3147 results about "Rudder" patented technology

An electric tilt rotor aircraft and a control system thereof. The aircraft comprises a fuselage (1), wings (2), horizontal stabilizers (3) and a landing gear system (4), wherein the fuselage (1) comprises a fuselage body and a rudder (10) for controlling and adjusting a flight direction of the aircraft; the wings (2) each comprise an integral wing box section (21), an aileron (22), a wing left / right nacelle (23) and a supporting rod left / right nacelle (24); left and right supporting rods are integrated on front sides of the integral wing box sections (21); the wing left / right nacelle (23) is connected to the integral wing box section (21) by means of a tilting shaft (25), and the wing left / right nacelle (23) rotates around the tilting shaft (25); the horizontal stabilizers (3) each comprise a horizontal stabilizer box section (31) and a horizontal stabilizer left / right nacelle (32); the horizontal stabilizer left / right nacelle (32) is connected to the horizontal stabilizer box section (31) by means of the tilting shaft (25), and the horizontal stabilizer left / right nacelle (32) rotates around the tilting shaft (25); the landing gear system (4) uses a tricycle landing gear system, and comprises a nose landing gear (41) and two main landing gears (42); brake systems are integrated in the main landing gears (42); and the nose landing gear (41) plays a role in balancing and controlling direction. By using the electric tilt rotor aircraft, urban air traffic can be realized.

The invention provides an underwater vehicle multi-source information fusion accurate navigation method and system. The method comprises the following steps: firstly, acquiring inertial navigation data, DVL data and ocean current information of an underwater vehicle and observation information of a distance between the underwater vehicle and a beacon, and preprocessing the inertial navigation data, the DVL data and the ocean current information; then, establishing a state model according to the kinematics principle of the underwater vehicle, and establishing an observation model by combining various types of information; carrying out fusion processing on the state model and the observation model by adopting a self-adaptive Kalman filtering algorithm; and finally, estimating the current position of the underwater vehicle according to the fused state vector, comparing the current position with a preset target position to calculate a deviation, and correcting the deviation by adjusting a rudder angle and the rotating speed of a propeller. According to the method, multi-source information is integrated, innovation is carried out on construction of a state model and an observation model and position estimation and deviation correction, adaptive Kalman filtering is adopted, and the method has the advantages that the navigation precision is improved, the ocean current influence is considered, adaptive adjustment is realized, and real-time navigation is realized.

The invention belongs to the technical field of ship path tracking, and discloses a ship path tracking method based on adaptive line-of-sight guidance and fuzzy adaptive PID, and the method comprises the steps: presetting a path point, and obtaining a real-time coordinate; obtaining an actual expected heading angle # imgabs0 # and a ship observation heading angle # imgabs1 #, subtracting the actual expected heading angle # imgabs0 # and the ship observation heading angle # imgabs1 # to obtain a heading deviation # imgabs2 #, and calculating a heading deviation rate # imgabs3 #; the course deviation and the course deviation rate are input into a fuzzy self-adaptive PID motion control module, and gain parameters are output through a fuzzy control algorithm; the gain parameter and # imgabs4 # are input into a PID controller to calculate a ship rudder angle # imgabs5 #; inputting # imgabs6 # into the motion mathematical model to update the motion state, and forming a closed-loop updated motion state to enable the ship to approach a preset path point; and judging a ship path after the state information is updated. The expected course of the ship is calculated in real time and the sideslip angle of the ship and the control parameters of the ship are adjusted in real time through self-adaptive sight guidance, and the control parameters are automatically adjusted in real time by means of the fuzzy self-adaptive PID motion control module to achieve accurate motion control, so that the ship travels according to a preset planned path.

The invention relates to the technical field of flight control, in particular to a fixed-wing unmanned aerial vehicle attitude correction and precise flight control method fused with visual navigation, which comprises the following steps: extracting ORB feature points and constructing a dynamic feature point cloud; simultaneously acquiring angular velocity and acceleration data of the inertial measurement unit; performing tight coupling fusion processing on the dynamic feature point cloud and the inertial measurement data to generate real-time pose data; inputting the real-time pose data into an attitude correction parameter calculation module, and generating an attitude correction parameter through a dynamic weight distribution algorithm in combination with a preset flight path planning model and GPS positioning data; and a control surface deflection instruction and an accelerator control instruction are generated through the multi-constraint optimization model, and unmanned aerial vehicle flight attitude closed-loop correction is completed. According to the method, aerodynamic parameters such as the air speed, the wind field lateral disturbance and the attack angle are introduced to serve as coupling input, the control surface deflection amount and limiting conditions are dynamically adjusted, and self-adaptive modeling and control over the nonlinear flight characteristics are achieved.

The invention relates to the technical field of aircrafts, and discloses an aircraft attitude control method, device and equipment and a storage medium, and the method comprises the steps: collecting flight state parameters of an aircraft; the pitch angle data in the flight state parameters are compared with a preset angle threshold value, corresponding flight mode switching is executed, and the attitude deviation value is calculated; power distribution calculation is conducted on the three ducts, and the target rotating speed of each duct paddle is obtained; performing position optimization calculation on the guide plates below the duct to obtain the position control quantity of each guide plate; the three flow guide plates are configured as triangular control points, the position compensation amount of an aileron, a yaw rudder and an elevator is calculated and determined through vector synthesis, and the angle control amount of each control surface is obtained; according to the method, the attitude of the aircraft is converted into an execution signal, execution feedback data is acquired to correct a control instruction in real time, closed-loop attitude control of the aircraft is realized, the attitude control precision of the aircraft is improved, and the stability of the flight process is ensured.

The invention discloses an unmanned ship distributed cooperative dynamic target surrounding control method under multiple constraints, and relates to the field of unmanned ship cooperative control. In order to solve the problems that multiple constraint coupling is not fully considered in cooperative surrounding of multiple unmanned ships, target state estimation is insufficient in an intermittent communication environment and the like, the following technical scheme is provided: firstly, a motion model of the unmanned ships and a target is established; a distributed internal model observer is arranged for each unmanned ship, and the internal motion state of the target is estimated; then designing a distributed type progressive average surrounding guidance algorithm, and performing distributed scheduling on the expected speed and heading of the unmanned ship, so that the unmanned ship can still keep safe surrounding when the speed or direction of the target is changed; the input saturation constraint of a propeller or a steering engine is considered, so that each unmanned ship can be autonomously controlled according to an expected trajectory and speed; and finally, stable and collision-free surrounding of the dynamic target is realized under multiple constraint conditions. The method can be applied to scenes such as ocean escort and maritime search and rescue which need to perform collaborative operation around a dynamic target.

The invention provides an unmanned ship path tracking control method based on lightweight self-adaptive sight guidance. The method comprises a self-adaptive sight guidance algorithm, a foresight distance is adjusted in real time according to the current position and path deviation of an unmanned ship, ideal course information is obtained, and the path convergence speed and algorithm calculation efficiency are improved. And in the virtual simulation platform, marine environment information is combined, and unmanned ship dynamic model parameters are obtained through experiments. And constructing an objective function taking the path tracking error and the rudder angle change as evaluation indexes, and optimizing PID controller parameters by adopting an improved sparrow search algorithm. According to the algorithm, a dynamic additive updating strategy is introduced, so that the global search capability and the convergence stability are improved, and the optimal PID parameter is ensured to be obtained. The method has the advantages of being high in response speed, small in overshoot and high in path tracking precision in the complex marine environment, the real-time control performance and the environment adaptability of the unmanned ship can be remarkably improved, and the method is suitable for the unmanned ship path tracking control requirements in various task scenes.

The invention discloses an aircraft attitude control method and device based on a semiconductor microcomputer system, and the method comprises the steps: collecting the multi-source sensor data of an aircraft, calculating an attitude error vector, and constructing a three-dimensional error space coordinate system; taking the three-dimensional error space coordinate system as a reference, adjusting the model in real time, and solving the optimal attitude adjustment amount in a prediction window period; the optimal attitude adjustment amount is input into an execution mechanism distribution module, and a thrust adjustment instruction sequence and a control surface deflection angle instruction queue of each vector propeller are generated through calculation in combination with a propeller response matrix and a control surface efficiency coefficient; dynamically correcting and predicting weight parameters of the controller through closed-loop verification; and updating the multi-objective optimization model based on the corrected parameters, adjusting the instruction distribution proportion through a dynamic reconfiguration interface, and writing the updated parameters into the attitude database to form a complete closed-loop period. According to the invention, high-precision real-time control of the attitude of the aircraft is realized, and the flight stability and the energy efficiency ratio in a complex environment are improved.

This disclosure provides an adaptive STSMC hierarchical control method for depth tracking of an underwater vehicle. The method includes: using an adaptive line-of-sight guidance algorithm to estimate the vehicle's angle of attack in real time and obtain an expected pitch angle; employing a nonlinear interference observer based on a sliding mode surface error to detect unknown interference; and applying an STSMC controller with adaptive saturation compensation to determine the expected control rudder angle from the sliding mode surface error, the expected pitch angle, and the observed interference. The adaptive saturation compensation corrects the rudder angle based on the saturation deviation, which is determined by the previously calculated expected control rudder angle and the actual output rudder angle at the previous moment. By introducing an adaptive saturation compensator in the dynamic control layer, the issue of rudder angle saturation is mitigated, thereby enhancing both control performance and stability.

The invention relates to the technical field of ship control, in particular to a fishing boat control system based on data analysis, which comprises a traction load analysis module, a fluctuation condition division module, an attitude disturbance estimation module, a propulsion power regulation module and a rudder angle correction output module. According to the method, by analyzing the traction force load sequence value and the moment arm length of the fishing net traction point, calculating the left and right side offset torque and marking the action direction, the attitude adjustment precision of the ship is optimized, the operation sea condition level is adjusted according to data, and the ship can be subjected to more reasonable attitude estimation and adjustment under the dynamic working condition; the wind pressure change rate and the pitch angle rate are combined to judge the direction resultant force trend, and the navigation attitude is adjusted according to the sea condition grade, so that the ship can more accurately resist the influence of sea surface storm waves and maintain the course stability, and the rudder angle is corrected by adjusting the propulsion power in real time, limiting the adjustment amplitude of the propulsion power and correcting the rudder angle according to the real-time data of the navigation attitude. And the propulsive efficiency and the navigation precision are optimized.

The invention belongs to the technical field of aircraft control, relates to an aircraft gravity center real-time balancing method and system based on dynamic parameter fusion, and aims to solve the problems of insufficient real-time performance, accuracy and self-adaptability of a gravity center balancing method under complex flight conditions in the prior art. The method comprises the steps that real-time parameters are obtained, and the real-time gravity center position is calculated; if the real-time gravity center position is not within the preset range, calculating a first inertia moment and a first additional moment caused by fuel density change and a second inertia moment and a second additional moment caused by aeroelastic deformation; performing inertia moment correction based on the first inertia moment and the second inertia moment; additional moment correction is carried out based on the first additional moment, the second additional moment and the real-time pitching inertia moment; when the real-time gravity center position is within the preset range, gravity center balancing is completed. The fuel oil density and aeroelastic parameters are estimated in real time through a self-adaptive control algorithm, rudder deflection and fuel oil distribution are cooperatively adjusted, and the problem of center-of-gravity shift under complex disturbance can be effectively solved.

The invention relates to an intelligent control method for a high-speed aircraft, and the method comprises the steps: building an aircraft control architecture, carrying out the decision-making of a neural network model, training a decision-making neural network, and carrying out the real-time compensation of a control instruction according to the flight state of the aircraft, so as to achieve the control of a variable-configuration high-speed aircraft. An aircraft controller adopts a model + learning double-layer architecture, a decision neural network is designed to be of a Double Network structure, overload errors of pitching, yawing and rolling channels are considered in a reward function design, training of a decision neural network model is based on a double-delay deterministic strategy gradient algorithm, a training process is optimized by adopting a prior experience playback technology and a target strategy smoothing mechanism, and a decision neural network model is obtained. The control system can achieve real-time intelligent adjustment of control instructions, overload quantities and attitude angles of three channels of the aircraft and corresponding rudder deflection instructions output by the controller at the last moment are obtained from the environment, the intelligent body outputs control instructions of pitching, yawing and rolling channels, and therefore intelligent control over the variable-configuration high-speed aircraft is achieved.

The invention discloses a vertical take-off and landing aircraft mode switching control method based on switching model predictive control (MPC). According to the method, a control strategy of aircraft mode switching is designed by using the switching MPC and a switching control barrier function. The method comprises the following steps: firstly, establishing dynamic models of the aircraft in different flight modes, adding flight limit attitude constraints to the different modes, and determining control input constraints in the different modes according to dynamic characteristics of a propeller and a control surface; the optimal control quantity is obtained by repeatedly solving an optimization problem, so that the recursion feasibility of switching model prediction is ensured, and a control obstacle function sub-controller considering attitude change rate security constraints is introduced to continuously correct control input so as to ensure the smoothness and stability of a mode switching process. By switching model predictive control design, the minimum trajectory tracking error and attitude jitter can be realized under the condition that the obtained control quantity meets constraint conditions.

The invention relates to the technical field of ships, in particular to a stern-direction icebreaking structure and a ship, the stern-direction icebreaking structure comprises two ice pressing appendages, the two ice pressing appendages are oppositely arranged in a spaced mode, the ice pressing appendages are fixedly arranged at the lower end of the stern, and inclined ice pressing structures are formed on the sides, away from the bow, of the ice pressing appendages; the inclined ice pressing structure is inclined downwards in the direction from the stern to the bow; the two rudder blades and the two ice pressing appendages are arranged in a one-to-one correspondence mode, and the rudder blades are rotationally arranged on the lower end faces of the ice pressing appendages. According to the invention, the stern sailing icebreaking capability of the ship can be obviously improved, and the power can be reduced.

The invention discloses an AUV (Autonomous Underwater Vehicle) path tracking method based on predicted line-of-sight angle guidance, which comprises the following steps: acquiring a real-time navigation state through inertial navigation, acoustic positioning and DVL fusion, introducing a fixed time disturbance predictor to estimate a sideslip angle and an ocean current velocity component on line, adaptively adjusting a line-of-sight distance according to transverse error-navigational speed-curvature, and tracking the path of the AUV. Calculating a predicted line-of-sight angle and outputting an expected heading; and then a propeller and a control surface are driven by adopting a fixed time feedback control law, so that track and attitude error fixed time convergence of the under-actuated AUV under the conditions of strong time-varying ocean current and large sideslip is realized. The method does not need a side thruster or an ocean current prior model, is simple in algorithm structure, is suitable for a high-speed high-curvature track, and has the advantages of high speed, high steady-state precision, low energy consumption and high robustness.

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 discloses a semi-active wind-facing single-point mooring floating type fan, the semi-active wind-facing single-point mooring floating type fan comprises a floating type foundation, a fan body and an anti-flow rudder, the floating type foundation is used for floating in seawater, the floating type foundation comprises at least two stand columns, and the stand columns are connected with the fan body. Any two adjacent stand columns are connected through a connecting frame, the multiple stand columns comprise one first stand column and at least one second stand column, and a mooring rotor is installed at the bottom end of the first stand column. The number of the draught fan is at least one, and the draught fan is used for being installed at the top end of the second stand column. The number of the anti-flow rudders is at least one, the anti-flow rudders are used for being installed at the bottom end of the second stand column, and the anti-flow rudders are used for providing lifting force in the horizontal direction for the second stand column under the effect of ocean currents. According to the semi-active wind-facing single-point mooring floating type draught fan, the influence of the current load can be reduced, it is ensured that the draught fan is always aligned with the wind load, and the power production efficiency is improved.

The invention relates to the technical field of unmanned ship navigation control, and discloses an unmanned ship navigation state control method and system based on intelligent perception. Navigation environment information of multi-dimensional data is obtained, a multi-dimensional data fusion technology is adopted for construction of an environment state matrix, and discrete environment elements are converted into structured matrix expression. In the initial path generation stage, data acquisition value evaluation is fused, obstacle avoidance requirements are considered, and a high-value detection area is actively covered. In the path correction stage, a multi-objective cost function including energy consumption, threat degree and path length is constructed, and real-time path optimization in a dynamic environment is realized. In the propulsion control link, propulsion force and rudder angle parameters are calculated by integrating the attitude, the ship speed and the ocean current speed of the unmanned ship. According to the method, the contradiction among the real-time performance of dynamic obstacle avoidance, the data acquisition efficiency and the energy consumption optimization is solved through the cooperation of global-local double-layer path planning and the control of the propulsive force and the rudder angle of the unmanned ship.

The invention discloses a method for replacing a ship rudder horn, which comprises the following steps of: measuring rudder blade gap data, measuring old rudder horn data as an original record, so that a new rudder horn is measured and compared again after being installed, and a center line of a guyed rudder system is established; hoisting a new rudder horn in place, adjusting the position of the rudder horn by taking the center line of the steering engine as a reference, assembling the new rudder horn and a ship body structure together, symmetrically welding, and performing ultrasonic flaw detection and magnetic powder flaw detection on a welding seam; boring the new rudder horn by taking the center line of the guyed rudder system as a reference; and a rudderstock lower cloth and a rudder pintle cloth of the rudder horn are machined, and the steering engine, the rudder blade, the rudderstock and the rudder pintle are installed back. According to the replacement method of the ship rudder horn, the parameters of the old rudder horn are collected to serve as the positioning parameters of the new rudder horn, accurate replacement of the rudder horn can be achieved, accurate folding of the replaced new rudder horn and the ship body is facilitated, and the installation accuracy of the rudder horn can be improved by establishing the center line of the guyed rudder system.

The invention provides a multi-mode underwater detection robot. The robot comprises a body section assembly formed by connecting a plurality of cabin pipe assemblies and power cabin assemblies in series. Joints between the cabin pipe assemblies are connected through joint connecting pieces (7); a steering engine joint piece (3) is arranged at the joint connecting piece, a propeller propelling device (4) is arranged at the power cabin assembly, and when the underwater posture and the propelling working condition of the robot are adjusted, a steering engine of the steering engine joint piece applies force to the joint connecting piece to change the included angle of the joint connecting piece, so that the body section assembly is twisted, and the posture of the robot is converted into different modes; the propelling direction of the propeller propelling device is changed; the problems that an existing underwater robot is single in mode, incapable of adapting to complex environments, low in energy efficiency, difficult in structure maintenance and poor in function expansion capacity can be solved.

An aircraft has a boom, a propulsion assembly coupled to a first end of the boom, and a first wing coupled to a second end of the boom. The propulsion assembly is coupled to the boom by a rotating joint. A second wing is optionally coupled to the rotating joint. The first wing is coupled to the boom by a rotating joint. The first wing is coupled to the rotating joint by a hinge. A vehicle with roll, pitch, and yaw maneuverability able to mirror the aircraft movements may be coupled to the second end of the boom. The vehicle body may be picked up with a vehicle chassis disconnected from the vehicle body. The boom houses an energy source to power the propulsion assembly. A rudder is coupled to the second end of the boom. A paddle is disposed between the propulsion assembly and the boom.

The invention discloses a distributed electric propulsion box type wing ground effect aircraft which comprises a main fuselage, the two sides of the main fuselage are connected with one ends of sweepback wing main wings, one ends of two empennages above the tail of the main fuselage are connected with the main fuselage through vertical tails, and the other ends of the two empennages are connected with the other ends of the two main wings through end plates respectively. The empennage is connected with a plurality of high ducted fans directly driven by a motor, an elevator and an aileron are arranged at the rear part of the empennage, a rudder is arranged at the rear part of the vertical fin, and the elevator, the aileron and the rudder are controlled by a flight control system and are mutually independent. The ground-effect aircraft provided by the invention adopts a box-type wing structure formed by combining the sweepback main wing and the sweepforward empennage, has better aerodynamic performance in a take-off and climbing low-speed flight state, and can provide larger lift force and better maneuvering characteristics.

The invention discloses a folding wing and rudder design method and an unfolding locking mechanism thereof. The locking mechanism comprises a connecting handle, an elastic torsional spring and a rotating shaft. A locking head and a connector are arranged on the two sides of the bottom of the folding wing or the folding rudder respectively; the design method comprises the steps of obtaining performance parameters, and determining specific indexes such as folding sizes and unfolding time of the folding wing and the rudder. And designing a structural model according to principles of generalization, reliability and the like, and determining geometric parameters of the wing and the rudder. Verifying the strength of parts of the locking mechanism, calculating a plurality of parameters of an elastic torsion spring, and analyzing the unfolding time and synchronism. Finally, consistency checking is conducted based on finite element simulation analysis, torque and bending moment are applied in ABAQUS software according to parameters, the structural strength of the folded rudder is analyzed, and it is ensured that the design meets the requirement. According to the folding wing and rudder design method, through the scientific design process and multi-principle comprehensive application, the high-performance requirement is met, meanwhile, the cost is effectively reduced, the reliability and maintainability of products are improved, and the remarkable beneficial effects are achieved.

A hull motion control unit performs steering for a pinwheeling swing such that a bow distance and a stern distance that are measured by a quay separation distance measuring device are made equal to each other and the fore-and-aft direction of a ship is parallel to a target quay, and then the ship is caused to laterally approach and dock in the target quay while keeping the parallel state.

The invention discloses a ship anti-spoofing attack control method based on a self-feedback expansion state observer. The ship anti-spoofing attack control method comprises the steps that a guidance virtual ship and a dynamic virtual ship are set to construct an L2-DVS guidance strategy; constructing a spoofing attack additional signal model of the unmanned ship, and obtaining a ship position signal under the spoofing attack according to the kinematic model of the target unmanned ship; acquiring a longitudinal velocity virtual control law of the target unmanned ship and a spoofing attack compensation law of a yaw angle according to the constructed error model so as to obtain a yaw velocity virtual control law / adaptive law; and constructing a state memory type event triggering mechanism, obtaining a controller / adaptive law of a rudder angle / rotating speed of the target unmanned ship in combination with a self-feedback compensation reduced order expansion state observer, and realizing anti-spoofing attack control of the target unmanned ship according to the yaw velocity virtual control law / adaptive law and the controller / adaptive law of the rudder angle / rotating speed. The problems that the research of the application in the current network attack environment is not complete enough, the unmanned ship is disturbed all the time in the marine environment, the actuator continuously responds to the disturbance, and the excessive wear of the steering engine is greatly increased are solved.

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-aircraft cooperative path tracking method based on a prediction LOS guidance law, and the method comprises the steps: building an improved LOS guidance law for predicting a path tracking error, and obtaining a ship target course, so as to obtain a ship course error; then, an unmanned aerial vehicle position control controller is established by obtaining an estimated value of the longitudinal speed of the ship and an estimated value representing the transverse speed of the ship and combining actual position coordinates of the ship; and meanwhile, through the established differentiator, a pitching control target and a rolling control target of the unmanned aerial vehicle are obtained, an unmanned aerial vehicle attitude controller is finally established, and in combination with an unmanned aerial vehicle position controller, aircraft-ship cooperative path tracking control is realized. According to the invention, the problem of large overshoot frequently appearing at the steering position of the aircraft-ship cooperative path tracking can be solved, the safety of the aircraft-ship cooperative operation can be improved, and the overshoot of the aircraft-ship cooperative path tracking at the steering position can be reduced.

The invention relates to the technical field of flight control, in particular to an unmanned aerial vehicle single-shot failure control method, system and device and a medium, and the method comprises the steps: single-shot failure control in the take-off stage of an unmanned aerial vehicle, namely, taking-off is interrupted, an engine on the other side is closed, a brake is used, and a rudder and a front wheel are used for carrying out deviation correction control on the unmanned aerial vehicle; single-engine failure control in the air cruise stage of the unmanned aerial vehicle: compensating additional yaw moment brought by a single-side engine through a transverse heading automatic compensation controller and a flight control system together to enable the aircraft to reach a balanced state, and adjusting the heading of the unmanned aerial vehicle to a designed emergency course to complete recovery; the single-shot failure control in the landing stage of the unmanned aerial vehicle comprises the following steps of: keeping the balance of the unmanned aerial vehicle by utilizing a transverse heading automatic compensation controller before landing, immediately closing an engine on the other side after touching the ground, and adopting a rudder and a front wheel to rectify deviation to control and track a ground route. The flight safety of the unmanned aerial vehicle is guaranteed, and the single-shot failure emergency processing capacity of the unmanned aerial vehicle is improved.

The invention discloses a Gaussian process modeling method for a controlled separation steerage of an assembly aircraft, and belongs to the technical field of aerodynamics. In order to achieve the steering aerodynamic force obtaining precision of the combined aircraft, the method comprises the steps that a steering aerodynamic force database of a secondary aircraft in a disturbing flow field in the separation process of the combined aircraft is obtained through a wind tunnel grid force measurement test; the obtained first-stage aircraft attack angle, second-stage aircraft attack angle, two-stage aircraft gap and second-stage aircraft rudder deflection angle are combined into an input feature matrix, and the obtained pitching rudder deflection moment of the second-stage aircraft in the interference flow field of the first-stage aircraft serves as an output vector to obtain a training set, a verification set and a test set; and importing the training set into a Gaussian process regression model, training the Gaussian process regression model, verifying the trained Gaussian process regression model by using the verification set, and then testing by using the test set to obtain the Gaussian process regression model of the controlled separation steerage of the combined aircraft to predict the steerage aerodynamic torque.

The invention relates to the field of unmanned ship control, and provides a flight path tracking method, system and device based on an improved bee colony algorithm and a medium, and the method comprises the steps: determining the position information of an unmanned ship through a navigation device; obtaining an expression of a reference course angle through a predetermined path, calculating an azimuth error and a foresight distance, calculating a virtual input calculation direction error, and generating an initial rudder angle; interference parameters are obtained, a model attitude controller is established, the motion attitude of the unmanned ship is predicted, a path prediction error is obtained, and an optimization function is constructed; calculating a dynamic weight coefficient and an adaptive scaling factor, carrying out initial solution migration to obtain an initial migration solution, selecting a current optimal solution, carrying out migration on the initial migration solution to obtain a target migration solution, and carrying out optimal solution solving of an optimization function to obtain a target rudder angle; and controlling the unmanned ship so as to complete the control of the unmanned ship. According to the invention, accurate track tracking of the unmanned ship can be realized.