77 results about "Wind disturbance" patented technology

The invention relates to a risk perception and early warning method and a system for cascading failures of a wind power base. The method provided by the invention comprises the steps of acquiring real-time operation mode data of a power grid and a wind power plant through SCADA (supervisory control and data acquisition) and a WAMS (wide area measurement system), acquiring possible wind power disturbance of the current power grid by combining with historical data of the wind power plant so as to establish a reasonable failure set, establishing a wind power generating unit dynamic model and a fan safety protection model, simulating dynamic operating conditions of the wind power plant after the power grid breaks down, carrying out power grid transient stabilization analysis after the wind power base breaks down and carrying out static safety analysis after a failure is removed, carrying out calculation and evaluation on the safety stabilization condition of the current power grid after occurrence of the wind power disturbance through a series of indexes which are applicable to early warning for the cascading failures of large wind power bases, analyzing the risk of the occurrence of cascading failures of the large wind power base, and realizing online safety early warning for an electric power system after the wind disturbance. The method and the system provided by the invention are easy to implement, and can visually reflect safe and stable operation conditions of the electric power system including the large wind power base.

A bionic visual navigation control system for autonomous aerial refueling docking includes: a tanker/receiver bottom layer control module, a multi-wind disturbances hose-drogue stable control module, an enable and select module, a close-range bionic vision relative navigation module, and a receiver relative position precise control module. A bionic visual navigation control method for autonomous aerial refueling docking is also provided. The present invention aims at improving the reliability, anti-interference and accuracy of the close-range relative navigation in the autonomous air refueling docking stage, and designs a matching relative position accurate control method with control switch, thereby improving the accuracy of close-range navigation and control, thereby promoting the successful realization of probe-and-drogue autonomous aerial refueling and improving the autonomy of UAVs.

The invention discloses a wind disturbance preventing unmanned aerial vehicle. The wind disturbance preventing unmanned aerial vehicle comprises a wind disturbance detecting device for detecting whether the unmanned aerial vehicle suffers from wind disturbance or not, a dip angle sensor for measuring the dip angle between the unmanned aerial vehicle and the ground, a wind direction detecting device for judging the wind direction according to the wind disturbance detecting result and the dip angle, and a controller for adjusting the power strength of a revolving wing motor arranged on a revolving wing shaft according to the wind direction. Due to the fact that the wind disturbance detecting device for detecting whether the unmanned aerial vehicle suffers from wind disturbance or not and the dip angle sensor for measuring the dip angle between the unmanned aerial vehicle and the ground are additionally arranged on the unmanned aerial vehicle, the wind direction detecting device judges the wind direction according to the wind disturbance detecting result and the dip angle, and the controller adjusts the power strength of the revolving wing motor arranged on the revolving wing shaft according to the wind direction. The unmanned aerial vehicle can fly around an object and can prevent wind disturbance when carrying out aerial shooting, and therefore the unmanned aerial vehicle is free of shaking, skewing and displacement under the condition of wind disturbance.

The invention relates to a lateral wind field estimation method based on an inclination angle of a rotor unmanned aerial vehicle. When being in a wind field environment, a quadrotor aircraft needs tokeep an inclination angle to realize hovering at a specified position, so that the component of the lift force in a lateral direction counteracts the influence of the wind resistance. And thus lateralwind disturbance information of the wind farm environment in which the aircraft is located in the hovering state is estimated according to a function relationship, obtained by pre calibration, between the inclination angle of the quadrotor aircraft and the s lateral wind disturbance. According to the invention, the method is based on existing sensing data of standard autopilots like a gyroscope,a GPS receiver, and an accelerometer; and no extra weather measuring devices like a wind speed measuring instrument are needed. Online wind field measurement is realized rapidly and accurately; and the technical support is provided for activities like the aerospace and forest fire prevention.

The invention relates to a quadrotor unmanned aerial vehicle cluster anti-interference formation control method based on a disturbance observer. The quadrotor unmanned aerial vehicle cluster anti-interference formation control method comprises the following steps of: step 1, constructing a single quadrotor coupling kinetic model containing external force disturbance; step 2, establishing the disturbance observer for moment disturbance generated by external wind on unmanned aerial vehicles, and estimating a disturbance value according to the disturbance observer; step 3, estimating a wind disturbance direction according to disturbance values, estimated by the disturbance observer, of an x axis and a y axis of an unmanned aerial vehicle leading aircraft, and designing a four-rotor anti-interference control law; 4, according to the wind disturbance direction estimated by the leading aircraft, when external disturbance occurs, keeping the formation of the four-rotor cluster in an I shape,designing a quadrotor cluster anti-interference formation control law, and achieving anti-interference control over the formation of the unmanned aerial vehicle cluster. According to the quadrotor unmanned aerial vehicle cluster anti-interference formation control method, the trajectory control precision of the single unmanned aerial vehicle can be remarkably improved, external wind disturbance borne by the unmanned aerial vehicle cluster is reduced, disturbance compensation of the single unmanned aerial vehicle is reduced, and the purpose of saving energy is achieved.

The invention discloses a large wind generator individual pitch regulation control method based on LIDAR assistance, and relates to a control method of a wind generator. The method comprises the steps that firstly, laser is emitted to a target position and is scattered by the atmosphere; a scattering signal is received by a photoelectric detector, so that coherent frequency mixing of the scattering signal and windfinding radar local oscillation light is realized; therefore frequency of a coherent signal can be detected; by utilizing the relationship between a frequency value and wind speed, radial speed of a focus position of a detected zone along the direction of a light beam is obtained; and meanwhile, the focus position of the laser beam is changed through a focus control device, so that measurement of wind fields of different height levels and different positions is realized. According to the LIDAR assistance individual pitch regulation optimization control system, the wind speed is measured through laser radar new-generation induction equipment; power fluctuation and fatigue load caused by wind disturbance are compensated through feedforward optimization control; and generation power fluctuation and vibration of a tower rack caused by large error of wind speed prediction delay are corrected.

The invention discloses an air vehicle capable of achieving transformation recycling and a recycling method, and belongs to the fields of rocket overall design technologies and reusability technologies. The air vehicle capable of achieving transformation recycling comprises a rocket body, a large-area wing used for providing lifting force and achieving high supersonic speed section decelerating, retractable canards for wide speed range trimming, a parachute system for subsonic speed section decelerating, a reverse thrust engine system for decelerating before landing and an undercarriage systemfor landing. The air vehicle capable of achieving transformation recycling can adapt to the whole-course flying working condition from the high supersonic speed stage to the subsonic speed stage, nomain power is consumed in the decelerating process, and the landing environment adaptability is higher in the recycling process. Compared with a wing transformation scheme, pressure center configuration of the low supersonic speed stage is completed by adopting the pop-up canards, a transformation mechanism is simple, power dissipation is low, and the effects are significant; and compared with a vertical recycling scheme, lateral wind disturbance can be resisted better in a horizontal recycling process.

The invention discloses a piezoelectric generating method and a piezoelectric generator using the same. A wind tunnel capable of increasing wind speed and leading wind to a piezoelectric generating element is installed on the periphery of the piezoelectric generating element of the piezoelectric generator performing power penetration by means of the wind tunnel type piezoelectric generating method, the wind is collected through the wind tunnel and led to the piezoelectric generating element, and the piezoelectric generating element is triggered through wind disturbance to perform the power penetration. By means of the piezoelectric generating method and the piezoelectric generator using the method, the utilization efficiency of wind energy can be improved, the wind energy can be utilized well, and the piezoelectric generating method and the piezoelectric generator are used for the technical field of new energy resources.

The invention discloses a quadrotor unmanned aerial vehicle attitude control method based on linear active-disturbance-rejection control, and the method comprises the following steps: 1, designing a linear tracking differentiator based on a quadrotor unmanned aerial vehicle kinetic model, and arranging a transition process for an attitude angle input signal; 2, designing a linear expansion state observer according to the converted dynamic model of the unmanned aerial vehicle under the wind disturbance, and carrying out observation estimation on an attitude angle output signal and total disturbance; 3, designing a linear state feedback controller for compensation according to the attitude angle observation error and the total disturbance. According to the method, the system can be kept stable when the quad-rotor unmanned aerial vehicle is influenced by external disturbance, internal coupling, internal uncertainty and the like, and the tracking precision and rapidity of instructions are ensured.

The invention relates to an active-disturbance-rejection fault-tolerant control method for an unmanned helicopter. The method comprises the steps of: firstly, carrying out modeling on wind disturbance and an actuator fault; designing an extended state observer to process the wind disturbance through an active disturbance rejection method, and constructing an adaptive fault observer for the actuator fault to estimate the actuator fault; and finally, designing a robust fault-tolerant tracking controller on the basis of a Lyapunov stability theory to ensure that the unmanned helicopter can track expected signals while flying safely and stably. The model is not only related to time, but also changes along with the change of the state of the helicopter, and can better reflect the actual flight condition. Meanwhile, the extended state observer is designed on the basis of the active disturbance rejection method to estimate and suppress the wind disturbance. In addition, the fault is converted, and the self-adaptive fault observer is designed to estimate a fault value in real time, so that the fault-tolerant capability of the system is improved. Finally, the problem of safe flight of the unmanned helicopter under interference and faults is solved, and it is ensured that expected trajectory signals are output and tracked.

The invention relates to the field of rotor wing unmanned aerial vehicle control, particularly to a rotor wing unmanned aerial vehicle control system and method based on a wind speed and direction sensor. The system comprises a wind disturbance acceleration sensing system and an acceleration feedback control system which are arranged on a rotor wing unmanned aerial vehicle, wherein the wind disturbance acceleration sensing system comprises a wind speed and direction sensor, a filter, a wind disturbance acceleration calculation module and a communication module A, the wind speed and direction sensor is connected with the wind disturbance acceleration calculation module through the filter, the wind disturbance acceleration calculation module is connected with the communication module A and is in wireless communication with the acceleration feedback control system, and the wind disturbance acceleration calculation module receives the attitude information, detected by the acceleration feedback control system, of the rotor unmanned aerial vehicle, obtains wind disturbance acceleration, and transmits the wind disturbance acceleration to the acceleration feedback control system through the communication module A. According to the invention, measurement of an environment wind vector and wind disturbance acceleration calculation and feedback can be realized, feedback compensation control is carried out in combination with wind disturbance information, and the stability of the system is enhanced.

The invention discloses a health performance evaluation method for a multi-rotor aircraft under atmospheric turbulence disturbance, and belongs to the technical field of flight reliability and safetyanalysis of unmanned aerial vehicles. The method comprises the following steps: firstly, establishing a random hybrid system model of the multi-rotor aircraft under atmospheric turbulence disturbance,wherein the model comprises flight kinematics and dynamics characteristics of the multi-rotor aircraft, a wind disturbance model and an atmospheric turbulence wind field simulation model; settting different modes to represent abnormal behaviors of different types of sensors, and modeling the change of the health performance of the aircraft through mode jump; then, estimating a probability densityfunction of the hybrid state of the multi-rotor aircraft by utilizing an interactive multi-model-particle filtering algorithm; and finally, proposing a fuzzy health degree as a health index to quantitatively evaluate the health performance of the multi-rotor aircraft. According to the method, the problem that the flight health performance of the multi-rotor aircraft is difficult to quantitativelyevaluate in the flight process can be solved, and the method is an effective solution for guaranteeing the flight reliability and safety of the multi-rotor aircraft.

The invention belongs to a launching device, in particular to a tensioning type wind load testing system. The advantage of the present invention is that the windshield and grid in the air supply system can ensure that the ambient air is evenly mixed before flowing to the simulated launch vehicle, and the combination of the air filter and the fine filter controls the randomness of dust in the air Suspended particles; pre-dried air and rehumidified air can control air humidity conditions according to experimental requirements, and can compare and determine the degree of influence of humidity on wind load characteristics; voltage stabilization and drying treatment can further suppress dynamic pressure and even random pulsating pressure to ensure wind pressure. The test requires a relatively stable output and improves the working environment of the wind tunnel test; the tension balance can test the tension in each tension direction, and can analyze the wind load characteristics and wind disturbance torque of the launch vehicle.

The invention belongs to the field of aerostat aerodynamic configuration design, and relates to a floating and rising integrated aircraft. According to the technical scheme, a floating and rising integrated design is adopted, and the floating and rising integrated aircraft has the advantages of high lift-drag ratio, low resistance and high anti-wind capability compared with a general floating aircraft. The aerodynamic configuration is a floating and rising integrated airbag, and empennages are arranged in an inverted T shape. According to the aerodynamic configuration of the floating and rising integrated aircraft, the empennages can improve the pitching characteristic and the yawing characteristic of the floating aircraft, the gyroscopic effect cannot occur when the side wind is applied to the floating aircraft, and it is ensured that the air attitude of the floating aircraft cannot be changed dramatically under the wind disturbance.

The invention discloses an unmanned aerial vehicle wind disturbance resistance control method and device, a terminal and a storage medium, and the method comprises the steps: collecting and processing the flight state data and sensor data of an unmanned aerial vehicle in a wind disturbance scene, and carrying out the training through a data driving mode, and obtaining a neural network model representing wind disturbance; deploying the neural network model representing the wind disturbance to the unmanned aerial vehicle, controlling the unmanned aerial vehicle to operate online, and estimating the disturbance quantity of the current scene wind to the unmanned aerial vehicle in real time; and performing motion compensation on the rotor wing of the unmanned aerial vehicle in a feedforward compensation mode, and recovering the unmanned aerial vehicle from the offset position to the target position according to the disturbance quantity. On the premise that a complex wind disturbance mechanism model is not analyzed, according to pre-collected flight record data, a data driving mode is adopted for training to obtain a wind disturbance black box model, the wind disturbance black box model is deployed to the quad-rotor unmanned aerial vehicle for real-time operation, finally wind disturbance is compensated through a feedforward control mode, the wind resistance control effect is achieved, and the wind disturbance control method is suitable for the quad-rotor unmanned aerial vehicle. The problem of low disturbance suppression efficiency is solved.

The invention provides a control system simulation modeling method of a ship propulsion motor in four sea condition environments. The simulation modeling method comprises the following steps of: constructing a ship motion model; constructing a marine environment disturbance force model, wherein the marine environment disturbance force model comprises a wind disturbance simulation model, a wave disturbance simulation model and a flow disturbance simulation model; constructing a propulsion motor model, wherein the propulsion motor model comprises an asynchronous motor model and a vector controlmodel; constructing a paddle model; and synthesizing the ship motion model, the marine environment disturbance force model, the propulsion motor model and the paddle model to form a comprehensive model of the electric propulsion ship propulsion motor and paddle, and acquiring a simulation result based on the comprehensive model of the electric propulsion ship propulsion motor and paddle. Startingfrom the stability of a power system, the method analyzes the influence of four sea conditions on ship motion and the electric propulsion system, and a stability control experiment is subjected to simulation analysis and research by adopting related strategies.

The invention discloses a traditional Chinese medicine compound for treating headache. The traditional Chinese medicine compound comprises rhizoma corydalis, radix angelicae, millettia specisoa champ., chuanxiong rhizomas, fructus viticis, rhizoma ligustici, medicinal cyathula roots, kudzuvine roots, radix scutellariae, herba asari and liquorice roots. According to the traditional Chinese medicine compound for treating headache, rhizoma corydalis, chuanxiong rhizomas and radix angelicae serve as the sovereign drugs and achieves the effects of eliminating qi stagnation, removing stasis and dredging brain collaterals to relieve pain; millettia specisoa champ. is capable of dredging collaterals and relieving urgent symptoms, kudzuvine roots are capable of dredging channels and resolving tetany, fructus viticis is capable of soothing collaterals and dispelling wind, and the materials assist the sovereign drugs in promoting qi to activate blood, dispersing blood stasis, dredging channels, soothing collaterals, relieving urgent symptoms and dredging qi and blood; meanwhile, rhizoma ligustici is combined for dispelling wind disturbance of brain apertures, medicinal cyathula roots are combined for ensuring proper downward flow of blood, radix scutellariae is combined for clearing away superficial heat, herba asari guides all other materials to enter brain channels and dispels wind to relieve pain, the materials serve as adjuvant drugs and achieve the effects of reinforcing and activating collaterals and relieving pain, and liquorice roots coordinate actions of all the drugs and serves as a conductant drug. All materials in the whole prescription work together to achieve the effects of promoting qi to activate blood and activating meridians to stop pain. The traditional Chinese medicine compound for treating headache is minor in side effect, sufficient in drug amount, quick in effectiveness, lasting in treatment effect after the compound becomes effective and good in cure effect, and drug loading capacity is obviously higher than that of preparations on the market.

The invention discloses a quadrotor unmanned aerial vehicle attitude fault-tolerant control method considering unknown wind disturbance, and relates to the field of unmanned aerial vehicle attitude control design. The method can effectively cope with unknown wind disturbance, actuator partial failure and deviation faults. According to the method, unknown wind disturbance and deviation faults are regarded as total disturbance, an improved disturbance compensator is designed by applying a self-adaptive mechanism aiming at the total disturbance, the size of switching gain is adjusted online according to the requirement of control precision, and waste of output energy of a controller caused by the fact that the switching gain is too large is avoided. And aiming at the partial failure of the actuator, the failure factor compensator designed based on the adaptive method enables the unmanned aerial vehicle to process the fault in time and recover the normal trajectory. The attitude controller is designed through the non-singular fast terminal sliding mode control technology, robustness is guaranteed, the fast response characteristic is also guaranteed, the unmanned aerial vehicle can handle faults in time, the fault tolerance of the unmanned aerial vehicle is enhanced, and the flight safety of the unmanned aerial vehicle is improved.