1391 results about "Rudder" patented technology

The invention discloses an automatic obstacle avoidance method and system for an unmanned ship based on Beidou artificial intelligence, and relates to the field of computer vision, and the method comprises the steps: collecting a visible light image and a near-infrared image of a water surface environment, and carrying out the reflection suppression processing; performing feature fusion on the image to generate an environment perception graph; obstacle features are extracted through a cascade cavity convolution structure, and an obstacle pixel-level semantic segmentation result is obtained; constructing an obstacle motion prediction model, and obtaining a predicted obstacle motion track; acquiring motion track data of the unmanned ship based on Beidou positioning and electronic chart data; establishing a space-time collision detection model, calculating collision parameters, and generating a collision data set; an obstacle avoidance path is generated through a dynamic situation field method, and a rudder angle instruction and a propeller rotating speed instruction are obtained. The unmanned ship has the advantages that accurate sensing, motion prediction and intelligent obstacle avoidance of the unmanned ship on water surface obstacles are realized through Beidou positioning and technology, and the sailing safety and intelligent level are improved.

The invention relates to the technical field of waterway traffic inland ship berthing planning, in particular to a ship berthing pose planning method based on an end-to-end deep learning model, which comprises the following steps: acquiring environment and position information in a ship berthing process by adopting data sensing and sensing equipment, and acquiring a ship berthing pose based on GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit) and VDR (Vessel Navigation Recorder) equipment which are deployed on a ship; obtaining complete motion state information of the ship in real time; constructing an end-to-end deep learning model, inputting the state of the current ship and berth into the end-to-end deep learning model to obtain a target rudder angle, a propulsion instruction and a ship heading, and generating a manipulation instruction sequence of the whole berthing process; and meanwhile, a dynamic correction mechanism of environment disturbance and motion feedback is introduced, environment disturbance information and ship motion feedback information are collected, and the adaptability to uncertain factors such as wind current in the berthing process is improved. According to the method, manual trajectory decomposition is not needed, and the more intelligent and comprehensive ship berthing pose planning method is achieved.

The invention discloses a ship steering engine fault early-warning method based on sparse Bayesian, and the method comprises the steps: collecting the data, such as a rudder angle instruction, an actual rudder angle, steering engine response, motor current, oil pressure, ship speed, ship posture, sea condition grade, in a navigation process, and constructing a time window monitoring sample set through time alignment and normalization; steering engine response features are extracted and spliced with the working condition features to form working condition feature vectors, steering engine state labels are marked in combination with maintenance records to form a training sample set, and an adaptive sparse Bayesian early warning model with working condition related sparse priori is trained; and generating a current working condition feature vector in real-time navigation, inputting the current working condition feature vector into the model to obtain a steering engine fault risk value, and selecting a self-adaptive early warning threshold value according to a sea condition grade to output a fault early warning result. According to the invention, the false alarm rate is reduced and the early fault identification capability is improved under complex sea conditions.

The invention discloses a multi-steering-wheel calibration method and device and a storage medium, and the method comprises the steps: constructing a conversion relation between the motion state of each steering wheel and the motion state of a vehicle body, and obtaining a motion model parameter; indicating the vehicle body to move according to the motion instruction, and calculating and calculating pose parameters based on the motion model parameters and the motion speed and the motion angle of each steering wheel in the motion instruction; obtaining an actual pose parameter after the vehicle body moves, and carrying out difference calculation on the calculated pose parameter and the actual pose parameter to obtain a pose residual error; and updating the steering wheel zero offset of each steering wheel by using the pose residual error to obtain a finally calibrated target steering wheel zero offset of each steering wheel. The scheme is suitable for multi-steering-wheel vehicle type speedometer calibration, the vehicle body pose can be calculated according to the speedometer data by deducing the conversion process of the multi-steering-wheel encoder and the vehicle body motion state, then the difference value between the vehicle body pose and the actual pose parameter is calculated to adjust the zero offset, and the accuracy of zero offset adjustment is improved.

The invention belongs to the technical field of ship course control, and discloses an unmanned sailboat sail-rudder cooperative active-disturbance-rejection course control method based on ESO, and the method comprises the following steps: building a nonlinear course motion mathematical model; designing a self-adaptive tracking differentiator to smooth the expected course; the course, the yawing angular velocity, the sail aerodynamic moment and the comprehensive disturbance are observed in real time through ESO; based on a nonlinear state error feedback control law, in combination with the output of the tracking differentiator and the observed value of the ESO, generating a rudder torque control quantity, performing constraint processing on the rudder torque control quantity, and outputting a rudder angle instruction; and a dynamic optimal sail angle is decided according to the lift-drag ratio parameter, the apparent wind speed and the relative wind angle of the sail aerodynamic model corrected in real time, and a sail angle instruction is generated after the dynamic optimal sail angle is compensated and constrained by combining the course deviation. The adaptive capacity to the time-varying wind field and the model uncertainty is enhanced, and the anti-interference performance and the energy efficiency of the system are improved through dynamic optimization and compensation of the sail angle.

The invention provides a combined fleet steering cooperation method and system based on intelligent control, and relates to the technical field of data processing, and the method comprises the steps: calculating a cooperative steering deviation value of an actual track and a preset reference path; if the collaborative steering deviation value exceeds a preset collaborative deviation threshold value, a real-time safe navigation boundary is generated through a universal dynamic point set convex hull updating algorithm; calculating a hydraulic pressure correction parameter and a rudder angle compensation amount according to the spatial position relationship between the cooperative steering deviation amount and the real-time safe navigation boundary; and converting the hydraulic pressure correction parameter into a pressure regulation instruction, and driving a pressure self-adaptive regulation mechanism of the hydraulic system to execute a compensation steering action. According to the invention, the steering deviation is reduced, and the navigation safety in a complex environment is improved.

The invention discloses a partition dot matrix filling air rudder lightweight design method. The method mainly comprises three parts of establishment of a dot matrix unit cell equivalent mechanical performance proxy model, topological optimization design of an air rudder structure and optimization design of dot matrix filling parameters. Comparing compression tests of different rod diameters with simulation results of variable cross-section beam units with different parameters, and searching optimal beam unit cross-section parameters to construct and calculate a lattice unit cell equivalent mechanical performance agent model; structure topological optimization design is carried out on the determined air rudder appearance and load conditions, dot matrix filling area division is carried out on a design area according to a topological optimization result, and the design area can be divided into areas with different filling densities according to design requirements; and establishing a parameterized finite element model for the dot matrix filling structure and the air rudder model, and performing optimization design on rod diameters of different partitions on the basis to obtain a final dot matrix filling design model.

The embodiment of the invention provides a method and device for stably controlling an airplane in the auxiliary landing process, computer equipment and a medium, and the method comprises the following steps: judging whether the airplane is in a gliding stage, if so, activating a gliding stage control law, and if not, controlling the airplane to stably control the airplane through the gliding stage control law. The aircraft is controlled through the elevator centering instruction and the horizontal stabilizer automatic trimming instruction until the aircraft quits the gliding stage, and the gliding stage control law is quitted; if the aircraft enters the pull-up stage from the glide stage, activating the leveling stage control law, generating an elevator control instruction based on the steering column displacement and the steering column displacement nonlinear gain through the leveling stage control law, generating a rudder control instruction based on the pedal displacement signal and the pedal displacement nonlinear gain, and controlling the elevator control instruction and the rudder control instruction according to the pedal displacement signal and the pedal displacement nonlinear gain. And controlling the aircraft through the elevator control instruction and the rudder control instruction until the aircraft is grounded. According to the scheme, the landing quality and safety are improved through the staged aircraft auxiliary landing control law.

The invention relates to a ship navigation method and device for resisting wind wave influence, and belongs to the technical field of ships, and the method comprises the steps: carrying out the coupling of first data based on an MMG model, and obtaining a meteorological constraint condition; the ship state quantity change rate is obtained based on the state quantity and the control quantity of the target ship, the state quantity is obtained based on the first data, and the control quantity is obtained based on the propulsive force; constructing a target function based on the error of the state quantity and the error of the control quantity of the target ship according to a model predictive control theory; solving the target function by taking the ship state quantity change rate, the initial state quantity of the target ship, the value range of the control quantity and the meteorological constraint condition as constraint conditions to obtain a control quantity set; obtaining a propeller rotating speed and a rudder angle of the target ship at the next moment based on the control quantity set; and controlling the target ship to sail based on the propeller rotating speed and the rudder angle at the next moment. According to the invention, the accuracy of the ship navigation trajectory is improved.

The invention relates to a transverse movement berthing control method considering main thrust idling, which comprises the following steps of: dividing transverse movement berthing control into a controller part and a thrust distribution part, designing a three-degree-of-freedom controller for ship movement by utilizing a nonlinear disturbance observer in the aspect of the controller, and calculating force and moment required for transverse movement of a ship; in the aspect of thrust distribution, the discontinuity of a main thrust idle speed area and rudder force is considered, a thrust action range is decomposed into nine action ranges according to the thrust state of double main thrusters, multi-domain switching logic is designed to complete thrust distribution of control force, and therefore closed-loop control over ship transverse moving berthing is achieved. A simulation result proves the effectiveness of the method.

The invention relates to a numerical simulation-based energy efficiency evaluation method and system for an energy-saving device in front of a ship propeller, and the method comprises the steps: respectively obtaining geometric models of a ship, a propeller, a rudder and the energy-saving device in front of the propeller, respectively building corresponding three-dimensional numerical models through CAD software, and then assembling the three-dimensional numerical models into a closed geometry; dividing the closed geometry into a plurality of computational domains, performing grid division and encryption of the same scale, and reserving the grids of which the grid number is within a preset number threshold range of each set of encrypted grids; then respectively constructing a light body ship CFD model and a ship CFD model additionally provided with an energy-saving device, and screening out an optimal turbulence model by using an RANS method; then, numerical simulation is conducted on self-propulsion tests of the light body ship CFD model and the energy-saving device added ship CFD model through the reserved grids and the optimal turbulence model, and an equal-vehicle-speed variable-rotation-speed strategy is adopted in the numerical simulation process; and finally, the energy-saving effect of the energy-saving device is calculated based on the propeller rotating speeds and torques of the two models.

The invention relates to the technical field of unmanned ships, and discloses an unmanned ship path planning method, device and equipment, and the method comprises the steps: generating a prior reference path; obtaining a current position coordinate and a current prow orientation angle, and calculating a course deviation award value; calculating the minimum distance between the current position of the unmanned ship and the prior reference path; setting a hierarchical region threshold value according to the total distance between the starting point and the ending point, judging a specific interval in which the minimum distance falls into the hierarchical region threshold value, and selecting a corresponding gradient reward coefficient according to the interval to calculate a hierarchical guide reward value; calculating a total reward value at the current moment; and updating an action strategy of a preset reinforcement learning model by using the total reward value, and outputting a rudder angle control instruction of the unmanned ship according to the updated action strategy. According to the method, the problems of slow search convergence and poor path planning quality in a complex environment in the prior art can be effectively solved, and the efficiency and feasibility of an unmanned ship path planning technology are remarkably improved.

The invention discloses a water-air cross-medium unmanned aerial vehicle and a flight method, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a sealed cabin body composed of an upper cabin body and a lower cabin body, symmetrical vehicle arms, a tail steering engine, a rudder, a left steering engine, a right steering engine, an elevator, an underwater propeller and various types of sensors (a binocular camera, a sonar, a water quality sensor and the like). Air flight is achieved in a four-rotor mode, and underwater sneaking is driven in a fixed-wing mode. The control method comprises the stages of takeoff, air flight, air-water transition (a water surface hovering automatic switching mode), underwater navigation, water-air transition and landing, and complete-process autonomous cross-medium conversion is achieved by combining layered rate descent and multi-sensor fusion judgment states. The device has the advantages of being compact in structure, reliable in sealing and accurate in cross-domain control, and is suitable for ocean exploration, environment monitoring, underwater reconnaissance and other scenes.

A sprayer adjusting mechanism of the unmanned aerial vehicle spraying device comprises a control steering engine and a sprayer movable support, a sprayer is connected with the sprayer movable support, the sprayer movable support is connected with a spraying rod, the control steering engine comprises a first steering engine, a second steering engine and a third steering engine, the first steering engine and the second steering engine are installed at the tail end of the spraying rod, and the third steering engine is installed at the tail end of the spraying rod. The first steering engine controls the nozzle movable support to move through two pull ropes to enable the nozzle to rotate up and down, the second steering engine controls the nozzle movable support to move through two pull ropes to enable the nozzle to rotate left and right, and the third steering engine is installed at the head end of the spraying rod and used for controlling the nozzle movable support to move to enable the nozzle to rotate axially. The spraying head of the unmanned aerial vehicle spraying device can deflect by + / -45 degrees in four directions and axially rotate by 90 degrees, complex areas such as windowsills and eaves can be accurately covered, the limitation of a traditional flight track is broken through by dynamically adjusting the spraying sector direction, and the unmanned aerial vehicle obtains omnidirectional maneuvering freedom while the optimal spraying quality is kept.

The utility model relates to the technical field of ocean power generation, solves the problems of low efficiency and low mechanical power of an ocean tidal current energy collecting device caused by limitation of bottleneck factors such as changeable and unfixed tidal current directions, low tidal current speed and difficulty in starting in the prior art, and discloses a tidal current energy collecting device based on a cylindrical fluid theory. The outer wall of the center column is sleeved with a plurality of first bearings. The outer wall of the first bearing is sleeved with the cylinder, first cavities are formed in the two sides of the cylinder, a second cavity is formed in the upper end of the cylinder, a power generation device is fixedly embedded in the second cavity, and a detachable cover plate is fixed to the upper end of the second cavity; the fixed rudder is arranged in the first cavity, the tidal current energy collector is arranged in the first cavity, a main flow channel is formed in the side, away from the fixed rudder, of the cylinder, branch flow channels are directly formed in the main flow channel and the first cavity, the flow velocity of tidal current needed by starting of the device is low, and the tidal current energy can be collected in all directions.

The invention provides a gap nonlinear control surface flutter wind tunnel test system and method based on steering engine excitation. The system comprises a wind tunnel test section, a test object and a parameter-adjustable excitation mechanism outside a wind tunnel field, wherein the parameter-adjustable excitation mechanism is composed of a transverse clamping mechanism, a longitudinal supporting mechanism, an excitation system and an angle sensor. The excitation system comprises a steering engine, a steering engine rocker arm and a connecting rod, one end of a spring rod is fixed to the longitudinal supporting mechanism, and the other end is in clearance fit with the connecting rod. By adjusting the effective length of the spring rod, the fit clearance and the excitation of the steering engine, the clearance nonlinear rigidity applied to the test control surface can be changed. In a wind tunnel test, an angle sensor is used for collecting rudder shaft rotation angular displacement response in real time, excitation-response characteristic testing before and after flutter occurs is achieved, and the influence rule of gap nonlinear parameters on rudder surface dynamic characteristics is effectively studied. The test principle is simple, and a new way is provided for excitation-response characteristic measurement of the full-motion control surface under different gap nonlinear rigidities.

The invention discloses a grid rudder folding and unfolding mechanism, a rocket interstage section and a rocket, and relates to the technical field of grid rudders.The grid rudder folding and unfolding mechanism comprises a rudder shaft, a grid rudder, a driving cylinder, a piston, a piston rod and a connecting assembly. According to the technical scheme, the piston rod is driven to move through sliding of the piston in the driving cylinder, and then unfolding and folding actions of the grid rudder are achieved through the connecting assembly. Meanwhile, the piston rod is matched with a key groove in the folding state of the driving cylinder, the integrated design of folding and locking can be achieved, and unfolding and locking are achieved through air pressure after unfolding. Through the arrangement mode, mechanism integration is achieved, two sets of locking mechanisms are reduced, meanwhile, use of traditional servo mechanisms, torsional springs and other elastic elements is reduced, cost is reduced, reliability is improved, meanwhile, enough driving force can be provided, and it is ensured that the grid rudder can be unfolded and folded rapidly and reliably.

This invention provides a virtual-real fusion-based force feedback simulation control method for ship rudder control sticks, comprising: constructing a set of fluid control equations for the flow field on the rudder surface; discretizing the set of fluid control equations using a standard structured mesh to obtain a discretized set of fluid control equations; solving the discretized set of fluid control equations based on the finite difference method and boundary conditions to obtain the drag torque value of the fluid acting on the rudder plate; converting the drag torque value into a damping torque value; the control unit outputting a motor drive command based on the magnitude of the damping torque value; and the motor driver, based on the motor drive command output by the control unit, driving the force feedback simulation motor to generate a corresponding simulated damping torque value, which acts on the control stick to produce force feedback. This invention provides real-time control stick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

Provided are a method and a system for cooperative airborne meteorological perception with multiple aircraft. The method includes: determining a training set based on a spatial position, motion data, weather, an observation image, and static information of each of multiple aircraft; determining a fusion performance function based on an objective of a cooperative perception network; generating a fusion model based on the training set and the fusion performance function; generating a perception result image based on the fusion model; determining flight risk information based on the perception result image; determining a route alarm command and sending the route alarm command to a management user interface and an interactive device of a target aircraft; after receiving the route alarm command, generating, by the management user interface, a route adjustment parameter; in response to obtaining the route adjustment parameter, performing at least one of the following operations: adjusting an engine velocity, adjusting an aileron pressure, adjusting an elevator deflection, and adjusting a rudder deflection.

The invention belongs to the technical field of helicopter rotor calibration, and discloses a rotor total pitch calibration device and method.The rotor total pitch calibration device comprises a variable pitch pull rod, one end of the variable pitch pull rod is connected with a rotor fork lug, the other end of the variable pitch pull rod is connected with a steering engine rocker arm fork lug, and rotor blades are calibrated by adjusting the axial length of the variable pitch pull rod and the relative angle of the end faces of knuckle bearings at the two ends; the auxiliary calibration device is provided with an angle measurement mechanism and a distance measurement mechanism, the distance measurement mechanism is connected to the angle measurement mechanism and can move relatively, and the angle measurement mechanism and the distance measurement mechanism are connected with the knuckle bearings at the two ends of the variable-pitch pull rod through positioning connectors respectively; the gradienter is used for measuring the mounting angle of the rotor blade at the reference position and feeding back the mounting angle to the ground detection equipment; the ground inspection equipment converts the mounting angle into a variable pitch amount and sends the variable pitch amount to the flight control system; and the flight control system generates a control instruction according to the variable pitch quantity and sends the control instruction to a steering engine, and the steering engine manipulates a variable pitch pull rod to achieve total pitch calibration of the rotor wings. According to the method, the problem that existing helicopter rotors are difficult to calibrate is solved, and the total pitch of the rotors can be calibrated with high precision and high efficiency.

The invention discloses a tilt rotor aircraft depending on aerodynamic force, and relates to the technical field of aircrafts. The four-axis unmanned aerial vehicle comprises a fuselage, wing assemblies, four-axis unmanned aerial vehicle modules and empennage assemblies. The wing assembly comprises a left wing, a right wing and a wing cross beam which are all provided with ailerons; the four-axis unmanned aerial vehicle module is I-shaped, is hinged to a wing cross beam through a bearing, and can tilt bidirectionally; the empennage assembly comprises a tail support, a horizontal electric variable pitch propeller, a horizontal empennage with a control surface and a vertical empennage. The four-axis unmanned aerial vehicle module serves as a tilting unit, and the structure is simplified; attitude control is realized by virtue of aerodynamic difference, and the efficiency is improved; the tail horizontal electric variable-pitch propeller realizes rapid pitching adjustment; vertical take-off and landing, low-altitude maneuvering and high-speed cruising capabilities are integrated, the application scene is wide, and safe forced landing can be achieved when faults occur.

The invention discloses a self-coupling PID (proportion integration differentiation) flight control method of a rudder-controlled transverse-row type rotor unmanned aerial vehicle based on dynamic multi-dimensional heterogeneous fuzzy logic, and belongs to the technical field of flight control of rudder-controlled transverse-row type rotor unmanned aerial vehicles. A flight control system architecture of the self-coupling PID flight control method is composed of three core modules: (1) a dynamic multi-dimensional fuzzy logic coupling PID controller (DMHFL-SCPID); (2) control instruction distribution; and (3) a six-degree-of-freedom dynamical model of the rudder-controlled transverse rotorcraft. According to the control algorithm, input and output dynamic parameters of a system are analyzed in real time, and four-dimensional flight control quantities (roll, pitch, yaw and height instructions) are generated. A control distribution strategy based on the aerodynamic characteristics of the rotor converts the instructions into actuating quantity of an actuating mechanism, and flight attitude adjustment is realized by changing aerodynamic load distribution of a rotor system, so that the unmanned aerial vehicle is guided to realize accurate tracking along a predetermined flight path.

The invention discloses a control method of a marine wind power boosting rotor, and relates to the technical field of ship energy conservation and control, and the method comprises the steps: determining constraint conditions of marine wind power boosting rotor control; according to the wind power environment parameters, the operation condition of the wind power boosting rotor for the ship at the t moment is determined, and the optimal rotating speed of the wind power boosting rotor for the ship is determined; constructing a target function controlled by the marine wind power boosting rotor, and calculating the optimal rudder angle and the optimal propeller power of the ship when the target function reaches the minimum by utilizing an optimization method according to the optimal rotating speed at the moment t, the rudder angle of the ship, the propeller power, the motion state parameters and the wind power environment parameters; and the rotating speed of the wind power boosting rotor and the rudder angle of the ship are adjusted according to the optimal rotating speed, the optimal rudder angle and the optimal propeller power. According to the method, cooperative improvement of rotor energy efficiency and ship control stability is achieved by controlling boundary constraint and self-adaptive adjustment of a complex wind field.

The invention discloses a screw compressor slide valve adjusting mechanism with an oil-pressure-free unloading function. The screw compressor slide valve adjusting mechanism comprises a flow piston, a volume ratio piston, a volume ratio slide valve, a flow slide valve, a compression spring, a guide rod, a three-position four-way electromagnetic reversing valve, a valve seat, a steering engine and a valve element. The valve element is rotatably installed in the valve seat and driven by the steering engine to rotate, and the valve element is provided with an internal channel structure and can be driven to rotate to different working positions so as to control communication between the oil pipe and the oil cavities, so that the flow of the flow sliding valve and the volume ratio of the volume ratio sliding valve are selectively adjusted. According to the screw compressor slide valve adjusting mechanism with the oil-pressure-free unloading function, an oil pump does not need to provide high oil pressure, the flow load of the compressor can be reduced to the minimum, the compressor gets rid of dependence on the oil pump, unloading is carried out by utilizing downtime, the starting time is shortened, and the structure is more simplified.

The invention provides a trajectory tracking control method and system for a high-load omni-directional AGV, the omni-directional AGV is driven by a plurality of steering wheel mechanisms which are independently steered and driven, and the trajectory tracking control method is characterized by comprising the following steps: acquiring vehicle state information and expected trajectory information of the omni-directional AGV in real time; on the basis of the vehicle state information and the expected track information, core parameters of a model prediction controller are optimized online through a chaos simulated annealing algorithm, and the core parameters comprise a state weight matrix, a control increment weight matrix, a prediction time domain and a control time domain; wherein the model prediction controller performs state prediction based on a longitudinal-transverse decoupling dynamic model adaptive to a high-load working condition; performing rolling horizon optimization through the model prediction controller by utilizing the optimized core parameters, and solving to obtain an optimal control increment; and converting the optimal control increment into a driving instruction for a multi-steering-wheel mechanism, and controlling the omnidirectional AGV to track an expected trajectory.

The invention provides a centering device used before reaming of a rudder bearing on a ship and a centering method thereof.According to the centering device used before reaming of the rudder bearing on the ship, a measuring scale is used for centering the distance between the two ends, the measuring scale can stretch out and draw back, and a top cap is connected to one end of the measuring scale in a sleeving mode; a partition insulation ring is sleeved on the measuring scale, and one side of the partition insulation ring abuts against the top cap; the top cap is sleeved on one side of the isolation insulating ring, the base is sleeved on the measuring scale, the base abuts against the other side of the isolation insulating ring, the top cap and the base are conductors, and the isolation insulating ring isolates the contact between the top cap and the base; contacts at the two ends of a power supply are electrically connected with the top cap and the base respectively; and the indicating lamp is connected in series between the power supply and the base. By forming an access of the indicator lamp, after contact of the two ends is determined, centering correction is carried out through reading of the measuring scale, and the technical problem that in the prior art, no special correction centering device exists, and consequently the centering efficiency and precision are low is solved.

The invention discloses a steering engine transmission mechanism, and relates to the technical field of ship steering engines, and the steering engine transmission mechanism comprises a mounting base, a rotating disc, an electric drive steering mechanism, a detection mechanism and a hydraulic drive buffer mechanism; the steering engine shaft has the advantages of being reasonable and simple in structure and low in production cost, stable steering of the steering engine shaft can be achieved through cooperation of the electric drive steering mechanism and the hydraulic drive buffering mechanism, different steering requirements in ship navigation are met, and reliability and safety in the steering process can be ensured; steering driving of the steering engine shaft is achieved through the speed reduction motor with a brake and a specific transmission structure, meanwhile, the hydraulic drive buffering mechanism can provide effective buffering, the situation that steering impact is too large is avoided, and the requirements for steering precision and stability of a ship under various sea conditions can be met; according to the system, ship steering can be independently achieved when the electric drive steering mechanism or the hydraulic drive buffering mechanism is abnormal, the good fault-tolerant capability is achieved, large-amplitude steering can be achieved through linkage of the electric drive steering mechanism and the hydraulic drive buffering mechanism, and the safety and reliability of ship navigation are further guaranteed.

The invention relates to an automatic dredging control method for economic yield of a trailing suction dredger, which comprises the following steps of: under a dredging loading working condition, acquiring the ratio of concentration and flow velocity to oil consumption of a loading pipeline according to historical data of concentration and flow velocity and oil consumption of the loading pipeline in construction; the concentration and flow rate target values of the loading pipeline with the most economic benefits under the working condition are determined in a mode of taking the maximum ratio, and the ship navigational speed, the rake head angle, the rake head cutting depth, the wave compensator pressure, the high-pressure flushing pressure and the dredge pump rotating speed are automatically controlled according to the target values; and meanwhile, the steering engine and the propeller are jointly controlled to realize automatic dredging and loading operation of the dredger according to a planned path, so that the dredging yield is stabilized near the economic yield, and the efficient automatic dredging and loading operation of the trailing suction dredger with the best economic benefit is realized. According to the method, it can be guaranteed that the optimal ratio of economic output to cost input can be obtained in automatic dredging and loading operation conducted under the economic output, and therefore economic benefits are greatly improved.

The invention discloses a semi-physical simulation system and method for an aircraft with variable wings, and belongs to the technical field of semi-physical simulation of variant aircrafts. The method comprises the steps that a PC upper computer builds a model and monitors the process; the real-time simulation computer is connected with all the devices through the optical fiber reflection memory network and executes trajectory calculation, pneumatic processing, airfoil profile reconstruction and deformation control strategy generation. The three-axis servo turntable loads inertial navigation equipment and tracks pose information; the wind tunnel applies an aerodynamic load to the deformed wing; the STM32 driving system realizes multi-stage motor cooperative control; the measuring system acquires deformation data in real time through a laser displacement sensor, a strain gauge array and a coding disc; the flight control system generates a rudder control and deformation instruction; and the annular cascade optical fiber network realizes multi-protocol conversion. Physical deformation wings are integrated into semi-physical simulation, collaborative testing of flight control, deformation control and an aircraft body structure is achieved, deformation interference resistance and flight safety research are supported, and a foundation is laid for optimization and test flight of the wing-variable-bending aircraft.

The invention discloses a dismounting and mounting device for an output rudder of an aircraft, and aims to solve the problems of low dismounting and mounting efficiency of the output rudder and high equipment production and maintenance cost caused by complex dismounting and mounting structure and tedious dismounting and mounting steps of an existing device. The dismounting and mounting device comprises a connecting assembly, a locking assembly and a limiting assembly. The steering engine is connected with a rudder shaft of the output rudder through a connecting assembly, and the connecting assembly is configured to be capable of being driven by the steering engine and driving the rudder shaft to rotate; the locking assembly is arranged on the connecting assembly, and the locking assembly is configured to be capable of achieving locking of the connecting assembly so that the rudder shaft can be connected with the steering engine; the limiting assembly is matched with the locking assembly, and the limiting assembly is configured to be capable of controlling the locking state and the unlocking state of the locking assembly and limiting the axial displacement of the output rudder; the locking assembly can be switched from the locking state to the unlocking state under the action of external force, at the moment, the rudder shaft is allowed to be inserted into or pulled out of the connecting assembly, and when the external force is removed, the locking assembly recovers to the locking state so that the rudder shaft can be connected with the steering engine.