53 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.

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 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 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 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.

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.

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.

Conventional moving control surfaces on a typical tailless aircraft are replaced with sweeping Jet Actuators ("SJAs") for Active Flow Control ("AFC"). However, a large quantity of SJAs may be necessary in each array and efficacy of SJAs has only been demonstrated at low speeds (i.e., Mach 0.2 or less). In this disclosure, Supersonic Steady Jets (SSJs) are used as control surface replacements for aircraft. The SSJs are distributed on the aircraft in locations and orientations that take into consideration changing local flow conditions on the surface of the aircraft. In one example, when a single SSJ was used to control the pitch of the aircraft, the single SSJ increased the trimmed lift of the aircraft almost as well as an array of SJAs, while providing better yaw control at a small accompanying rolling moment.

The application discloses a kind of vehicle control methods for limit cornering operating mode, belong to vehicle dynamics control technical field.The method first obtains target longitudinal resultant force, target additional yaw moment and target total anti-roll moment;Establish the mapping relationship between vehicle control target and actuator layer control quantity;Introduce control target slack variable, rewrite each target into soft constraint form containing slack variable;Joint optimization cost function containing control target priority trade-off cost is constructed;Under the condition of satisfying tire adhesion constraint, the optimal distribution of each wheel longitudinal force and front, rear axle active stabilizer bar output torque is obtained.The application realizes the adaptive trade-off of control target under limit operating mode by slack variable mechanism, avoids distribution rigidity and degree of freedom lock, and optimizes stabilizer bar interaxle distribution based on adhesion margin, inhibits single axle tire premature saturation, significantly improves the yaw stability and steering controllability of vehicle in high-speed sharp turn, emergency obstacle avoidance and other limit operating mode.

The invention relates to the technical field of intelligent automobiles, and discloses a semi-trailer train self-adaptive control method and system considering a lifting bridge, and the system comprises a lifting bridge position decision module which determines the lifting bridge of a semi-trailer train to be lifted or put down; the side-tipping risk evaluation module is used for judging the side-tipping risk of the tractor and the side-tipping risk of the trailer; the roll risk suppression module is used for calculating the active anti-roll moment of the tractor and the active anti-roll moment of the trailer and carrying out active anti-roll rod control on the tractor and the trailer; the maximum speed decision module is used for calculating the maximum speed of the semi-trailer train; the yaw risk evaluation module is used for calculating the yaw risk coefficient of the tractor and predicting the yaw risk of the tractor; the yaw risk suppression module is used for acquiring wheel braking force of the tractor and the trailer and performing braking; according to the method, the influence of the position state of the lifting axle on the dynamics of the whole vehicle is considered, the intelligent control level of the semi-trailer train is improved, and meanwhile the running safety of the semi-trailer train is improved.

The invention discloses an ornithopter steering lifting control device based on dihedral rudder control, belongs to the technical field of ornithopters, and is suitable for micro ornithopters and can be expanded to large ornithopters such as manned ornithopters. The device comprises a fuselage, a flapping driving mechanism, a left wing assembly and a right wing assembly, a driving motor synchronously drives wings to flap up and down through an incomplete gear mechanism, micro digital steering engines of the wing assemblies independently adjust the dihedral angles of the corresponding wings, and the dihedral angles can be subjected to differential adjustment within the range of-10 degrees to 50 degrees. The device realizes steering by independently controlling left and right upper dihedral angles to form rolling torque, and realizes lifting by synchronously adjusting the upper dihedral angles to change the vertical component of lift force. Structures such as a tail vane and an aileron are abandoned, the wing arms are made of light high-strength carbon fiber materials, the problems that a traditional control scheme is complex in structure, lagged in response and low in efficiency are solved, the characteristics of light weight and high response are achieved, the efficient aerodynamic performance of symmetric flapping is reserved, the maneuverability, wind resistance and cruising ability of the ornithopter are improved, and the ornithopter is suitable for high-frequency flapping empennage-free scenes.

A steering system for a watercraft having twin propulsion units whose thrust axes are fixed to diverge outward from a longitudinal centerline in plan view. During a turn, a controller differentially commands thrust such that the outboard propulsion unit produces greater thrust than the inboard unit. The outward alignment of the thrust axes yields a net lateral force whose vertical offset from the craft's center of gravity produces a rolling moment that banks the hull inward toward the turn. The system enables banked turns without swiveling drives or rudders and supports zero-radius maneuvers at low speeds. Embodiments include electric propeller pods or water-jet nozzles, planing and hydrofoil craft, and optional feedback to regulate bank angle.

The application discloses a tandem wing type vertical take-off and landing aircraft, which comprises a fuselage, wings, lifting wings and landing gears. The fuselage is the main structure of the aircraft and adopts a streamline structure. The fuselage is internally provided with an aircraft cabin, an electric propulsion device cabin and a power system. The main wings and the lifting wings are arranged on the two sides of the front end and the rear end of the fuselage in a tandem wing layout, the length of the lifting wings is longer than that of the main wings, and the lifting wings are horizontally stretched, and a plurality of groups of propellers are arranged. The trailing edge of the wing tip of the main wing is provided with an aileron. The rolling moment generated by the differential deflection of the left and right ailerons can make the aircraft make lateral maneuvering. The landing gears are located at the bottom of the fuselage and comprise front landing gears and rear landing gears, which are used for supporting the aircraft when the aircraft is parked and slid on the ground. The aircraft has optimized lift distribution and aerodynamic coupling effect, improves the lift efficiency and stability, and enhances the safety and vertical take-off and landing capability. The load distribution of the aircraft is flexible and can adapt to various task requirements.

The invention provides an underwater vehicle target strength calculation method considering ocean current influence, which comprises the following steps: determining vehicle types including a cylindrical vehicle and a flat vehicle; aiming at different aircrafts, respectively constructing aircraft disturbance torque models, and acquiring rolling torques and pitching torques of a cylindrical aircraft and a flat aircraft; based on the obtained rolling torque and pitching torque of the cylindrical vehicle and the flat vehicle, attitude response models of the cylindrical vehicle and the flat vehicle are constructed respectively, the attitude response models of the vehicles are solved, and rolling angles and pitching angles of the cylindrical vehicle and the flat vehicle are obtained; calculating the static target strength of the aircraft, and correcting the target strength by considering the real-time change of the rolling angle and the pitching angle of the aircraft to obtain a time-varying curve of the target strength of the aircraft; according to the method, the influence of rolling and pitching on the target strength of the underwater vehicle is considered, and the calculation precision of the target strength is improved.

A rotor control device for performing attitude control of a fuselage of an aircraft includes a VTOL rotor control unit for controlling each rotor based on a roll moment command value, a pitch moment command value, and a yaw moment command value. When the magnitude of the roll moment command value or the magnitude of the pitch moment command value is equal to or greater than a threshold, the VTOL rotor control unit controls each rotor without using the yaw moment command value.

The invention provides a power distribution control method and device for an eVTOL aircraft electric propulsion system, and belongs to the technical field of aircraft electric propulsion. Based on eVTOL aircraft electric propulsion system state parameters and electric driving system state parameters, pitching moment, rolling moment and yawing moment which are generated on the aircraft by pulling force / pushing force generated by each propeller are calculated, and target pulling force / pushing force of each propeller is calculated; according to the calculated relation between the target pulling force / pushing force of each propeller and the output power of each propelling motor, the target output power of each propelling motor is calculated, a propelling motor top layer control instruction is formed and sent to each propelling motor controller, and the propelling motor controllers control the propelling motors to reach the target output power. The pitching moment, the rolling moment and the yawing moment generated by faults of internal parts of the eVTOL aircraft electric propulsion system can be eliminated or reduced, and the stability of the eVTOL aircraft is improved.