65 results about "Rolling moment" patented technology

The invention discloses a sliding-mode adaptive vehicle roll stability control method based on deep reinforcement learning, which is applied to an active suspension vehicle and comprises the following steps: establishing a six-degree-of-freedom steering-roll vehicle dynamics model by combining a Doguff tire model, and calculating a target vehicle body roll angle based on a reverse roll mechanism. A sliding mode controller comprising a linear sliding mode surface and an exponential approaching rate is designed, an intelligent agent based on a soft behavior strategy gradient algorithm (SAC) is constructed, and the intelligent agent adaptively outputs optimal sliding mode parameters by sensing the vehicle state and the roll angle tracking condition. And finally, the sliding mode controller combines the optimal sliding mode parameters and the vehicle state to calculate the active roll-over moment and distributes the active roll-over moment to the main power of the left and right side suspensions, so that the precise regulation and control of the vehicle body posture are realized. According to the method, the roll stability domain during high-speed steering can be remarkably expanded, the lateral sensing acceleration of passengers is reduced, the high-robustness tracking effect is kept under complex disturbance, and meanwhile sliding mode buffeting is restrained.

The invention provides a stabilization control method and system for a fuel filling ship at a zero navigational speed. The method provided by the invention comprises the following steps: acquiring rolling data and wind wave data of a refueling ship under a target sea condition in a fuel refueling process in real time; the rolling data and the wind wave data are processed based on a radial basis function neural network, and the precession angular velocity of the stabilization gyro device under the target sea condition is obtained through calculation; the stabilization gyro device is controlled to rotate at the precession angular speed, the stabilization gyro device generates a gyroscopic effect and generates rolling moment, the rolling moment is converted into stabilizing moment for resisting rolling through precession motion, and the rolling angle of the filling ship is reduced; and the stabilizing moment is opposite to the vibration direction of the rolling. According to the method and system, rolling control of the filling ship at the low speed or the zero navigational speed is achieved, the stabilization torque can be adjusted in real time according to sea wave changes, and the stability and safety of the filling ship in the fuel filling operation process are improved.

The invention discloses a rod type six-component high-precision trace rolling moment wind tunnel balance and a measurement method, and belongs to the technical field of aerospace force measurement test power measurement. According to the invention, the problems of large processing difficulty, long processing period and incapability of meeting aviation tests in research and development of micro rolling moment balances at present are solved. A longitudinal column beam, a transverse column beam and a roll-on *-shaped beam are connected between a front cone and a combined element and between a rear cone and the combined element respectively, a resistance beam is arranged on the combined element, the thickness range of sheet beams of a multi-sheet structure of the longitudinal column beam is 0.5 mm-0. 8mm, the gap range of the sheet beams is 0.5 mm-1mm, the thickness range of sheet beams of a multi-sheet structure of the transverse column beam is 0.5 mm-0. 8mm, and the gap range of the sheet beams is 0.5 mm-1mm. According to the rod type six-component high-precision trace rolling moment wind tunnel balance and the measurement method, rolling output is effectively increased, and matching output of small rolling moment and loads in other directions is achieved.

In order to provide an open-loop and / or closed loop control unit (7) for open-loop and / or closed loop control of an arrangement (1) for damping a rolling movement of a floating body (2), wherein the arrangement (1) has damping means (3) for generating a counter-rolling moment with a damping characteristic and tuning means (8, 9) for setting a target damping characteristic, wherein the open-loop and / or closed loop control unit (7) is configured for setting the target damping characteristic depending on a function of at least one property of the floating body (2), and an arrangement (1) for damping a rolling movement of a floating body (2), comprising damping means (3) for generating a counter-rolling moment with a damping characteristic, tuning means for setting a target damping characteristic and an open-loop and / or closed loop control unit (7) for setting the target damping characteristic depending on at least one property of the floating body (2), which enable good roll damping even before the start of the journey, in particular before leaving port, it is proposed that the property comprises stability data of the floating body (2).

The invention belongs to the technical field of aircraft flight load design, and particularly relates to an aircraft pneumatic rolling torque correction method, which comprises the steps of initializing calculation parameters, calculating aircraft vacuum speed, equivalent speed and aircraft speed pressure based on the calculation parameters, then calculating motion parameters based on maneuvering simulation dynamic response, and calculating full-aircraft target pneumatic rolling torque based on the motion parameters. Giving unbalanced torque tolerance; solving an unbalanced moment based on the whole-aircraft target rolling moment; and comparing and analyzing the difference value between the unbalanced moment and the unbalanced moment tolerance, and if the absolute value of the unbalanced moment is smaller than the unbalanced moment tolerance, ending the calculation. By adjusting the local attack angle of each section in the spanwise direction of the wing part and reconstructing the pressure distribution characteristic in the spanwise direction of the wing, the unbalanced pneumatic rolling moment of the aircraft caused by the pressure distribution characteristic is eliminated, the purpose of load balance is achieved, and the design requirements in engineering are met.

In a roll stand (1), a rolling material (2) made of metal and having a rolling material leading edge (6) is to be rolled. A time of entry (t3), a rolling speed (vW) and a rolling moment (MW) are known to a control device (7) for the roll stand (1) before the rolling material leading edge (6) runs into the roll stand (1). Before a starting time (t2), which is before the entry time (t3), the control device (7) determines, for a period from the starting time (t2) to the entry time (t3), a moment profile (M) for a roller (3) of the roll stand (1) via a drive (4) driving a drivetrain (5). It controls the drive (4) during the period in accordance with the determined moment profile (M). The control device (7) determines the moment profile (M) starting from a starting state (x2), at the starting time (t2), of the drive (4), of the drivetrain (5) and of the driven rollers (3) of the roll stand (1) such that the driven rollers (3) of the roll stand (1) are acted on by the drivetrain (5) with the rolling moment (MW) at the entry time (t3) and rotate with a circumferential speed (vU) adapted to the rolling speed (vW).

The invention provides a rolling pass parameter intelligent inversion and dynamic correction method based on machine learning, and the method comprises the steps: outputting a deformation resistance Kf value according to the obtained current rolling temperature and strain rate; based on the deformation resistance Kf value, predicted values of the total rolling force and the rolling moment are obtained; establishing a transient heat balance equation, and outputting a final rolling temperature predicted value; by taking the minimization of the pass number and production time and the minimization of the total energy consumption as targets, an optimal rolling schedule is generated and decided; and the corresponding model parameters are optimized in batches by regularly utilizing historical data, so that short-term self-adaption and long-term optimization control of the rolling process is realized. According to the method, various feasible rolling schemes are automatically generated by utilizing an optimization algorithm, so that an operator can select the optimal scheme according to actual conditions; by comparing a predicted value with an actual value in real time, current model parameters are quickly adjusted, and accumulated production data are regularly utilized to comprehensively optimize the model, so that long-term stable operation and accurate prediction of the system are ensured.

The invention provides a control and unfolding locking system suitable for an n-shaped folding wing of a pipe-launched unmanned aerial vehicle, and belongs to the technical field of pipe-launched unmanned aerial vehicle control. The system comprises a rotary driving module for driving the main wing and the outer wings on the two sides to rotate and unfold from the folding position and an unfolding locking module for locking the main wing and the outer wings on the two sides to the complete unfolding position, and is further provided with an outer wing folding locking module for locking the outer wings on the two sides to the folding position and a control module for controlling the outer wings to be unlocked in a time-sharing mode. The wing on one side rotating forwards unlocks the outer wing when the main wing rotates to be perpendicular to the fuselage, and the wing on one side rotating backwards unlocks the outer wing before the other outer wing for a preset time, so that a rolling restoring moment is generated to balance a rolling moment generated by the difference of incoming flow speeds on the wing surfaces of the wings on the two sides at the initial stage of unfolding of the main wing; the problem that the rolling posture of the unmanned aerial vehicle is large in deviation after the unmanned aerial vehicle leaves the tube due to the control mode that the outer wing is restrained and folded in the unmanned aerial vehicle launching tube through the fuselage and is automatically unfolded after the unmanned aerial vehicle is launched and leaves the tube is solved.

The invention belongs to the technical field of automatic driving automobiles, and particularly relates to an electric automobile chassis cooperative control method considering lateral stability and roll stability. Comprising the following steps: step 1, constructing a multi-cell body linear parameter variable model based on a longitudinal vehicle speed auxiliary parameter and a tire cornering stiffness correction coefficient; step 2, on the basis of the multi-cell-body linear parameter variable vehicle model, designing an electric vehicle chassis cooperative controller by applying an online optimization solution robust model predictive control method; thirdly, according to the additional yaw moment and the anti-roll moment output by the chassis cooperative controller, optimal distribution of the additional yaw moment is achieved by solving the problem of minimization of the attachment utilization rate of four-wheel tires, and distribution of the anti-roll moment of the front active suspension and the anti-roll moment of the rear active suspension is adjusted according to the difference value of the actual yaw velocity and the reference quantity. According to the invention, a good solution can be provided for cooperative control of the intelligent automobile chassis in the future.

The invention relates to a stabilization self-adaptive control method and device based on double gyroscopes, and the self-adaptive control method comprises the steps: constructing a real-time updated'sea wave-ship-double gyroscope 'coupling dynamic model, and introducing the online identification of ship rolling parameters; physical limit, damping, maximum torque and other constraints of the double-gyroscope executing mechanism are explicitly written into a control law; the two gyroscopes are symmetrically arranged and opposite in precession direction, so that yawing torques are mutually counteracted and rolling torques are superposed, and the stabilization efficiency is improved; adaptively selecting PID according to the rolling amplitude, the sea condition uncertainty and the working state of the actuator, and adaptively switching the fuzzy adaptive PID and the model prediction control strategy; calculating a control instruction based on the selected strategy and the updating model, and performing physical constraint processing such as torque saturation and angle amplitude limiting; and outputting a safety instruction to drive the gyroscope to generate stabilization torque. The method can adapt to different working conditions, and the efficient and stable active stabilization performance and stabilization effect are kept under the multiple working conditions.

A vector tilting coaxial twin-rotor UAV is provided, which is composed of a fuselage (101), a power device (102) and a vector tilting device (103), wherein the power devices (102) and the vector tilting devices (103) on the left and right sides of the UAV are symmetrical and have completely the same structure. The problem of the rearward blade stalling caused by the high-speed forward flight of the UAV can be solved by the characteristics that the upper and lower rotors rotate at opposite speeds and the rearward blades are symmetrically located relative to the body; the roll moment generated by one rotor is balanced by the roll moment of the other rotor.

A data structure is described for actuating a chassis system of a vehicle having at least one actuator which can be actuated to carry out wheel-selective and / or axle-selective interventions, the data structure comprising at least one of the following substructures: - a first substructure for setting a force direction of the actuator, - a second substructure for distributing a rolling moment by means of the actuator, - a third substructure for providing the rolling moment, - a fourth substructure for changing the vehicle height by means of the at least one actuator, - a fifth substructure for changing the rigidity of the actuator, and - a sixth substructure for prioritizing driving dynamics requirements. The invention further relates to a corresponding method and to a corresponding device.

The invention discloses a yaw-roll stability control method for a distributed driving automobile, which comprises the following steps: acquiring a target corrected yaw moment according to first data of a target vehicle, a preset linear two-degree-of-freedom vehicle ideal state model and a preset yaw moment control state equation; according to second data of the target vehicle, obtaining a target corrected roll-over moment including the first target corrected roll-over moment and a second target corrected roll-over moment; according to the target corrected yaw moment and the first target corrected roll moment, obtaining a target adjustment driving moment of each wheel; according to the second target correction roll moment, obtaining a target adjustment control moment of each suspension; the yaw-roll stability of the target vehicle is controlled by additionally applying the target adjustment driving torque to each wheel and additionally applying the target adjustment control torque to each suspension. The yaw stability and the roll stability of the distributed driving automobile can be controlled at the same time, and the driving safety of the automobile is improved.

This invention discloses an active suspension roll control method, system, vehicle, and computer-readable storage medium, belonging to the field of vehicle suspension technology. The active suspension roll control method is applied to a vehicle's active suspension system. The control method includes: acquiring the vehicle's total mass, lateral acceleration, and center of gravity height; calculating the total roll moment using the following formula: M_roll_total = M * Ay * Hei_CoG; where M_roll_total is the total roll moment, M is the vehicle's total mass, Ay is the lateral acceleration, and Hei_CoG is the center of gravity height; and controlling the active suspension system based on the total roll moment. By controlling the active suspension system based on the total roll moment calculated from the lateral acceleration, rather than feedback control based on the error between the target roll angle and the actual roll angle, the problem of robustness being affected by large noise at the actual roll angle is eliminated, making the roll control of the vehicle's active suspension system more stable and reliable.

The application belongs to the technical field of aircraft flight load design, and particularly relates to a correction method of an aircraft aerodynamic roll moment, initialization of a calculation parameter, calculation of an aircraft true airspeed, equivalent speed and aircraft speed pressure based on the calculation parameter, calculation of a motion parameter based on a dynamic response of a maneuver simulation, calculation of a full-aircraft target aerodynamic roll moment based on the motion parameter, given of an unbalanced moment tolerance, solving of the unbalanced moment based on the full-aircraft target roll moment, comparison and analysis of a difference value between the unbalanced moment and the unbalanced moment tolerance, and end of the calculation if an absolute value of the unbalanced moment is less than the unbalanced moment tolerance. By adjusting a local angle of attack of each profile of a wing component in a span direction, a wing spanwise pressure distribution characteristic is reconstructed, an unbalanced aerodynamic roll moment of the aircraft caused by the pressure distribution characteristic is eliminated, a load balance purpose is achieved, and a design requirement in engineering is met.

The invention relates to the technical field of lithium battery copper foil manufacturing, and discloses a crude foil engine control method and device, a crude foil engine, a storage medium and a program product, and the crude foil engine comprises a cathode roller used for electrolyzing crude foil and a winding roller used for drawing and collecting copper foil; the measuring roller is used for measuring the linear speed and the winding tension of the crude foil; the method comprises the steps that the actual winding speed and the actual winding tension in the copper foil winding process of a winding roller and the measuring linear speed of a measuring roller are monitored; based on the actual winding speed and the measurement linear speed, the actual winding diameter is calculated; based on the actual winding tension and the actual winding diameter, the initial winding moment is calculated; determining a tension compensation torque based on the magnitude relationship between the actual winding tension and the preset winding tension; and the target winding torque is determined on the basis of the sum of the initial winding torque and the tension compensation torque, the winding roller is controlled to execute winding operation at the target winding torque, and speed and tension matching between cathode roller electrolytic foil generation and winding of the winding roller is achieved.

The application discloses a hovercraft posture stabilizing device based on Magnus effect, which comprises a pipe beam support fixed behind a duct air propeller, a transverse roller assembly and a longitudinal roller assembly which are perpendicular to each other and rotatable are installed on the pipe beam support, the transverse roller assembly comprises left and right rollers which are horizontally installed on the pipe beam support, the longitudinal roller assembly comprises upper and lower rollers which are vertically installed on the pipe beam support, and a motor which drives the left and right rollers and the upper and lower rollers to rotate. When air flow passes through the rollers, a Magnus force which points to the side of the accelerated air flow is generated on the side of the accelerated air flow. When the hovercraft is lowered, the left and right rollers roll clockwise at the same speed, and a downward force is provided to form a counterclockwise pitching moment together with gravity. When the hovercraft is leftwardly deviated, the left and right rollers roll reversely at the same speed, and a rightward rolling moment is provided to restore a good balance state. When the upper and lower rollers rotate at a high speed, the hovercraft is turned.

An embodiment of the present invention provides a control method and related device for a roll bar. The method includes: when the vehicle is in a turning state, determining the current lateral acceleration of the vehicle; when the absolute value of the current lateral acceleration is greater than a first preset acceleration value, determining the maximum anti-roll moment that the roll bar can provide as the target anti-roll moment; when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determining a first anti-roll moment according to the current lateral acceleration, and determining a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration; controlling the roll bar according to the target anti-roll moment. Through the embodiment of the present invention, the active control of the roll bar is optimized, the existence of risks that cannot be perceived by the driver due to the active control of the roll bar is avoided, and the risk of vehicle rollover or fishtailing accidents is reduced.

A vehicle behavior control method includes: selecting a center of gravity point at which behavior control for a vehicle is to be performed; setting a target roll behavior value and a target pitch behavior value at the selected center of gravity point such that behavior of the selected center of gravity point is less than a predefined reference value; calculating a target roll moment corresponding to the target roll behavior value and a target pitch moment corresponding to the target pitch behavior value; generating a control signal to be transmitted to at least one actuator for following the target roll moment and the target pitch moment; and transmitting the control signal to the at least one actuator to perform control such that the behavior at the selected center of gravity point is less than the predefined reference value.

In a rolling mill (1), a metal workpiece (2) with a workpiece head (6) is to be rolled. A control unit (7) for the rolling mill (1) receives a starting point (t3), a rolling speed (vW), and a rolling torque (MW) before the workpiece head (6) enters the rolling mill (1). Before a starting point (t2) prior to the starting point (t3), the control unit (7) determines a torque profile (M) for a drive (4) that drives the rolling (3) of the rolling mill (1) via a drive train (5) for a period extending from the starting point (t2) to the starting point (t3). It controls the drive (4) during this period according to the determined torque profile (M).The control device (7) determines the torque profile (M) starting from an initial state (x2) of the drive (4), the drive train (5) and the driven rolls (3) of the rolling stand (1) at the initial time (t2) such that the driven rolls (3) of the rolling stand (1) are subjected to the rolling torque (MW) by the drive train (5) at the tapping time (t3) and rotate at a circumferential speed (vU) matched to the rolling speed (vW).

The invention discloses a dynamic model modeling method for unmanned ship safety test simulation, and relates to the technical field of unmanned ship safety test simulation. According to the method, a dynamic model of the unmanned ship is simplified, and a roll angle change second-order model driven by roll torque is modeled by combining a speed hydrodynamic parameter table and a speed-steering roll angle relation according to special requirements of roll and pitching dynamic response; a pitch angle change second-order model driven by pitch moment is modeled by combining a speed hydrodynamic parameter table and a speed-pitch angle relation, and the pitch angle change second-order model driven by the pitch moment is modeled only by utilizing the easily obtained thrust-speed of the real unmanned ship, the advancing direction speed-steering roll angle relation in the steering process and the speed-pitch angle relation; therefore, the rolling and pitching dynamic response relation of the unmanned ship can be fitted and established, the complete unmanned ship dynamic model is established, the modeling process of the unmanned ship dynamic model is simplified and decoupled, and the calculation speed and simulation fitting accuracy of the unmanned ship dynamic model are improved.

This invention proposes a lightweight loading device and its design method suitable for low-altitude propeller balances, belonging to the technical field of low-altitude aircraft test balances. The aim is to solve the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration. In this invention, the low-altitude propeller balance is horizontally mounted on a raised base via a lower balance connector, and the upper surface of the low-altitude propeller balance is connected to the upper balance connecting plate. The central body is mounted on the outside of the low-altitude propeller balance; the front and rear, and left and right cantilever arms are all mounted on the central body; drag lugs are installed on both sides of the left and right cantilever arms, and normal force and roll moment lugs are installed on the left and right cantilever arms; pitch moment lugs are installed on the front and rear cantilever arms. This invention solves the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration.

The present invention relates to the field of wind tunnel testing technology, and in particular to a method and device for dynamic calibration of a model force measurement system, wherein the method comprises: horizontally suspending a model; obtaining multiple sets of hammer input data and output data of each component by tapping to solve the six-component unit impact response function corresponding to the axial force, normal force and pitching moment; rolling the model 90 degrees, obtaining multiple sets of hammer input data and output data of each component by tapping to solve the six-component unit impact response function corresponding to the lateral force and yaw moment; installing a baffle and tapping the baffle to obtain multiple sets of hammer input data and output data of each component to solve the six-component unit impact response function corresponding to the rolling moment; and obtaining a unit impulse response function matrix representing the corresponding relationship between the output data of each component of the model force measurement system and the actual input dynamic load. The present invention can accurately calibrate the model force measurement system used in the zero-stiffness support aerodynamic measurement technology.

The present invention discloses a tiltrotor aircraft, which includes a nacelle and a winglet. The winglet is rotatably arranged outside the nacelle and can rotate relative to the nacelle about a first rotation axis and a second rotation axis, and the first rotation axis is perpendicular to the second rotation axis. In the tiltrotor aircraft of the present invention, the winglet is rotatably arranged outside the nacelle. While the winglet tilts with the nacelle, the winglet can rotate relative to the nacelle. In the transition state of the tiltrotor aircraft, by rotating the winglet relative to the nacelle, the extended winglet can always be exposed in the oncoming flow environment coupled by the rotor slipstream and the oncoming flow ahead with the minimum projected area, thereby greatly reducing the drag of the extended winglet in the transition state of the tiltrotor aircraft. At the same time, in the forward flight state of the tiltrotor aircraft, the actuatable extended winglet can generate a rolling moment on the fuselage by adjusting the relative position between the winglet and the nacelle, generating an additional control moment on the fuselage and increasing the maneuverability of the tiltrotor aircraft.

The application belongs to the technical field of aircraft design, and particularly relates to a method and device for evaluating take-off and climbing performance of a transport aircraft with single-engine failure, and is applied to a lower surface air-blowing flap powered lift transport aircraft. The method comprises the following steps: S1, determining a drag coefficient generated by single-engine failure roll moment trim; S2, determining a drag coefficient generated by single-engine failure pitch moment trim; S3, determining a drag coefficient generated by single-engine failure yaw moment trim; and S4, calculating a single-engine failure take-off maximum climbing gradient. The application can quickly and accurately calculate the climbing gradient of the air-blowing flap powered lift transport aircraft with single-engine failure, and improves the aircraft design efficiency.

The invention discloses a forklift active anti-rollover control system and method based on multi-source sensing and dynamic detection. The defects that in the prior art, sensing is single, and control is extensive are overcome. The system comprises a sensing module (a forward binocular camera and an inertia / acceleration / steering angle sensor), a data processing module (a YOLOv8 algorithm and a dynamic model), a hierarchical control module and an execution module. According to the method, cargo images and forklift operation data are collected, cargo inclination parameters are fused and recognized, the gravity center and the roll moment of the forklift are calculated, five risk grades are divided, and progressive control over sound-light alarm, reverse compensation moment, forced deceleration, emergency braking and power cut-off is correspondingly achieved. The system realizes synchronous monitoring of cargo and forklift states, is accurate in control, adapts to various forklifts, effectively improves the anti-rollover early warning accuracy and operation safety, and is suitable for warehouse logistics and other complex working conditions.

The invention relates to a model design method and an unsteady aerodynamic modeling method for a folding rudder under large blockage conditions in a supersonic wind tunnel test, and belongs to the technical field of wind tunnel test modeling. In order to improve the simulation accuracy of the unsteady aerodynamic force of the folding rudder deployment, the invention includes designing a folding rudder carrier model in a diamond-shaped area of ​​the test section; designing the head shock wave angle of the folding rudder carrier model; and controlling the local flow field of the folding rudder carrier model to be close to the local flow field of the original folding rudder carrier model. The invention can realize the equivalent scaling design of the model under large blockage conditions in a supersonic wind tunnel test of a folding rudder. By establishing a mathematical proxy model for the aerodynamic rolling moment of the folding rudder under the test conditions, an accurate test posture that meets the folding rudder assessment target is obtained, and the working law of the folding rudder under different angles of attack and sideslip angles is summarized. The invention solves the problem that it is difficult to quickly determine whether the assessment target has been achieved under test conditions, which is very likely to cause test failure, and ensures high calculation accuracy in the process.

A method for increasing the curve driving speed of a rail vehicle, and a slight tilting system. When a rail vehicle drives on a curve, compressed air, which enters air springs on two sides of the rail vehicle, is controlled, and thus the air springs on the two sides create a height difference, so that the rail vehicle slightly tilts towards an inner side of the curve, thereby increasing the curve driving speed of the rail vehicle. In addition, an adjustable torsion bar system is controlled to provide a bidirectional anti-side-rolling moment or a one-way anti-side-rolling moment, thereby meeting the safe driving requirements of the rail vehicle on different rails. On the basis of the existing structure of a rail vehicle, the rail vehicle body can generate the maximum tilting angle of 3° merely by slightly modifying the rail vehicle, and the acceleration range can reach 10-20%. Therefore, the present invention has the advantages of a simple structure and low cost, and has good economical efficiency and practicability.

The application discloses a rotary aircraft and relates to the technical field of aircraft design, and comprises an aircraft body and a plurality of tail wings which are uniformly arranged on the tail of the aircraft body in the circumferential direction; the trailing edge of the tail wing is provided with a stationary vortex generator; the stationary vortex generator is located on one side of the airfoil of the tail wing; and the stationary vortex generator can hinder the airflow of the airfoil to form a stationary vortex; the rotary aircraft designed based on the stationary vortex lift principle can be designed and controlled on the basis of the vertical tail wing; a plurality of stationary vortex generators are arranged along the tail wing of the rotary aircraft, so that a rolling moment parallel to the axis direction of the aircraft is generated; the direction and size of the vortex lift can be adjusted by adjusting the parameters and positions of the stationary vortex generators, so that the direction and size of the rolling moment can be controlled.

The application discloses a two-dimensional trajectory correction mechanism based on electromagnetic damping, which can be used for trajectory correction of high-rotation stable ammunition. The phase control of the rudder blade is realized through an electromagnetic damping mechanism, and the rudder angle control is realized through an electromagnet, so that the fusion of the fixed canard rudder and the movable canard rudder is realized in a low-cost mode. Because the two canard rudders are combined, the guidance law is more extensive. The traditional ammunition has the guidance ability at a lower cost, and the ammunition striking precision is improved. The trajectory correction mechanism mainly comprises nine parts of a spin-reducing rudder blade, a direction rudder blade, a wind cap, a connecting shaft, an electromagnetic damping ring, a speed regulating electromagnet, a steering electromagnet and an angular contact bearing. The spin-reducing rudder blade and the direction rudder blade are fixed on the wind cap, the spinning speed and the phase are controlled by the magnetic moment generated by the electromagnetic damping ring and the speed regulating electromagnet and the rolling moment generated by the spin-reducing rudder blade, and the swinging direction and the frequency are controlled by the steering electromagnet fixed on the connecting shaft.