomputer system, and the method comprises the steps: collecting the multi-source sensor data of an aircraft, calculating an attitude error vector, and constructing a three-dimensional error space coordinate system; taking the three-dimensional error space coordinate system as a reference, adjusting the model in real time, and solving the optimal attitude adjustment amount in a prediction window period; the optimal attitude adjustment amount is input into an execution mechanism distribution module, and a thrust adjustment instruction sequence and a control surface deflection angle instruction queue of each vector propeller are generated through calculation in combination with a propeller response matrix and a control surface efficiency coefficient; dynamically correcting and predicting weight parameters of the controller through closed-loop verification; and updating the multi-objective optimization model based on the corrected parameters, adjusting the instruction distribution proportion through a dynamic reconfiguration interface, and writing the updated parameters into the attitude database to form a complete closed-loop period. According to the invention, high-precision real-time control of the attitude of the aircraft is realized, and the flight stability and the energy efficiency ratio in a complex environment are improved.

An aeronautical thruster of longitudinal axis has a hub, an annular row of unducted upstream rotor blades and an annular row of unducted downstream stator blades. Each downstream stator blade is of variable pitch, and at least one of the downstream stator blades is in a closed-pitch configuration relative to another of the downstream stator blades in that it has a pitch angle smaller than the pitch angle of the other downstream stator blade.

The invention provides a new class of transportation with a partially aerostatically supported ram air cushion ship (PASRACS) that can provide safe, fast, efficient global transport services with extraordinary comfort, luxury and amenities. The PASRACS employs inventive synergistic combinations of lift from aerostatic, aerodynamic, hydrostatic and hydrodynamic forces for different modes of operation ranging from a stationary floating configuration on a water surface, to flight in ground effect at high speed. A propulsion system can utilize hydrogen as an energy source driving fluid-dynamic thrusters, to enable zero carbon emissions operations. A transition method is provided for a PASRACS to transition from a floating mode to a takeoff mode to a flight in ground-effect mode in an inventive optimized manner. A transport method for multimodally transporting payload is provided with PASRACS vehicles and systems, with quick turn time operations enabled by the use of payload transfer transport modules and transfer vehicles.

The invention relates to the technical field of data processing, and discloses an anti-corrosion protection method and system for a propeller in a deep sea environment. The method comprises the steps that seawater corrosion data are collected through a sensor array, risk grading is conducted through a genetic algorithm, current distribution is optimized through a Lagrange algorithm, a self-adaptive protection potential field is constructed to respond to chloride ion concentration changes, the corrosion trend is analyzed based on a prediction model, and anti-corrosion control is executed. The intelligent level and the protection effect of anti-corrosion protection of the propeller in the deep sea environment are improved.

The invention relates to the technical field of data processing, and discloses a propeller fault diagnosis and predictive maintenance method and system. The method comprises the following steps: collecting current, temperature, vibration and pressure signals of a propeller, extracting characteristic parameters to construct a time sequence data set, mapping the characteristic parameters into nodes, establishing a multi-physical field coupling hyperedge to construct a time sequence incidence matrix, inputting an encoder, extracting a degradation state characteristic vector, and mapping the degradation state characteristic vector into a health index; and calculating a degradation rate function in combination with the working condition parameters, and integrating the degradation rate function to predict the remaining service life. According to the method, the high-order coupling relation and the time sequence evolution characteristics among multiple parameters of the propeller are captured through the multi-physics field coupling hypergraph time sequence encoder, the influence of different operation conditions on degradation is quantified in combination with the degradation rate model sensitive to the working condition, and the problem that the fault evolution trajectory and the remaining service life cannot be predicted is solved; and an accurate time window reference is provided for predictive maintenance.

The invention discloses a decoupling control method for motion coupling between a track and a propeller, relates to the technical field of robot control, and realizes accurate and intelligent regulation and control of motion of a sea-land amphibious robot by constructing a complete closed-loop strategy from sensing, recognition, prediction to control. And the motion stability of the robot in a complex mixed environment is obviously improved. According to the method, the undesirable coupling effect between the crawler belt and the propeller can be anticipated and quantified in a prospective mode, suppression is conducted actively through self-adaptive control, impact, vibration and attitude instability caused by power conflicts in land and water transition or rugged terrain are effectively avoided, and stability and safety of a robot platform and loads of the robot platform are guaranteed. The energy utilization efficiency of the robot is greatly improved. And it is ensured that the two power systems work in the optimal cooperative state at any moment, and invalid energy internal consumption and redundant output are avoided.

The invention provides an underwater propeller control method and system based on tensor recognition and fuzzy control. The underwater propeller control method and system are suitable for improving the propelling efficiency and adjustment intelligence in a complex flow field. According to the method, a wake flow simulation model is constructed based on geometric parameters and boundary conditions of a propeller, a rotation tensor and a strain tensor are derived after flow field data are obtained, and a tensor field index is extracted through function space mapping so as to determine a target grid region. A high-rotation candidate area is screened through a spectral clustering algorithm, a vortex structure is identified, and multi-dimensional features such as the scale, the strength, the axial direction and the vortex core position of the vortex structure are extracted. And constructing a state vector by combining the current propulsive efficiency and flow field disturbance parameters, inputting an adaptive fuzzy neural network model, reasoning a relationship between a vortex and an operation state, outputting a propeller rotating speed and an attack angle adjusting quantity, and realizing intelligent response and energy efficiency optimization of wake flow disturbance.

An integrated hydrogen-electric engine includes, an air compressor system; a hydrogen fuel source; a fuel cell; an elongated shaft connected to the air compressor system or a propulsor; and a motor assembly disposed in electrical communication with the fuel cell, wherein the air compressor system includes a plurality of electrically driven compressors configured to run in series or parallel.

The present disclosure is generally related to aircraft having one or more unducted fan propulsors at locations within specific regions relative to an airfoil, such as a wing or horizontal stabilizer. More specifically, the specific regions are located where there is a relatively higher pressure air flow beneath the wings or above a horizontal stabilizer. That higher pressure air flow can be utilized to provide increased thrust from the unducted fan propulsor.

The present disclosure is generally related to aircraft having one or more unducted fan propulsors at locations within specific regions relative to an airfoil, such as a wing or horizontal stabilizer. More specifically, the specific regions are located where there is a relatively higher pressure air flow beneath the wings or above a horizontal stabilizer. That higher pressure air flow can be utilized to provide increased thrust from the unducted fan propulsor.

The invention relates to a robot under-actuated motion control method under the condition of failure of partial propellers. The robot under-actuated motion control method comprises the following steps: acquiring multi-source sensor data of an underwater robot; based on the multi-source sensor data, a health state model of the propellers constructed in real time is adopted, the state of each propeller is monitored in real time, and fault information of the propellers is further obtained; based on the fault information of the thruster, regularly checking the state of the thruster, and further judging whether the thruster can move at six degrees of freedom or not, if so, obtaining a thrust output scheme without coupling torque through an improved particle swarm optimization algorithm to complete the under-actuated motion control process of the robot, and if not, obtaining a thrust output scheme without coupling torque through an improved particle swarm optimization algorithm to complete the under-actuated motion control process of the robot. If yes, the robot under-actuated motion control process is completed by coordinating the sine fluctuating motion of the joints of the robot. Compared with the prior art, the invention provides a fault-tolerant control scheme under various fault conditions, and has the advantages of higher fault-tolerant control precision and the like.

The invention provides a deep sea self-melting type reconfigurable robot system, and belongs to the field of robots. The system comprises a main control module, a vertical pushing module, a side pushing module and an assembling module. The assembling module can recognize the marine environment to be operated, and then the main control module, the vertical pushing module and the side pushing module are subjected to modular reconstruction based on the marine environment to form the robot so as to execute marine work. The vertical pushing module, the side pushing module and the main control module are connected in a magnetic attraction connection mode, the main control module is used for providing electric energy for the vertical pushing module and the side pushing module, the vertical pushing module is provided with a vertical pushing propeller and a first control unit, and the rotating speed and the rotating direction of the vertical pushing propeller are adjusted by the first control unit; the side thrust module is provided with a side thrust thruster and a second control unit, and the rotating speed and the rotating direction of the side thrust thruster are adjusted by the second control unit. The robot can be assembled into robots of different configurations through the assembly module when facing different scenes and work tasks so as to adapt to different environments.

The present disclosure is generally related to aircraft having one or more unducted fan propulsors at locations within specific regions relative to an airfoil, such as a wing or horizontal stabilizer. More specifically, the specific regions are located where there is a relatively higher pressure air flow beneath the wings or above a horizontal stabilizer. That higher pressure air flow can be utilized to provide increased thrust from the unducted fan propulsor.

The invention belongs to the technical field of coal seam pressure relief and permeability improvement, and relates to a core rod jacking type mechanical reaming device and method, and the device comprises a core rod jacking type reamer, a core rod drill rod, a combined type rotary water tail and a hydraulic propeller which are sequentially connected from head to tail. The core rod jacking type reamer adopts a core rod pushing linkage structure, and the opening or closing state of a tool arm is accurately controlled; the core rod drill rod provides core rod guiding conduction, and deep hole reaming is achieved. The composite rotary water tail is used for rotary dynamic sealing connection of the drill rod core rod and the hydraulic propeller; the hydraulic propeller is used for being connected with hydraulic power and providing hydraulic propelling power for the guide rod. According to the device, hydraulic pressure serves as power to achieve rapid unfolding and retracting of the reaming cutter, the reaming speed is increased, the gas extraction drilling and reaming requirements are met, stable operation can be achieved under the complex geological condition, and the high field popularization value is achieved.

The invention discloses an underwater propeller thrust distribution control method and system based on QP optimization, which are used for avoiding redundant power consumption caused by improper distribution under redundant propeller configuration and prolonging underwater operation time and endurance mileage of a robot. The method comprises the steps that a preset attitude control instruction of the underwater robot and actual attitude information fed back by a current sensor are acquired, total disturbance acting on the underwater robot is estimated in real time based on the active disturbance rejection control principle, and expected total control force and total control torque instructions are calculated; constructing a quadratic programming problem based on the total control force and the total control moment instruction; solving a quadratic programming problem to obtain a first thrust instruction of each propeller after optimization; whether a propeller fault exists or not is diagnosed in real time, and when the fault is detected, a control efficiency matrix or a physical limitation constraint in the quadratic programming problem is dynamically adjusted; and solving again based on the adjusted quadratic programming problem to obtain a second thrust instruction of each propeller under fault tolerance.

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

The invention discloses a variable-structure water-air amphibious robot and a motion control method. The robot comprises a water-air amphibious robot body, a variable-structure wing system and an electric control system. The robot body comprises a sealed cabin, a propeller fixing assembly, a fluid shell and a variable support tail cover. The variable-structure wing system comprises a driving gear transmission assembly, a two-section folding wing and a wing folding linkage assembly; the electric control system comprises a control core element, a visual module, a power supply module, a GPS module and an underwater depthometer module which are arranged in the cabin body; the motion control method is based on a deep reinforcement learning control method, control generalization ability is enhanced through teacher and student strategies and random domain, and the motion control method has more advantages in scenes such as inaccurate modeling and large external disturbance change. The structure of the variable-structure water-air amphibious robot integrates the structures of a rotorcraft, a fixed-wing aircraft, an underwater robot and the like, the modes of the wings can be switched, and efficient movement operation of the water-air amphibious robot is achieved.

According to the underwater propeller control method based on multi-parameter fusion and the related equipment, the autonomous decision-making ability and adaptability of the underwater propeller in different environments are improved, more intelligent and more efficient control is achieved, and therefore the overall stability of the underwater propeller can be improved. The method comprises the steps that the water flow velocity and regional terrain information of a target region where the underwater propeller is located are collected; a three-dimensional flow field real-time sensing model is established based on the water flow velocity and the regional topographic information, and multi-modal data are acquired according to the three-dimensional flow field real-time sensing model and comprise the water flow velocity, the water flow pressure, the water flow intensity, the three-dimensional topographic coordinates and the topographic height of a target region; carrying out dispersion filtering on the multi-modal data and then fusing the multi-modal data to obtain target multi-modal data; and constructing a multi-modal neural network model through a time sequence attention mechanism based on the target multi-modal data.

A lubrication system for a turbine engine. The turbine engine includes a propulsor and one or more rotating components. The lubrication system includes a sump, a primary lubrication system, an auxiliary lubrication system, and a strain energy storage system. The sump stores lubricant therein. The primary lubrication system supplies the lubricant from the sump to the one or more rotating components during normal operation of the turbine engine. The auxiliary lubrication system includes an auxiliary pump including an auxiliary pump shaft. The strain energy storage system includes a spring drivingly coupled to the auxiliary pump shaft. The spring stores strain energy during normal operation of the turbine engine and releases the strain energy when the propulsor is windmilling to rotate the auxiliary pump shaft to power the auxiliary pump such that the auxiliary pump pumps the lubricant from the sump to the one or more rotating components.

The invention relates to the technical field of underwater robot control, in particular to an autonomous line patrol motion control method of an underwater cable detection robot, which comprises the following steps of: establishing a six-degree-of-freedom kinematics equation and a kinetic model of the robot, and collecting position information of the robot and a current heading angle of the robot; the target heading angle of the robot is calculated through an optimal deflection angle fusion algorithm, the current heading angle, collected by a sensor, of the robot is compared with the target heading angle, an error epsi is obtained, and the error epsi is added into a single-ring PID algorithm for adjustment; and controlling the thrust and direction of a propeller in the underwater cable detection robot according to a control signal tau (t) output by the single-loop PID algorithm and robot position information, judging whether a target heading angle of the underwater cable detection robot is consistent with a current heading angle, if so, completing autonomous line patrol, otherwise, continuing to correct, and if not, completing the detection of the underwater cable detection robot. The attitude control precision and the path navigation stability of the robot in the underwater environment are improved.

An apparatus for controlling rotational orientation of a load suspended from the apparatus comprises a housing or framework for coupling to the load. At least one torque generating device is mounted to the housing or framework. A motorized frictionless swivel is coupled directly or indirectly to the housing or framework and to one or more lines suspending the load. A controller in communication with the torque generating device and the motorized frictionless swivel controls a proportion of rotational force applied to the load from the torque generating device and the motorized frictionless swivel to control the rotational orientation of the load. One or more thrusters movably mounted directly or indirectly to the housing or framework via respective mounting elements vary a position of the thrusters from a centre of the housing or framework and the controller controls a proportion of rotational force applied to the load from the thrusters.

The automatic safety inspection robot comprises a guide sliding seat, the guide sliding seat is assembled on an E-shaped guide rail in a rolling mode, and the E-shaped guide rail is fixedly installed on the wall face of the top of a warehouse or a machine room; a locking point fixing device is fixedly installed on the guide sliding seat, the locking point fixing device is located below the guide sliding seat, the locking point fixing device and the airflow propeller are installed together in a butt joint mode, and a gas detection module is installed below the airflow propeller through a lifting rod; and a left high-definition visual detection module and a right high-definition visual detection module are symmetrically arranged on the side surface of the gas detection module. The guide sliding seats are matched with the E-shaped guide rails, so that the guide performance and the stability are good. And the locking point fixing device is in magnetic attraction butt joint with the airflow propeller, rail-mounted flight and short-distance flight can be achieved, and maneuverability is high. Multiple detection modules are integrated, the detection range is wide, the precision is high, the braking structure is reliable, and the inspection efficiency and safety are improved.

A system and a method for controlling a propulsor assembly of an electric aircraft. The system may include an electric motor, wherein the electric motor may include a rotor and a stator, a propulsor driven by the electric motor configured to propel an electric aircraft. The propulsor may include a propeller. The propeller may include a blade. The system may include a cyclic control assembly configured to deflect the blade. The cyclic control assembly may include an actuator and a push rod mechanically connected to the actuator and the propulsor. The system may include a flight controller. The flight controller may be configured to receive sensor datum from at least a sensor communicatively connected to the electric aircraft, generate a deflection command as a function of the sensor datum and actuate the cyclic control assembly as a function of the deflection command.

The invention provides an ocean current interference resistant fault-tolerant control method and system for a robot multi-motor propulsion system, and the method comprises the steps: inputting the actual and expected position error and speed error of an underwater robot into a self-adaptive backstepping sliding mode path tracking controller, and obtaining the thrust needed by tracking motion; introducing a propeller weight matrix representing the fault degree of the propeller into a weighted pseudo-inverse method, optimizing the propeller weight matrix by adopting an intelligent algorithm to obtain an optimal propeller weight matrix, and performing thrust distribution on thrust required by tracking motion through the weighted pseudo-inverse method to obtain a thrust distribution result; according to the operation and thrust distribution results of the multiple motors, the parameters of all the motors are adjusted in a self-adaptive mode through a multi-motor fault-tolerant control strategy; and each motor remotely controls the underwater robot based on the parameters after self-adaptive adjustment, and obtains the actual position and speed of the underwater robot at the current moment for loop closing.

A method for controlling a marine drive having a throttle handle moveable to control a thrust and a detent engageable to resist moving the throttle handle. The method includes configuring a position sensor to generate position data corresponding to positions of the throttle handle and receiving the position data from the position sensor. The method further includes analyzing the position data to determine a first position of the throttle handle in which the detent disengages and generating thrust with the marine drive when the throttle handle is moved into the first position.