60 results about "Vertical velocity" patented technology

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 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.

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 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.

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, 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.

An automatic landing control method for a large-scale fixed-wing unmanned aerial vehicle. The method comprises: dividing a landing phase of an unmanned aerial vehicle into an approach level flight phase, a final approach glide slope phase, a first landing flare phase, a second landing flare phase and a landing rollout phase; in the approach level flight phase, controlling the unmanned aerial vehicle to maintain a target level flight speed and a target approach level flight altitude, and to align a lateral offset and a track angle with a runway extended centerline and track the runway extended centerline; in the final approach glide slope phase, controlling the unmanned aerial vehicle to maintain a target glide speed and a target glide angle; in the first landing flare phase, controlling the unmanned aerial vehicle to maintain a target vertical speed and an airspeed; in the second landing flare phase, controlling the unmanned aerial vehicle to maintain the target vertical speed and the airspeed; and in the landing rollout phase, controlling the unmanned aerial vehicle to decelerate to 0, and at the same time, controlling the unmanned aerial vehicle to maintain a target lateral offset and a target heading angle and keep same on a runway centerline. The control method enables precise control over the automatic landing of an unmanned aerial vehicle, thereby greatly improving the robustness and safety of the automatic landing of the unmanned aerial vehicle.

This disclosure relates to a method and apparatus for generating overload commands based on glide slope deviation. The method includes: generating a target vertical velocity based on the aircraft ground speed and the nominal glide slope angle; generating a vertical velocity deviation value based on the generated target vertical velocity and the aircraft's current vertical velocity; generating a vertical distance deviation value based on the aircraft's current radio altitude and the glide slope beam signal; generating a deviation vertical velocity estimate and a deviation vertical distance estimate based on the generated vertical velocity deviation value and the vertical distance deviation value; and generating a normal overload command based on the generated deviation vertical velocity estimate and deviation vertical distance estimate.

The invention discloses a height integrated navigation method and system for a low-altitude sea-skimming aircraft. The height integrated navigation system for the low-altitude sea-skimming aircraft comprises a radio altimeter, a vertical accelerometer and a combined height filtering processor, the radio altimeter is used for measuring the actual radio altitude of the aircraft; the vertical accelerometer is used for measuring the vertical acceleration of the aircraft; and the combined height filtering processor is used for outputting a combined height, a combined vertical speed and a combined vertical acceleration according to the actual radio height of the aircraft and the vertical acceleration of the aircraft. According to the height integrated navigation system for the low-altitude sea-skimming aircraft, aiming at the height control problem of low-altitude sea-skimming of the aircraft, data of a radio altimeter and an accelerometer are fused, a third-order height filtering system is designed, and height divergence of an inertial system is damped by radio height signals, so that the navigation precision is improved. Complementary advantages of short-term high precision of the accelerometer and long-term stability of the altimeter are fused.

This invention discloses an automatic landing control method for large fixed-wing unmanned aerial vehicles (UAVs). The method divides the UAV landing phase into four stages: approach level flight, approach glide, first landing leveling stage, second landing leveling stage, and landing rollout stage. During the approach level flight stage, the UAV is controlled to maintain the target level flight speed, target approach level flight altitude, lateral offset, and track angle, aligning with and tracking the runway extension. During the approach glide, the UAV is controlled to maintain the target glide speed and target glide angle. During the first landing leveling stage, the UAV is controlled to maintain the target vertical speed and airspeed. During the second landing leveling stage, the UAV is controlled to maintain the target vertical speed and airspeed. During the landing rollout stage, the UAV's speed is reduced to zero, while simultaneously maintaining the target lateral offset and heading angle on the runway centerline. This method enables precise control of the UAV's automatic landing, significantly improving the robustness and safety of automatic UAV landing.

This application discloses a precise correction method for the GNSS vertical velocity field based on multi-source load modeling, relating to the fields of geodesy and geophysics. The method includes: acquiring multi-source surface mass load data; constructing a multi-source load dataset; calculating the vertical displacement response of the Earth's surface under point loads based on an elastic Earth model and using Farrell's load Green's function theory, obtaining the load Green's function by solving for the load Love number and summing Legendre series; using the spherical Green's function integration method to calculate the vertical displacement of each grid point on the global grid caused by all mass loads, constructing a global load deformation field, performing time series analysis, and extracting the load correction at the locations of each GNSS station globally; subtracting the load correction from the global GNSS vertical velocity field, while simultaneously subtracting the glacial isostatic adjustment effect, to obtain the corrected GNSS vertical velocity field. This application can obtain accurate and reliable GNSS vertical velocity information.

This invention discloses a wave power generation control system based on an immune genetic algorithm. The outer loop control loop includes: an immune memory bank, a nonlinear error feedback control law, a primary dual-buoy object, a secondary dual-buoy object, and a mirror image of the secondary buoy object. The inner loop control loop includes: a vertical velocity control module and a process model. The output of the mirror image of the secondary buoy object is connected to the input of the nonlinear feedback control law. The output of the nonlinear error feedback control law is connected to the input of the vertical velocity control module. The output of the vertical velocity control module is connected to the input of the process model, the input of the secondary dual-buoy object, and the input of the mirror image of the secondary dual-buoy object. The output of the secondary dual-buoy object is connected to the input of the primary dual-buoy object. The output of the process model is connected to the input of the vertical velocity control module. This invention solves the problem of interference from unmeasurable state variables, optimizes the wavelength and wave height of the waves, and improves the stability of the system.

To provide a suspension system for vehicle seats and a vehicle seat for improving the ride comfort of occupants. [Solution] The suspension device of this disclosure comprises a lower member, an upper member, a lifting mechanism, a spring, a variable damper with adjustable damping force, a first sensor for detecting the vertical speed of the upper member, a second sensor for detecting the vertical speed of the lower member, and a control device capable of controlling the damping force of the variable damper. The control device selectively executes a normal control mode and a bottoming-out prevention control mode. In the bottoming-out prevention control mode, when the first sensor or the second sensor detects that the speed moving upward or downward exceeds a reference speed, the damping force of the variable damper is adjusted to the maximum damping force.

This application provides a method for estimating vehicle state and a vehicle, relating to the field of vehicle control technology. The method relies on the assumption that the vehicle body is a rigid body and the corresponding physical model to determine a first vertical velocity of the vehicle body at each wheel end. A second vertical velocity of the vehicle body at each wheel end is then determined using a prediction model. This prediction model is a neural network model that can learn the mapping relationship between the vehicle's driving state and the vertical motion state at the wheel ends. It can fit the flexible deformation characteristics and local vibration characteristics of the vehicle body during driving, and does not rely on the aforementioned assumptions, thus avoiding errors caused by a non-rigid vehicle body. Furthermore, based on the first and second vertical velocities of the vehicle body, a target vertical velocity of the vehicle body is determined. This integrates the basic calculation results of the physical model with the accurate prediction results of the neural network model, eliminating the problem of large estimation errors caused by a non-rigid vehicle body, and accurately estimating the vertical velocity of the vehicle body at the wheel ends.

The invention discloses a depth suspension control method for an underwater vehicle (UUV). The method comprises the following steps: acquiring a current depth measurement value and a preset target depth value of the UUV; inputting the current depth measurement value and a control instruction at the previous moment into an extended state observer, and estimating in real time to obtain current state values of the UUV, including a current vertical speed estimation value, a current vertical acceleration estimation value and a current depth estimation value; on the basis of the current state value, predicting UUV states, including predicted depth, predicted speed and predicted acceleration, at a specified moment in the future; calculating a control signal based on the predicted depth, the predicted speed, the predicted acceleration and the target depth value; and a buoyancy adjusting execution mechanism of the UUV adjusts and controls water drainage, water absorption or stopping operation of the UUV according to the control signal. According to the method, the control lag of the low-cost UUV in the deep hovering control can be effectively overcome, and high-precision autonomous suspension is realized.

This invention discloses a method and system for selecting drag-reducing materials in water conveyance projects. The selection method includes: S1 applying the drag-reducing material to be tested onto a test sample and placing it in a water conveyance test section; S2 adjusting the average flow velocity of the cross-section of the water conveyance test section until the water flow enters the square resistance zone, and calculating the comprehensive roughness of the water conveyance test section while maintaining a constant flow state; S3 calculating the roughness of the test sample coated with drag-reducing material; S4 acquiring a two-dimensional planar flow field along the water flow direction in the water conveyance test section, and obtaining the near-wall average flow velocity and vertical velocity gradient of the test sample coated with drag-reducing material from the vertical velocity distribution; S5 obtaining the drag-reducing effect of the drag-reducing material based on the roughness, near-wall average flow velocity, and vertical velocity gradient of the test sample before and after applying the drag-reducing material; S6 repeating S1 to S5 until the drag-reducing effect of all the drag-reducing materials to be tested is obtained, and then selecting drag-reducing materials that meet the design requirements based on the design requirements of the water conveyance project.

Device for vibration decoupling between two systems (2, 4) in the form of spring-mass oscillators, one system (2) of which is assigned to a motion machine and the other system (4) to an operator acting on the motion machine, which at least partially performs movements about a transverse axis (Q) during traversing movements of the motion machine and thereby vertical movements in the direction of a vertical axis (z) with an absolute vertical velocity (v) z1,1 ) is subject to, which serves as an input variable for control and / or regulating devices that control a damping system (8) of one (2) and / or other (4) system to compensate for the vibrations, characterized in that the respective pitching movement of the other system (4) is detected by means of at least one gyroscope, the respective measured value (ω1), preferably amplified only by a predefinable factor (L1), the absolute vertical velocity (v z1,1) as an input variable.