10 results about "Reaction wheel" patented technology

The invention relates to a spacecraft attitude combined control method based on a hybrid execution mechanism. The method comprises the following steps: establishing a GEO satellite dynamics model with flexible accessories; according to the established kinetic model, designing a spacecraft attitude control algorithm by using a golden section adaptive control law based on the feature model and a tracking maintenance adaptive control law based on the feature model, and generating a control instruction; according to the generated control instruction, establishing a dynamic allocation model of the hybrid actuating mechanism by taking an attitude maneuver angle error as a constraint condition, and switching a combined working mode of electric propulsion, reaction wheel and chemical propulsion in different attitude adjustment stages; and with minimum energy consumption as a target, solving an optimal error threshold used for switching a combined working mode in the dynamic distribution model of the hybrid execution mechanism by using a PSO-GA algorithm, and realizing autonomous distribution of the control torque of the execution mechanism in the spacecraft attitude combined control process. Therefore, the goals of high precision, short time and low energy consumption of the multiple attitude control modes of the GEO satellite and rapid switching among the multiple attitude control modes are achieved.

The invention provides a method, a device and a system for controlling the yawing attitude of a floating type wind turbine generator. The method comprises the following steps: acquiring a wind deviation angle, a wave direction deviation angle and a yawing angle; whether at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value or not is determined; under the condition that at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value, whether the yawing angle is smaller than a second angle threshold value or not and whether the duration is larger than or equal to first preset duration or not are determined; under the condition that the yawing angle is larger than or equal to a second angle threshold value or smaller than the second angle threshold value and the duration is smaller than a first preset duration, the target rotating speed is obtained through calculation at least according to the wind facing deviation angle, and the reaction wheel is controlled to rotate at the target rotating speed. The method solves the technical problem of low power generation efficiency caused by violent yawing of the floating type wind turbine generator in the prior art.

The invention provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and the method comprises the steps: considering the electromechanical characteristics of a reaction wheel, and building a micro-nano satellite attitude deep coupling model containing the dynamic characteristics of the reaction wheel; aiming at reaction wheel axle friction and counter electromotive force interference, designing a double-interference observer to accurately estimate the reaction wheel axle friction and counter electromotive force interference; designing a nonlinear state-dependent obstacle function to convert a constraint state into a tracking control variable according to the star rotating speed and reaction wheel current physical constraint; and a composite controller is constructed by combining a double-interference observer and a nonlinear state-dependent barrier function, and the design of the high-precision controller of the micro-nano satellite is completed. According to the method, the problem of various physical constraints in micro-nano satellite control can be solved, the interference of the reaction wheel is compensated, and the method has the characteristics of high reliability and high accuracy.

The application discloses a kind of frequent yaw maneuvering condition under satellite flywheel control method and system, according to the reliability of flywheel system, at least four non-coplanar reaction wheels work simultaneously, the optimal configuration quantity of flywheel system is five reaction wheels, five reaction wheels are arranged in flywheel system using three orthogonal+two oblique installation mode, when any one reaction wheel fails, four non-coplanar reaction wheels work simultaneously can still guarantee the high reliability of satellite, solve the problem that traditional four reaction wheel scheme will lead to other three reaction wheels frequent zero speed when any one flywheel fails, make satellite attitude jitter, simultaneously also reduce the service life of flywheel, simultaneously, five reaction wheels adopt three orthogonal+two oblique installation scheme, most conducive to satellite integration, simultaneously three orthogonal installation is attached to satellite cabin wall, beneficial to flywheel heat dissipation, five reaction wheel configuration scheme guarantees the high reliability of satellite, prolongs service life, with higher use value and popularization value.

A parameter determination method for reducing the disturbance of satellite laser terminals caused by dual-axis solar array rotation is proposed. Addressing the problem of the severe impact of the stepping motion of dual-axis solar arrays on satellite attitude at large inclination angles, a whole-satellite dynamics and control model is established based on the virtual power principle, considering satellite orbital parameters, solar array drive mechanism parameters, solar array structural parameters, and reaction wheels. Optimization methods are then used to optimize key parameters affecting satellite attitude caused by dual-axis solar array rotation, obtaining usable parameters for reducing solar array disturbance. This method can effectively reduce the impact of dual-axis solar array rotation on satellite attitude jitter, lower the development cost of high-precision, high-stability pointing laser payloads on satellites, and improve the on-orbit robustness of such payloads.

The application provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and comprises the following steps: considering the electromechanical characteristics of the reaction wheel, an attitude deep coupling model of the micro-nano satellite containing the dynamic characteristics of the reaction wheel is established; aiming at the wheel shaft friction and back electromotive force interference of the reaction wheel, a double interference observer is designed to accurately estimate the wheel shaft friction and back electromotive force interference; aiming at the physical constraints of the satellite rotation speed and the reaction wheel current, a nonlinear state-dependent barrier function is designed to convert the constraint state into a tracking control variable; a composite controller is constructed by combining the double interference observer and the nonlinear state-dependent barrier function, and the high-precision controller design of the micro-nano satellite is completed. The application can overcome the multi-class physical constraint problem in the control of the micro-nano satellite, compensate the interference of the reaction wheel, and has the characteristics of high reliability and high accuracy.

The invention discloses an active posture adjusting device and method for an underwater robot, and belongs to the technical field of underwater robots. The whole device is installed in a sealed cabin of the robot and is composed of a rack, a rolling adjusting unit, a pitching adjusting unit, a yaw adjusting unit and a posture sensing and control unit. Wherein the rolling unit and the yawing unit respectively drive a reaction wheel to rotate through a motor, and the rolling angle and the yawing angle are controlled by utilizing the generated reaction torque; according to the pitching unit, a motor is adopted to drive a lead screw mechanism, internal mass distribution is changed through a sliding block, and therefore the pitching posture is adjusted. The posture sensing and control unit is responsible for collecting posture information of the robot in real time, outputting control signals after calculation, and cooperatively driving the execution units to complete three-degree-of-freedom high-dynamic response adjustment. The system is high in integration level, high in response speed and good in external interference resistance, can effectively enhance the movement stability and maneuvering control precision of the underwater robot in a complex marine environment, and is suitable for various task scenes such as fine observation, underwater detection and operation.

A method of controlling a gyroscopically-stabilized projectile, comprising a control system producing a control signal, a rotating aerodynamic shell, and a reaction mass system responsive to the control signal, the method comprising: imparting rotational and translational kinetic energy to induce gyroscopic stabilization of the projectile about a gyroscopic axis and a movement of the projectile along a flight path; interacting the shell with surrounding air while moving, to induce aerodynamic forces; generating the control signal from the control system; and altering a state of the reaction wheel system selectively in dependence on the control signal, to alter the flight path.

A method of controlling a gyroscopically-stabilized projectile, comprising a control system producing a control signal, a rotating aerodynamic shell, and a reaction mass system responsive to the control signal, the method comprising: imparting rotational and translational kinetic energy to induce gyroscopic stabilization of the projectile about a gyroscopic axis and a movement of the projectile along a flight path; interacting the shell with surrounding air while moving, to induce aerodynamic forces; generating the control signal from the control system; and altering a state of the reaction wheel system selectively in dependence on the control signal, to alter the flight path.

The application discloses a three-dimensional attitude control system composed of multiple reaction wheels and a control method thereof, and belongs to the technical field of attitude control. The three-dimensional attitude control system composed of multiple reaction wheels comprises an attitude control processor composed of three reaction wheel groups, the reaction wheel group comprises a base plate, a microprocessor, an electric governor controller, a motor and an inertial sensor mounted on the base plate, a mass wheel is mounted at the output end of the motor, the inertial sensor and the electric governor controller are connected with the microprocessor and are used for signal processing and equipment control, the microprocessor is connected with the attitude control processor and is used for data exchange control and coordination, and the application is applied to a vehicle body or the like. The application not only can provide higher attitude judgment adjustment sensitivity and timeliness, but also can improve the body load, reduce unnecessary body weight and prolong the service life of the body.