92 results about "Vertical velocity" patented technology

The invention discloses an obstacle avoidance method and system for an unmanned aerial vehicle, and the method comprises the steps: collecting the three-dimensional point cloud and image information of a laser radar, binocular vision and a millimeter-wave radar, and obtaining an obstacle comprehensive parameter set; carrying out dimensionless processing on the obstacle avoidance feature vector to obtain an obstacle avoidance feature vector; inputting the obstacle avoidance feature vector into a discrimination model constructed based on a double-membership adaptive fuzzy decision tree, and outputting an obstacle avoidance action type according to an obstacle avoidance rule; and calling a corresponding trajectory generator to calculate the vertical speed, the lateral speed and the course instruction of the target in real time, driving a propulsion motor to complete maneuvering, and when the vertical clearance coefficient, the horizontal clearance coefficient and the distance safety margin all exceed preset exit thresholds again, automatically terminating the obstacle avoidance mode and restoring to the original planned route. According to the invention, the problems of low precision and insufficient stability of real-time obstacle avoidance decision making of the unmanned aerial vehicle in a complex environment are effectively solved.

The embodiment of the invention discloses a carrier integrated navigation method, device and equipment and a medium, and relates to the technical field of intelligent driving navigation, the method comprises the following steps: acquiring wheel speed data of a current epoch output by a wheel speed measurement unit, and acquiring inertia measurement data of the current epoch output by an inertia measurement unit; inputting a non-integrity constraint prediction model to obtain a non-integrity constraint component of the current epoch; and constructing a three-dimensional motion constraint observation value based on the non-integrity constraint component and the wheel speed data, performing measurement updating on a kinematics observation equation of the Kalman filter, obtaining a state estimation result obtained by updating, and outputting a positioning result in the current epoch. According to the method, the lateral and vertical velocity components are dynamically predicted through the non-integrity constraint prediction model, the three-dimensional motion constraint observation value is constructed, and the state estimation of the Kalman filter is optimized, so that the problem of carrier motion constraint performance degradation under a complex motion condition can be effectively relieved, and the integrated navigation precision can be further improved.

The invention discloses a scraper conveyor conveying capacity calculation method and a scraper conveyor conveying capacity testing device, and relates to the technical field of coal mine conveying system optimization. Vertical speed distribution data of materials in a conveying groove are collected, and vertical speed distribution characteristics of different heights of a material layer in a scraper conveyor are obtained; dividing the cross section of the conveying groove into a plurality of speed layers according to the speed distribution characteristics, and setting a speed coefficient for each layer; and measuring and recording the material cross sectional area corresponding to each speed layer. According to the method, vertical speed distribution data of materials in a conveying groove are collected, speed characteristics of different height layers are recognized, speed layers are divided, speed coefficients are set, the cross sectional area of each layer is measured in combination with an image recognition or three-dimensional modeling technology, a correction calculation model is constructed, and the actual situation that the internal speed distribution of the materials is not uniform is considered; the idealized hypothesis that materials are regarded as overall uniform-speed motion in a traditional method is broken through, and therefore the accuracy of conveying capacity calculation is remarkably improved.

The invention discloses a rocket sublevel active rotor pneumatic deceleration recovery system and a control method, and aims to solve the problems of low recovery precision, large fuel consumption, large landing impact and the like. The recovery process is divided into five stages of reentry, rotor wing unfolding, main pneumatic deceleration, accurate approaching and soft landing. Fine adjustment of the descending speed and the horizontal position is achieved through cooperative control of aerodynamic resistance of the body and the rotor wing system. And a multi-source sensor and a trajectory tracking algorithm are fused, so that stable soft landing at the sub-level zero horizontal speed and the minimum vertical speed is finally ensured. According to the invention, the recovery precision is obviously improved, the fuel consumption is reduced and the landing impact is reduced.

The invention discloses an ocean vertical buoyancy flux parameterization method and device based on radiation gathering and peak generation, terminal equipment and a storage medium. The method comprises the steps that grid point parameters are obtained through an ocean simulation system, the vertical speed and buoyancy are filtered, corresponding sub-mesoscale components are extracted, and the actual vertical buoyancy flux is calculated; determining a target empirical coefficient through iterative optimization, including calculating a horizontal divergence, a horizontal buoyancy gradient and a depth correlation value, and calculating a theoretical vertical buoyancy flux; when the correlation between the actual vertical buoyancy flux and the theoretical vertical buoyancy flux is greater than a preset correlation threshold, determining a target empirical coefficient, otherwise, updating the empirical coefficient and recalculating; and according to the theoretical vertical buoyancy flux corresponding to the target empirical coefficient, performing sub-mesoscale sub-grid parameterization representation. By implementing the method, the problem that traditional vertical buoyancy flux parameterization is based on a single mixed layer oblique pressure unstable process is solved, and the depicting capability of the ocean complex power process is improved.

The invention discloses an aircraft control method based on barometric altitude compensation and attitude calculation of dual-sensor fusion, and the method comprises the steps: carrying out the temperature compensation and attitude calculation through collecting the data of a barometric sensor and an inertial measurement unit, and obtaining an original altitude and an Euler angle; processing the original height based on an alpha-beta filter to obtain an air pressure estimation height, and calculating an inertial navigation height and a vertical speed through attitude conversion integral; a self-adaptive complementary filtering strategy is adopted, the fusion weight is dynamically adjusted according to the air pressure estimation height variance, the high-frequency inertial data and the low-frequency air pressure data are fused, and accurate fusion height and vertical speed are output; finally, constructing a cascade controller, and calculating a target vertical speed instruction by an outer ring according to the expected height deviation; the inner ring generates an actuator signal based on the deviation to drive a motor; height stable control is achieved, so that drifting is effectively restrained, the precision and the response speed are improved, and reliable height control of the aircraft under vibration or air pressure changes is achieved.

The invention provides a downburst maximum horizontal wind speed diagnosis method and system. The method comprises the steps that the vertical speed and the jet radius of downburst vertical jet airflow in a high-voltage transmission corridor area are obtained; constructing a downburst impingement jet model based on the Bernoulli principle, and obtaining a static pressure difference parameter; establishing a momentum equation based on a momentum conservation law and the static pressure difference parameter; a mass conservation equation is established based on the jet radius and the mass conservation law, and the horizontal flow thickness is obtained; obtaining a diagnosis model formula of the maximum horizontal wind speed according to the horizontal flow thickness and the momentum equation; and determining an efficiency coefficient according to the turbulence energy loss, correcting the diagnosis model formula based on the efficiency coefficient, and obtaining a corrected diagnosis formula of the maximum horizontal wind speed, thereby realizing accurate estimation of the downburst maximum horizontal wind speed, and providing key dynamic support for disaster prevention and reduction of power grid facilities.

This control system of a saddle-riding-type vehicle comprises: a first detection part that detects speed in a vehicle vertical direction and angular velocity in a pitch direction generated in a vehicle body of the saddle-riding-type vehicle; a second detection part that detects a state change of a front suspension mechanism for supporting a front wheel of the saddle-riding-type vehicle; and a control part that controls the saddle-riding-type vehicle on the basis of detection results of the first detection part and the second detection part.

The vertical speed control device for the aircraft test bench comprises an oil tank, a hydraulic cylinder and a hydraulic pump, the hydraulic cylinder is divided into a rod cavity and a rodless cavity by a piston, a piston rod of the hydraulic cylinder is connected with an aircraft tire, and the vertical speed control device further comprises a hydraulic energy accumulator, a first pilot electromagnetic valve, a first cartridge valve, a second pilot electromagnetic valve, a second cartridge valve and an electromagnetic reversing valve, the hydraulic energy accumulator is connected with the hydraulic pump and is arranged on a hydraulic oil circuit between the hydraulic pump and the hydraulic cylinder; control interfaces of the first pilot electromagnetic valve and the second pilot electromagnetic valve are respectively communicated with pressure oil of the hydraulic pump, the first cartridge valve is connected with the first pilot electromagnetic valve, the second cartridge valve is connected with the second pilot electromagnetic valve, the first cartridge valve and the second cartridge valve are respectively communicated with the rodless cavity of the hydraulic cylinder through hydraulic pipelines, and the electromagnetic reversing valve is provided with a main oil inlet P, a main oil return port T and two working oil ports, and the vertical speed control device can simulate the aircraft to provide a precise and adjustable vertical impact speed loading.

Embodiments of the present application provide a method and device for accompanying flight control of a UAV, a manned aircraft and a storage medium. The method comprises: determining accompanying flight positions of at least one UAV in response to a position locking instruction of the at least one UAV; receiving a flight control signal for the manned aircraft, converting the flight control signal to obtain a control signal for the UAV; performing corresponding flight control on the manned aircraft in response to the flight control signal, and performing corresponding control on the UAV in response to the control signal, so that each UAV located at each accompanying flight position performs accompanying flight control on the manned aircraft. Based on the conversion between the flight control signal of the manned aircraft and the control signal of the UAV, the manned aircraft and the UAV have corresponding instantaneous forward speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed, so that the UAV can keep synchronous relative static with the manned aircraft, and the accompanying flight control of the UAV on the manned aircraft is realized.

A method of controlling an aircraft includes receiving a pilot input command and determining which one of a plurality of aircraft flight parameters to hold constant. The aircraft flight parameters include an altitude of the aircraft, a vertical speed of the aircraft, and a flight path angle of the aircraft. The determination of which one of a plurality of aircraft flight parameters to hold constant is based on both a speed of the aircraft and the determination of whether the pilot input command is commanding an ascent or descent of the aircraft. The method of controlling ascent of an aircraft includes controlling the aircraft based on the pilot input command while holding the determined aircraft flight parameter constant.

Aircraft vertical speed control methods, systems, and storage media are disclosed. The aircraft vertical speed control method includes determining a vertical speed usable range for an aircraft, displaying an indication of the vertical speed usable range on a display, receiving a vertical speed target value selected by a pilot, and controlling a vertical speed of the aircraft based on the vertical speed usable range and the vertical speed target value to avoid triggering a speed protection.

The invention discloses a leg identification and vertical speed stable switching correction method, and belongs to the technical field of aerospace flight control. The method comprises the following steps of: firstly, judging a current flight segment of an airplane and a flight segment switching opportunity in real time by integrating multiple criteria such as on-way projection, semi-plane, flight path angle consistency and a remaining time threshold; then, the vertical speed of the target is dynamically calculated based on the real-time height difference and the remaining flight time, amplitude limiting and rate smoothing are conducted on the vertical speed of the target, and continuous transition of the vertical speed in the flight segment switching process is achieved; and finally, dynamically correcting the vertical speed of the target according to the real-time flight state, so that the aircraft accurately meets the height requirement at the target waypoint. The method has the advantages of being high in leg recognition precision, stable in vertical speed switching, high in dynamic correction capacity, simple in algorithm, easy to implement and the like, and the flight safety and comfort can be effectively improved.

The application provides a TAWS running stage judgment method suitable for eVTOL, belongs to the technical field of electric vertical take-off and landing aircraft, and specifically comprises the following steps: calculating elevation data ASL above sea level and elevation data AGL above ground by combining a barometric height value, a GNSS elevation value, radio altitude, and a runway / terrain / obstacle database; calculating the vertical speed of an aircraft climbing rate by fusing an inertial navigation system IRS, an atmospheric data computer ADC and a global satellite navigation system GNSS; comprehensively judging the stage of the current aircraft by referring to a flight stage state machine, improving the multi-scene availability of the algorithm, containing data loss, data calculation offset and the like, increasing the redundancy of data, and thus improving the operation logic confidence of the equipment.

The application provides a kind of unmanned aerial vehicle endurance enhancement control system and method based on dual energy collaborative power generation, belongs to unmanned aerial vehicle endurance enhancement control technical field;To solve the technical problems of poor endurance, low energy utilization efficiency, poor scene adaptability and complex endurance control algorithm of existing unmanned aerial vehicle, each sensor arranged on unmanned aerial vehicle real-time acquisition environment wind speed, solar irradiance, vertical speed, horizontal speed, attitude angle, each motor speed and battery state parameter of unmanned aerial vehicle flight;According to the data collected, based on the wind power generation power model, solar power generation power model and flight power consumption grading model built in energy management module, the current total wind power generation power, solar power generation power and flight total power consumption are calculated respectively;Based on the energy self-sustaining coefficient decision model built in energy management module, the energy self-sustaining coefficient is calculated, and its belonging interval is judged;The application is applied to unmanned aerial vehicle strong endurance operation site.

The present invention relates to a method for depth migration while drilling based on a horizontal well trajectory, belonging to the field of seismic velocity modeling and imaging technology. The specific steps are as follows: determining two control points on the well trajectory, namely the first control point and the second control point; loading the well information of the first control point and the second control point; calculating the well-seismic difference at each control point and obtaining the anisotropy parameter δ; interpolating and extrapolating the δ values ​​of the first control point and the second control point to the entire target area; setting the anisotropy parameter ε; and calculating the vertical velocity V. an ; Update the model depth according to the "travel time remains unchanged" principle; Generate anisotropy field; Input δ, ε and V into GeoEast software an Perform anisotropic prestack depth migration processing and check whether the anisotropic prestack depth migration profile meets the requirements of horizontal well drilling. This solves the problem of low imaging accuracy at the boundaries of the seismic work area and significantly improves the well-seismic consistency rate at the boundaries.

A method (200) for assessing the condition of a road (120) comprises steps of periodically acquiring (205) vertical velocity data on board a vehicle (105) traveling on the road (120); generating (215) several overlapping data series (405-450) of predetermined length from the acquired data; recreating (220) each data series (405-450) using a capsule autoencoder (138); determining (225) a mean absolute error between each data series (405-450) and its corresponding newly created data series (405-450); and detecting (230) an anomaly on the road (120) when the mean absolute error exceeds a predetermined threshold.

The embodiment of the invention relates to the technical field of vehicles, and discloses a pit identification method and device, and the method comprises the steps: obtaining the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel of a vehicle; determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; and according to the speed characteristic information of each wheel, determining a pit identification result of the vehicle. By applying the technical scheme of the invention, the problem of poor accuracy of pit identification in the prior art can be solved.

This invention discloses a method, system, electronic device, and medium for controlling the roof and ground of a vehicle's semi-active suspension. The method includes: determining the roof control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the roof damping coefficient; determining the ground control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the ground damping coefficient; determining the road roughness based on the vehicle's pitch angular velocity, vehicle roll angular velocity, unsprung vertical acceleration, and unsprung vertical velocity; determining the shock absorber operating mode based on the driving mode; determining the roof and ground distribution coefficient based on the road roughness and the shock absorber operating mode; determining the target damping force based on the roof control damping force, the ground control damping force, and the roof and ground distribution coefficient; and then controlling the vehicle's vibration based on the target damping force. This invention improves the accuracy of semi-active suspension control, thereby improving vehicle ride comfort, handling stability, and driving safety, and can be applied to the field of vehicle control technology.

This invention discloses a method, apparatus, terminal device, and storage medium for parameterizing marine vertical buoyancy flux based on convergence and frontogenesis. The method includes: acquiring grid point parameters through a marine simulation system; filtering vertical velocity and buoyancy to extract corresponding sub-mesoscale components and calculating the actual vertical buoyancy flux; determining target empirical coefficients through iterative optimization, including calculating horizontal divergence, horizontal buoyancy gradient, and depth correlation values, and calculating the theoretical vertical buoyancy flux; determining the target empirical coefficients when the correlation between the actual and theoretical vertical buoyancy fluxes is greater than a preset correlation threshold; otherwise, updating the empirical coefficients and recalculating; and performing sub-mesoscale sub-grid parameterization based on the theoretical vertical buoyancy flux corresponding to the target empirical coefficients. By implementing this invention, the problem of traditional vertical buoyancy flux parameterization based on a single mixed-layer baroclinic instability process is solved, improving the ability to characterize complex marine dynamic processes.

The invention belongs to the field of pneumatic and flight control of tilting rotorcrafts, and relates to a vortex ring boundary protection control method of a tilting rotorcraft. Comprising the steps that firstly, according to the maximum takeoff weight M and the rotor wing radius R of the tilt rotorcraft, the induced speed V1 of rotor wing downwash during hovering of the tilt rotorcraft is determined; 2, according to the induced velocity V1 of rotor wing downwash, the vortex ring boundary of a single rotor wing is determined, and the boundary is a binary quadratic curve composed of a forward flight velocity VX and a vertical velocity Vy; 3, the vortex ring boundary of the whole tilt rotorcraft is determined according to the vortex ring boundary of the single rotor and the flight characteristics of the tilt rotorcraft in the flight process, and the flight characteristics of the tilt rotorcraft in the flight process are that the upper half part of the aircraft entering the binary quadratic curve indicates that the aircraft enters the vortex ring boundary; therefore, whether the airplane enters the upper half part of the binary quadratic curve or not is considered in practice; and 4, reserving a preset safety margin on the basis of the boundary of the vortex ring of the whole tilt rotorcraft, and taking the preset safety margin as an early warning boundary of the vortex ring in the flight process.

The invention discloses a fixed-wing unmanned aerial vehicle self-adaptive flight control method based on a variable-pitch propeller and the self-adaptive variable-pitch propeller. The method comprises the steps that multi-sensor data such as the air speed, the height, the vertical speed, the accelerator and the rotating speed are collected in real time; based on a predefined comprehensive scoring model, scores of all flight stages are calculated through piecewise scoring functions of five dimensions of height, air speed, vertical speed, accelerator and time, and a strict conversion logic and hysteresis mechanism is combined to intelligently judge that the aircraft is in a take-off, climbing, cruising or descending stage at present; according to the judged stages and the real-time state, the pitch angle of the variable pitch propeller and the position of an engine throttle are dynamically calculated, control parameters are adjusted according to the stages, and height and rotating speed compensation is introduced; meanwhile, three-level safety protection including warning, active intervention and emergency response is implemented, and thrust and system efficiency are calculated online to optimize energy efficiency. According to the invention, self-adaptive, high-safety and high-efficiency control in the whole flight process is realized.

This invention discloses a method and apparatus for simulating the uplift process of ancient uplifts based on discrete element method (DEM) calculations. The method includes: determining the maximum slope of the fitted curve equation based on the upper boundary of the ancient uplift, thereby determining the initial overlap ratio of the particles; filling a rectangular box model of a second specified size with particles of a first specified size, ensuring the bottom particles have an initial overlap ratio, to obtain a first DEM model; determining the microscopic parameters of the granular materials of each stratum simulated using the first DEM model through biaxial compression experiments; setting the parameters of the first DEM model using the microscopic parameters of the granular materials and strata information to obtain a second DEM model; calculating the uplift vertical velocity of each particle at the bottom of the model based on the vertical velocity of the specified particles and the maximum value of the fitted curve; and simulating the uplift process of each particle at the upper boundary of the ancient uplift according to its uplift vertical velocity. This invention can simulate the uplift process of ancient uplifts with different geometric shapes.

The application provides a vertical multi-plate wave making system with linkage of a rod system and high-precision control and a control method thereof. A computer control system generates a nonlinear wave control signal, and a controller and a driving device are used to independently drive the hinged points on each wave making plate, so that fine adjustment of local movement of the wave making plate is realized, and the vertical velocity and displacement profile of a target wave are highly accurately reproduced by precisely controlling the displacement of each hinged point. Specifically, a transfer function of the swing amplitude of each plate of the vertical multi-plate wave making machine and the wave height is derived by using the ideal fluid potential flow theory of hydrodynamics, the consistent relationship between the swing amplitude of each plate and the ratio of the displacement or velocity of the nonlinear wave vertical distribution, and the geometric invariable characteristics of each wave making plate are combined, and the specific displacement of each hinged point is solved, and then the motion law of the servo motor is obtained according to the geometric nonlinear relationship between the hinged points of the wave making plate and the linkage motion of the servo sliding block, so that the high-precision reproduction of the target wave by the vertical multi-plate wave making system is realized.

The application discloses a method and system for controlling a flattening mode of an aircraft, a storage medium and a terminal device. The method comprises: generating a first control signal based on a current estimated vertical speed and a current target vertical speed determined according to an aircraft flattening trajectory curve; determining a pitch control correction under the action of wind interference based on a current track speed of the aircraft and an approach table speed; generating a second control signal according to the pitch control instruction and the pitch control correction; determining a gain adjustment coefficient based on dynamic simulation, generating a comprehensive control signal based on the sum of the first control signal and the second control signal and the gain adjustment coefficient, and providing a flight command for realizing accurate tracking of a current flight path of the aircraft and the aircraft flattening trajectory curve according to the comprehensive control signal. The application can effectively solve the problems of unstable flattening trajectory, inaccurate speed control and inability to ensure soft landing of the aircraft under extreme weather conditions in the flattening mode of the aircraft.

A method for planning stair-climbing torque based on multi-pose information fusion first acquires the pose information of the lower limbs when climbing stairs through a pose sensor. Then, based on the pose information of the lower limbs, the motion information of the human lower limbs when climbing stairs is obtained. Next, kinematic calculations are performed on the entire lower limb pose data to obtain the motion information of the human lower limbs, and then the human motion trajectory is obtained. The vertical velocity of the ankle joint is used as the discrimination criterion. When the velocity is greater than a predetermined threshold, an assist phase torque is output and the device outputs torque to follow the human body according to the interactive force data. When the velocity is less than the predetermined threshold, a follow-up phase torque is used and no assist phase torque is output. Finally, the motion controller MCU outputs torque and the knee joint motor executes it. This invention patent utilizes the ankle joint, which has good periodicity and strong noise resistance, to recognize the motion state and improve the stability of state identification. By filtering the human-computer interaction force and the output torque, the accuracy of torque is improved while optimizing the user comfort of the exoskeleton wearer.

The invention discloses a vertical navigation method based on a state machine. The method comprises the following steps: S1, acquiring vertical navigation parameters sent from an autopilot and aircraft state parameters output by an atmosphere data calculation module in real time; s2, acquiring flight plan information from a flight management system, and acquiring a next effective height constraint from the currently activated flight plan; s3, when the effective height constraint is obtained, calculating the required vertical speed RVS from the current position to the height constraint; s4, executing a vertical navigation state machine, and processing each state of the state machine according to the current state of the airplane and the vertical mode received from the autopilot; and S5, processing the output of each state of the state machine to obtain a vertical navigation instruction, sending the vertical navigation instruction to the autopilot, and completing closed-loop interaction with the autopilot. Based on the mechanism of the state machine, the automatic state switching of the vertical navigation is realized, and the safety efficiency and the automation degree of the vertical navigation are improved.

This invention relates to a multibody dynamics modeling and overload optimization design method for rocket landing, comprising the following steps: determining the configuration of the outriggers and the input of rocket body shape and quality parameters; establishing a parametric model; constructing the overall multibody dynamics model of the rocket landing simulation test platform; and performing overload optimization design. Based on the geometric relationship of the outrigger configuration, by changing the length of the main and auxiliary supports, the vertical velocity of the footpads touching the ground is controlled to be consistent. The minimum axial force of the main support or the minimum axial overload of the test platform is set as the optimization design objective. The discrete functional relationship between the changed parameters and the optimization objective is obtained. Finally, combined with the outrigger mass requirements and the tail end ground clearance constraints, the optimal outrigger configuration for the overall scheme is obtained. This provides a simulation basis for calculating the outrigger load and rocket body load during the landing process, meeting the needs of rapid iterative demonstration of the project.

The present application discloses a take-off and landing attitude control method, device, equipment and medium, which relates to the field of flight attitude control technology. By obtaining the current flight phase of the aircraft, and obtaining the ground-rubbing angle and parking angle of the aircraft; wherein the flight phase includes the landing phase and the take-off phase; generating an attitude / vertical speed integrated instruction according to the flight phase; obtaining an attitude error according to the attitude / vertical speed integrated instruction; obtaining an attitude protection control component according to the ground-rubbing angle and the parking angle; obtaining a comprehensive error according to the attitude error and the attitude protection control component, so as to adjust the aircraft's attitude according to the comprehensive error. The above scheme comprehensively considers the attitude protection range and trajectory control accuracy during take-off and landing, and adjusts the aircraft's take-off and landing attitude by designing a comprehensive feedback of attitude and vertical speed, and assisting with attitude protection control. While the aircraft can maintain the track relatively accurately during take-off and landing, it can also control the attitude within the protection range, thereby ensuring the flight safety of the aircraft.