21 results about "Rate gyro" patented technology

The invention discloses a self-stabilization control photoelectric tracking rotary table and method based on a rate gyroscope. The method comprises the following steps: respectively acquiring an azimuth compensation angular velocity and a pitching compensation angular velocity of the photoelectric tracking rotary table under a rotary table coordinate system and a roll angular velocity interference variable of the photoelectric tracking rotary table under a platform coordinate system through the rate gyroscope; constructing a rotation matrix, converting the roll angular velocity interference variable of the photoelectric tracking rotary table under the platform coordinate system into the roll angular velocity interference variable of the photoelectric tracking rotary table under the rotary table coordinate system, and performing Kalman filtering processing to obtain the optimal estimated angular velocity of the photoelectric tracking rotary table; and obtaining the control quantity of the photoelectric tracking turntable according to the optimal estimated angular velocity, and adjusting the control voltage of the photoelectric tracking turntable. According to the method, the process noise covariance matrix and the observation noise covariance matrix are updated by using the adaptive noise covariance matrix, so that the problem of filtering divergence or estimation lag caused by the fact that Kalman filtering adopting fixed noise covariance parameters is difficult to adapt to a dynamic environment is avoided.

A method for biomechanical motion tracking records accelerometer and rate gyroscope data from a single inertial measurement unit mounted on the sacrum of a runner. Recorded resultant linear acceleration measurements and recorded angular velocity measurements about the anterior-posterior axis are processed to identify right foot impact events and left foot impact events. Impact events are identified using crackle, the third derivative of the resultant linear acceleration measurements. Left and right impact events are distinguished using the angular velocity measurements.

A method for detecting and responding to a failure in a drivetrain of a wind turbine includes estimating a first rotational speed signal at a first location along the drivetrain via one or more rate gyroscopes mounted in a hub, the first rotational speed signal being a proxy for rotor speed of a rotor. The method also includes processing the first rotational speed signal to account for a bias in the first rotational speed signal due to use of the rate gyroscope(s). Further, the method includes receiving a second rotational speed signal at a second location along the drivetrain, the second location being downwind from the first location, the first and second locations being on opposing sides of a potential slip location of the drivetrain. Moreover, the method includes determining a speed error based on a comparison of the first and second rotational speed signals. In addition, the method includes comparing the speed error to a threshold and implementing a control action when the speed error exceeds the threshold.

The present invention belongs to the technical field of structure impact test into water, and discloses a high-speed falling body impact test device and method with controllable angular velocity. The device includes structures such as a guide rail and a slider, a traction device, a speed sensor switch, an angle sensor switch, a rate gyroscope, a laser speed measuring device and a water immersion sensor. The guide rail, the slider and the traction device are used for fixing and releasing, and provide horizontal speed. The laser speed measuring device is used to measure the horizontal speed of the target structure to control the release of the speed sensor switch. The rate gyroscope is used to measure the angular velocity of the target structure to control the release of the angle sensor switch. The water immersion sensor is used to accurately determine the time when the structure falls into water. The present invention has a simple and reliable structure and is easy to operate. It combines the vertical falling motion released by the model to achieve the release of multiple degrees of freedom of the model.

A method for controlling a wind turbine is provided. The method includes receiving, via a control system, at least one speed measurement from at least one sensor on a driveline of a wind turbine. The method also includes receiving, via the control system, at least one rate gyroscope speed measurement from at least one rate gyroscope on a driveline of the wind turbine. The method further includes calculating, via the control system, an offset with respect to the at least one rate gyroscope speed measurement as a function of the at least one speed measurement. The method also includes adjusting, via the control system, the at least one rate gyroscope speed measurement by the offset. The method further includes performing, via the control system, a control action on the wind turbine based on the adjusted at least one rate gyroscope speed measurement.

The invention provides a method for synchronously measuring the vibration mode slope of a rocket by using a plurality of high-definition cameras. Belongs to the technical field of spaceflight structure vibration testing. According to the method, a plurality of high-definition cameras are arranged outside a rocket structure, image information of different local areas of the structure is collected respectively, and each camera is calibrated in advance so as to establish a corresponding relation between an angle in an image and an actual physical rotation angle. In the vibration process, the instantaneous rotation angle of each local area is extracted through an image processing means, phase comparison is carried out on the instantaneous rotation angle and a reference camera signal arranged at the tail of the rocket, and finally the vibration mode slope change condition in the structure direction is obtained through calculation. The method avoids high cost and high complexity of a traditional high-precision rate gyroscope, has the advantages of being non-contact, low in cost, easy to deploy and the like, and is suitable for rocket structure ground modal testing and flight vibration analysis.

The invention provides an on-line self-adaptive suppression method for self-excited oscillation of a vertical carrier rocket, and belongs to the field of carrier rocket control, aiming at a self-excited oscillation phenomenon occurring in a target range test when the carrier rocket is in a vertical state. The three channels of the vertical carrier rocket are subjected to attitude control by adopting a PD control loop according to attitude angle deviations and rate gyroscope signals respectively, and the rate gyroscope signal of each channel entering the PD control loop is subjected to filtering processing by adopting a self-adaptive wave trap, so that the rate gyroscope signal of each channel entering the PD control loop is obtained. The method is used for reducing elastic vibration signals in control loop angular rate signals and servo swing angle instruction signals. According to the invention, the self-oscillation phenomenon in the vertical state target range test of the carrier rocket can be effectively solved, the influence of the periodic jitter of the carrier rocket on the rocket loading product is eliminated, and the rocket ground test and take-off safety are effectively ensured.

A comprehensive system designed for the predictive maintenance of railcar wheel bearings, integrating multiple sensor modalities. The system includes thermography for temperature mapping, vibration analysis via a three-axis accelerometer, rotational velocity measurement using a rate gyro, and optical spectrometry for lubricant analysis. Each modality contributes to a holistic understanding of bearing health, enhancing maintenance strategies, safety, and operational efficiency in rail transportation.

The application provides an aircraft overload control method based on an angle of attack estimation, which firstly installs an accelerometer to measure a longitudinal overload signal and solves an overload-based angle of attack estimation signal according to aerodynamic parameter nominal values, then measures an angular rate signal through a pitch rate gyroscope, and designs a second-order differential filter network to obtain a pitch angle acceleration estimation signal, and then solves an angular rate-based angle of attack estimation signal by using the aerodynamic parameter nominal values; then a large time constant inertial integrator is designed according to an overload error signal to obtain an angle of attack and pitch angle rate related parameter adaptive estimation signal; and a virtual backstepping signal of a rudder deflection angle is composed of an equivalent control signal and an error feedback control signal; a second-order approximate differential signal of the rudder deflection angle is constructed, and saturation limiting, integration and initial value processing are performed to obtain a first-order differential signal of the rudder deflection angle, and finally a rudder deflection angle signal is inversely solved and transmitted to a pitch rudder system to realize tracking of an expected overload instruction signal of the aircraft.

A method for controlling a wind turbine includes receiving, via a control system, at least one speed measurement from at least one sensor on a drivetrain of the wind turbine. The method also includes receiving, via the control system, at least one rate gyroscope speed measurement from at least one rate gyroscope on the drivetrain of the wind turbine. The method also includes calculating, via the control system, an offset for the at least one rate gyroscope speed measurement as a function of the at least one speed measurement. The method also includes adjusting, via the control system, the at least one rate gyroscope speed measurement by the offset. The method also includes implementing, via the control system, a control action for the wind turbine based on the adjusted at least one rate gyroscope speed measurement.

This invention provides a dual-redundancy method for measuring aircraft attitude. It establishes a first measurement channel for the aircraft's heading angle by jointly measuring and calculating with a triaxial accelerometer and a Hall effect magnetometer. A second measurement channel for the heading angle is then established using a MESE rate gyroscope and a MESE angle gyroscope. The errors from these two channels are then combined and nonlinearly transformed, and the error is fed back to the rate gyroscope for secondary measurement correction. Finally, the combined aircraft attitude measurement signal is obtained through integration. Furthermore, when the triaxial accelerometer, magnetometer, rate gyroscope, or angle gyroscope malfunctions, information from the normally functioning sensors is used, and the gain of the combined measurement feedback channel is switched on and off to form a dual-redundancy measurement, thus improving the reliability and accuracy of the overall attitude measurement.

The invention discloses an active load shedding control method based on adaptive gain, and the method comprises the steps: considering the overall parameters of a carrier rocket, neglecting the influence of secondary factors according to the characteristics of a load shedding problem, and building a small-disturbance linearization model of the carrier rocket based on a small-deviation linearization hypothesis; according to the small disturbance linearization model, utilizing the output of the inertial measurement unit platform and the rate gyroscope to obtain the measurement values of the attitude angle, the attitude angular velocity and the apparent acceleration of the carrier rocket; designing an attitude tracking controller by adopting a PD control method according to the attitude angle and the attitude angular velocity measurement value; and according to the apparent acceleration measurement information, identifying to obtain an aerodynamic acceleration value, realizing active load shedding, and designing an attitude tracking and load shedding controller. And designing a load shedding control gain adjusting strategy for active load shedding control gain in the attitude tracking and load shedding controller according to the actual value, the nominal value and the historical peak value of the pneumatic acceleration, and dynamically adjusting the size of the active load shedding control gain.

The application provides an inverted pendulum control method adopting inversion sliding mode PID hybrid switching, which measures the swing angle of the inverted pendulum by installing a micro gyroscope and measures the swing angular velocity by installing a rate gyroscope; then, a nonlinear integral is adopted to obtain integral signals of the swing angle error and the swing angular velocity error and a sliding mode integral signal; then, a second-order delay device is adopted to solve the swing angle expected differential signal, the swing angle error differential signal, the swing angular velocity error differential signal and the sliding mode differential signal through a transfer function; finally, three methods of inversion self-adaption, sliding mode self-adaption and improved PID are adopted to design the inverted pendulum control law, and switching control is carried out based on different ranges of the swing angle error, so that the sliding mode control is adopted when the error is large, the inversion control is adopted when the error is medium and the PID control is adopted when the error is small, thereby the advantages of the three kinds of controls can be combined and the quality of the inverted pendulum control is improved.

The presently disclosed subject matter includes a system and method dedicated to mitigating inertial measurement unit (IMU) axis failures. The system comprises processing circuitry operatively connectable to an IMU including accelerometer and rate gyro subsystems configured to provide real-time IMU data along multiple axes. The processing circuitry is configured to monitor the real-time IMU data and detect a fault affecting at least one IMU axis. Responsive to detecting the fault, a machine learning model trained on relationships between IMU measurements is applied to reconstruct missing or degraded accelerometer or rate gyro data based on remaining available IMU data, thereby generating reconstructed IMU data representative of platform motion.

The application obtains the line-of-sight angle signal of the accurate guidance photoelectric guidance platform by adopting the IRFPA infrared camera to take pictures and measure and carries out data processing, and obtains the platform angular velocity expected limiting signal by non-linear operation, lag and integral, design of non-linear adaptive advance correction network and limiting, and installs the rate gyro to measure the pitch angular velocity signal of the photoelectric guidance platform, and obtains the platform angular velocity error signal by comparison; the rate gyro is installed on the base of the photoelectric guidance platform to measure the platform base pitch angular velocity signal, and the base non-linear feedforward compensation signal is obtained by designing the non-linear feedforward compensation network; finally, the angular velocity error advance correction signal is obtained by designing the interference adaptive compensation and non-linear advance correction network, and the final photoelectric guidance platform stable control voltage signal is formed by superimposing the platform angular velocity error signal to realize the stability of the accurate guidance photoelectric guidance platform.

The present invention proposes a Fourier transform-based adaptive weighting method and device for rate gyros, which belongs to the field of attitude control for heavy-lift launch vehicles. The method comprises: establishing a launch vehicle attitude dynamics model, wherein a rate gyro is disposed at the front and rear of the launch vehicle; constructing a rate gyro weighting weight estimation model based on the dynamics model; and estimating the weights based on the rate gyro weighting weight estimation model using a Fourier transform to obtain a rigid body signal estimation result for the launch vehicle. The present invention adaptively estimates weights from a frequency domain perspective, exhibiting significant accuracy and reliability advantages. Furthermore, the method is capable of continuously correcting weights even when the rigid body signal and elastic signal power are low, making it widely applicable to future heavy-lift launch vehicle missions.

The invention relates to a system and method for detecting and responding to a fault in a power train of a wind turbine. Specifically, a method for detecting and responding to a fault in a drive train of a wind turbine includes estimating, via one or more rate gyroscopes mounted in a hub, a first rotational speed signal at a first location along the drive train, the first rotational speed signal being representative of a rotor speed of a rotor. The method further includes processing the first rotational speed signal to address deviations in the first rotational speed signal due to the use of the rate gyroscope. Further, the method includes receiving a second rotational speed signal at a second location along the driveline, the second location being leeward of the first location, the first and second locations being on opposite sides of the potential slip location of the driveline. Further, the method includes determining a speed error based on a comparison of the first and second rotational speed signals. In addition, the method includes comparing the speed error to a threshold and implementing a control action when the speed error exceeds the threshold.

The invention provides a device and a method for detecting the polarity from an angular rate gyroscope to a control surface of a flight control system. The device comprises a program control turntable comprehensive analysis module (2), an angular rate gyroscope fixing device (3) and a signal switching module (5), when the angular rate gyroscope fixing device (3) is placed on the rotary table (2.1) according to three orthogonal axial directions, the program control rotary table comprehensive analysis module (2) controls the rotary table (2.1) to rotate, and receives FT I signals monitored by at least two flight control system angular rate gyroscopes through a flight control computer; and judging whether the FT I signals received in the three orthogonal axial directions meet the expected requirements of the angular rate gyroscope of the flight control system or not. The angular rate gyroscope can be incorporated into a system-level control loop for testing, dynamic angular rate signal testing along three orthogonal axial directions (pitching, rolling and heading) can be carried out, and whether the motion polarity of a control surface is consistent with the expectation or not is checked end to end.

The invention discloses an underground vibration measurement method and device for a rotary steering system, and the method comprises the steps: measuring the three-axis acceleration of symmetrical measurement points of a drill column in real time through two acceleration sensor groups which are disposed at the symmetrical positions of the outer wall of a cylindrical circuit skeleton in a guide head; the rotating speed of the guide head is measured in real time through an angular rate gyroscope eccentrically mounted on the outer wall of the cylindrical circuit framework; according to the two groups of three-axis acceleration instantaneous values and rotation speed instantaneous values which are measured in real time, the instantaneous three-axis acceleration and rotation angle acceleration of the rotation guiding head are determined according to the mapping relation between the three-component vibration and rotation speed measurement values of the preset measurement position and the three-component vibration and rotation angle acceleration of the rotation guiding head; and obtaining an underground impact data set based on the instantaneous three-axis acceleration and the rotation angular acceleration of the rotary guide head. Vibration, stick-slip vibration and impact generated in the rotating process of the drilling tool are measured in real time, and the actual situation of underground vibration of the rotary steering system is reflected.

A resonator is suitable for reducing or suppressing a force transmitted by a vibrating portion of the resonator to a support part. To this end, the vibrating portion includes two extensions which are each meander shaped such that two segments of each extension have respective speed components that are oriented in opposite directions. Such a resonator, which is balanced, can advantageously be used within a rate gyro or a force sensor.

The invention provides a knowledge data hybrid-driven rate gyroscope accurate health state assessment method. The method comprises the following steps: step 1, acquiring rate gyroscope data; 2, designing a key index according to the output information of the rate gyroscope as the input of a belief rule base BRB; 3, constructing a confidence rule base; 4, performing online reasoning on the BRB model; 5, training data label conversion; step 6, BRB model parameter optimization: through an optimization process, the model can automatically adjust parameters according to historical data so as to improve the accuracy and reliability of rate gyroscope health state evaluation; according to the method, a confidence rule base model combining expert knowledge and historical data is provided, the problem of data volume imbalance is effectively solved by fusing multi-modal data and expert experience, the model is trained by adopting a gradient descent optimization algorithm, and the accuracy of health state assessment is improved.