3314 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.

A joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control comprises the steps that an operation and maintenance ship frequency domain seakeeping model is built, and a hydrodynamic coefficient library is calculated; wave exciting force is reconstructed based on a Cummins time domain motion equation, and ship motion response prediction is realized by adopting implicit generalized alpha time domain composite integral; the dynamic positioning system extracts low-frequency motion through a Kalman filter and optimizes thruster thrust distribution to stabilize the position of the ship. A gangway ladder dynamic model is established based on a Lagrange equation, real-time control over displacement, speed and acceleration of the top end of the gangway ladder is achieved through a feedforward-feedback composite control strategy, and nonlinear output of a hydraulic actuator is optimized. And realizing joint simulation of the coupling system through time domain synchronization and self-adaptive PID (Proportion Integration Differentiation) control. And checking gangway ladder movement based on a preset threshold value and a space boundary condition, and evaluating the operability of the climbing operation. According to the method, the limitation of traditional single-disciplinary analysis is broken through, and the forecasting precision of wind power operation and maintenance operation operability is effectively improved.

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 underwater propeller control method and system based on water body environment analysis. The method comprises the following steps: acquiring image data and laser point cloud data of a target water body, and constructing a three-dimensional environment model; initial position information and a target position of the underwater propeller are obtained, and a working path is generated based on environment model analysis; doppler sonar data on a path are collected, water flow information is analyzed, and a deviation correction control instruction is generated; and the instruction transmission quality is analyzed, and an optimal transmission scheme is determined. According to the method, dynamic modeling and analysis of a complex water body environment are realized by fusing multi-source environment sensing data, the path planning precision and autonomous control capability of the underwater propeller are improved, and the method is suitable for precise navigation and dynamic obstacle avoidance scenes in complex underwater operation tasks.

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.

An aeronautical thruster of longitudinal axis includes a hub, an annular row of unducted upstream rotor blades, and an annular row of unducted downstream stator blades. The annular row of downstream stator blades includes at least one downstream stator blade of a first type, each of which is located about the longitudinal axis in a first angular sector about the longitudinal axis. Each downstream stator blade of the first type has a fixed pitch. The annular row of downstream blades further includes at least one downstream stator blade of a second type, each of which is located about the longitudinal axis outside said first angular sector, wherein each downstream stator blade of the second type has a variable pitch.

The invention discloses an ultra-low orbit determination method and device for a near-earth satellite, a medium and a product. Comprising the following steps: acquiring a thrust vector of a satellite engine under a satellite body coordinate system under the condition that the thrust of an ion propeller of a satellite is constant; obtaining a first rotation matrix of the satellite attitude angle relative to the geocentric inertial coordinate system, and converting the thrust vector to the geocentric inertial coordinate system based on the first rotation matrix to obtain thrust components of the thrust vector on three coordinate axes of the geocentric inertial coordinate system; combining the satellite mass, the real-time on-off state of the engine and the thrust components on the three coordinate axes to obtain a small thrust perturbation item; and adding a small thrust perturbation item on the basis of the atmospheric resistance perturbation item and the conventional resistance perturbation item to obtain an input parameter, and inputting the input parameter to the orbit mechanical model, so that the orbit mechanical model determines the satellite orbit element based on the atmospheric resistance perturbation item, the conventional perturbation item and the small thrust perturbation item.

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 invention discloses an intelligent fault diagnosis method for a thruster of an on-orbit service aircraft, and the method comprises the following steps: building a mathematical model related to the control of the aircraft, and configuring the thruster of the aircraft; making a fault data set, wherein the fault data set comprises the output of a control system under various fault states in the rendezvous and docking process of the aircraft; a liquid neural network is constructed and trained, the liquid neural network comprises an input layer, a liquid layer and a classifier, and the input layer is used for integrating original time sequence data of a control system of the aircraft into a unified input vector; the liquid layer comprises N neurons and is used for carrying out dynamic modeling and time sequence feature extraction on an input sequence; the classifier is used for mapping to a fault category probability through an output layer; the real-time data output by the control system of the aircraft is obtained, the pre-trained liquid neural network is applied to perform fault diagnosis, and the method can perform fault diagnosis in real time.

The invention provides a distributed electric propulsion aircraft lateral course model prediction control method and system, and the method comprises the steps: completing the six-degree-of-freedom linear state space modeling of a distributed electric propulsion aircraft, obtaining the aerodynamic parameters of the aircraft, and constructing a flight dynamics model containing multiple propellers; under the flight dynamics model of the multiple propellers, according to a flight task instruction and state variables of the current position and speed of the airplane, calculating an expected flight path, and converting the expected flight path into an attitude angle; the edge computing platform computes an optimal control instruction based on the flight state variable and the attitude angle, and the target attitude is realized by integrating the propeller, the control surface and the flight state constraint; and the edge computing platform realizes the optimal control of the lateral heading attitude of the aircraft according to the optimal control instruction. The precision, stability and fault tolerance of flight control are remarkably improved, and an efficient and reliable solution is provided for practical application of model prediction control in a distributed electric propulsion aircraft.

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 embodiment of the invention discloses a heading determination method, device and equipment for a dynamic positioning ship and a medium. The method comprises the following steps: obtaining dimensionless environmental load coefficients of a ship under various environmental parameters and actual environmental parameters of the ship under actual sea conditions when heading is given; according to the dimensionless environmental load coefficient and the actual environmental parameters, the environmental load of the ship when the heading is given is obtained; calculating a control instruction of each propeller on the ship when the environmental load is met, and determining the total power of the propeller under the given heading direction according to each control instruction; and according to the total power of the propellers under the multiple given heading directions, the target heading direction is determined in the multiple given heading directions. The most energy-saving target heading is obtained by carrying out thrust distribution on the ship under different given heading directions, the heading direction determination speed and accuracy can be improved, and energy consumption and labor cost during heading direction determination are reduced.

The submarine cable laying robot comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are arranged on the two sides of the main body frame respectively, a cable pressing device and two spraying devices are arranged at the bottom of the main body frame, and the two spraying devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The device has the universality of different cable burying depth operations and the universality of different seabed geological operations, the operation efficiency and safety are improved, and the cost and the risk are reduced.

The invention discloses an underwater vehicle with a force feedback mechanical arm. The underwater vehicle comprises an upper shell, a mainboard, a lower shell, an electronic sealed cabin, a multi-degree-of-freedom mechanical arm, a ducted propeller and a current feedback module, wherein the electronic sealed cabin is embedded in the mainboard; the ducted propellers are fixedly connected with the main board and the lower shell respectively; the current feedback module is coaxially nested with a connecting piece of the multi-degree-of-freedom mechanical arm, and the sensing module, the control module and the energy and power module are arranged in the electronic sealed cabin in a layered mode and used for collecting external data and executing movement actions; the multi-degree-of-freedom mechanical arm comprises a bottom rotating device, a joint rotating device and a tail end clamping device and is used for achieving force feedback through current detection fed back by the current feedback module. According to the underwater vehicle, flexible clamping of a target object can be achieved, the electrical performance of the tail end executing mechanism is protected, and the force feedback precision and stability are remarkably improved; and the target object can be automatically grabbed.

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.