1186 results about "Yaw" patented technology

The invention relates to a rollover prevention dynamic detection method for a wagon on a curved conduit and a warning device. The method comprises the following steps: 1, installing a rollover prevention dynamic detection method for a wagon on a curved conduit which comprises a steering wheel rotation angle measuring device, a yaw angle velocity measuring device, an inclination angle measuring device and an electronic control unit which comprises a single chip microcomputer, wherein a solidification program of the single chip microcomputer is equipped with a centroid height dynamic detection algorithm module and a rollover prevention warning algorithm module, and a rollover alarming range is arranged in the rollover prevention warning algorithm module. 2, collecting steering wheel rotation angle singles, vertical yaw angle velocity measuring singles of the wagon, side-tipping angle singles of a carriage of the wagon, the side-tipping angle singles of a rear shaft of the wagon and vertical speed singles of the wagon. 3, a lateral acceleration and a centroid height of the wagon is counted through the centroid height dynamic detection algorithm module. 4, counting a rollover acceleration threshold value through the rollover prevention warning algorithm module according to the centroid height. 5, sending a corresponding alarm command according to a difference value of the lateral acceleration and the rollover acceleration threshold value of the wagon and the reset rollover alarm range.

A control system for an adjustable damping force damper of a suspension apparatus of a vehicle, includes a lateral acceleration detecting unit detecting a lateral acceleration of the vehicle at a gravity point thereof, a yaw rate detecting unit detecting a yaw rate of the vehicle and a control unit controlling a damping force of the damper. The control unit calculates a first target damping force based on an output of the lateral acceleration detecting unit, calculates a second target damping force based on a lateral acceleration at an axel position which is estimated by an output of the yaw rate detecting unit, compares an absolute value of the first target damping force with that of the second target damping force and sets a target controlling value of the damping force in accordance with the first or second target damping force which has a larger absolute value.

Controllable dampers are used to improve vehicle responses and stability during severe vehicle handling maneuvers. A total handling damping value for the vehicle is derived, preferably from the greatest of a yaw rate error value, a lateral acceleration value and a time derivative of lateral acceleration value. In addition, a control ratio of front axle roll damping to total roll damping is derived, preferably from the yaw rate error value, an oversteer/understeer indication and possibly vehicle speed. From these values, handling damping values are derived for each wheel of the vehicle and blended with damping values for the same wheels derived from suspension component movement to determine a corner damping command for each controllable damper. Preferably, the damping values derived from suspension component movement are shifted away from damping control of the vehicle body toward handling damping control when yaw rate error is large in magnitude.

The invention discloses an automobile active anti-collision automatic lane change control system and an operating method thereof. The system comprises a real-time driving safety state judging module and an automatic lane change control module which are connected with each other; the real-time driving safety state judging module comprises a critical braking distance calculation module and a safety state judging module unit; the automatic lane change control module comprises a lateral dynamics and CarSim vehicle dynamics model establishing module, an expected yaw velocity acquiring module and a design terminal sliding formwork lane change controller module. The method includes two steps of driving safety state judgment and automatic lane change control. The system and method adopt pedestrians in front as the study objects of active anti-collision, whether driving is in the dangerous state or not can be judged by calculating the critical braking distance and corresponded automatic control is performed, the smoothness and operating stability during lane change are guaranteed, and safety of the pedestrians in front is guaranteed.

The invention provides a steer-by-wire system and a stability control method thereof. The steer-by-wire system comprises a steering wheel module, a front wheel steering module and an ECU electronic control unit, wherein the ECU electronic control unit comprises a variable transmission ratio controller, a fuzzy self-adaptive PID controller and a full state feedback controller. The stability control method is as follows: the variable transmission ratio controller calculates an ideal transmission ratio at the moment according to a steering wheel rotation angle signal and a vehicle speed signal, to obtain an ideal front wheel rotation angle at the moment; the full state feedback controller of an automobile calculates a compensation rotation angle of front wheels according to a yaw rate signal and a lateral acceleration signal of the automobile, to realize the outer ring control of the steer-by-wire system; and finally the fuzzy self-adaptive PID controller is designed, to realize the inner ring control of the steer-by-wire system. The operating stability of the automobile is effectively improved through the coordinated control of inner and outer rings of the steer-by-wire system.

The invention discloses a stability integrated control method for an intelligent wheel and electric driven automobile. According to the stability integrated control method, a cooperative control method and a generalized internal model control method are utilized to design and develop the automobile stability control method based on the yaw velocity and the mass center side slip angle; and a drive signal, a brake signal and steering wheel angle driving demand which are provided by a driver and measured or estimated automobile state information serve as input, and through a stability integrated control algorithm and cooperative control over three stability intervention modes, ideal yaw moment response is obtained, control over the automobile is finally converted into independent control over wheels, all the wheels can achieve independent drive, brake and steering, and system robustness of the automobile is improved.

An adaptive vehicle control system that classifies a driver's driving style based on left/right-turn maneuvers. A process determines if the vehicle has started a turn if the yaw rate is greater than a first yaw rate threshold, and determines a vehicle heading angle based on the yaw rate and a sampling time if the vehicle has started a turn. The process then determines whether the vehicle maneuver has been completed by determining if the yaw rate is less than a second yaw rate threshold. The process then determines that the completed maneuver was a left/right-turn maneuver if the yaw rate is less than a third yaw rate threshold over the sampling time and the vehicle heading angle is within a heading angle range for a time period less than a predetermined time threshold. In one non-limiting embodiment, the heading angle range is between 75° and 105°.

The invention discloses a small-size aircraft system based on a cradle head, comprising a rack, a sensor box, a cradle head rolling rudder, a cradle head pitching rudder, a cradle head outer framework, a cradle head inner framework, an upper airscrew, a lower airscrew, an upper airscrew drive motor, a lower airscrew drive motor, a control unit, a telescopic rod and a pod. The aircraft system can realize complete control on the pose of an aircraft by pose adjustment on the cradle head and control on the revolving speed of the airscrews; the yaw angle of an aircraft body is controlled by reaction torque which is generated by the differential rotation of the upper and lower airscrews; the pitching angle and the rolling angle of the airscrews are realized by the rudders driving the cradle head to rotate; control on a spatial position is realized by the airscrew drive motors and pose adjustment on the cradle head. The small-size aircraft system is simple and reliable in design, and clear and explicit in structure; while expanding the existing rotor-type flight structure and control schemes, the small-size aircraft system is also a superior space carrier vehicle, and has considerable practical value.

The invention discloses an intelligent electric vehicle trajectory tracking and motion control method which comprises the following steps: judging whether a vehicle can work in a lateral stable rangeor not according to a given target trajectory and a current road condition; if the vehicle works in the stable area, executing the step 2; if the lateral stability range is exceeded, executing the step 3; 2, executing a working mode 1, and performing vehicle trajectory tracking and stability control by adopting vehicle trajectory tracking and yawing stability double closed-loop control: calculating an expected course angle of a vehicle according to an expected driving trajectory and a vehicle kinematics model; establishing a three-degree-of-freedom vehicle dynamic model, designing a trajectorytracking controller, inputting the difference between the expected course angle of the vehicle and the course angle of the previous moment into the trajectory tracking controller, and solving to obtain a front wheel rotation angle and a longitudinal speed; designing a yaw stability controller by adopting a model predictive control algorithm and then carrying out moment distribution; and 3, executing a working mode 2, and carrying out drifting control on vehicle trajectory tracking.

The invention relates to the technical field of wind power generation yaw, in particular to a draught fan foreseeable yaw control system based on imminent prediction. The system comprises an anemorumbometer, a prediction module, a yaw counter, a master controller, a yaw frequency converter and a yaw encoder. The anemorumbometer and the prediction module are in signal connection with the master controller. The output end of the master controller is connected with the yaw control frequency converter, a yaw motor and a wind driven generator in sequence. The output end of the yaw motor is in signal connection with the master controller through the yaw counter. The wind driven generator is in signal connection with the master controller through a yaw decoder. According to the draught fan foreseeable yaw control system based on imminent prediction, the active type intelligent yaw system is achieved based on a wind speed and direction ultra-short-term prediction model; analogue control can be achieved and the problem that generated energy is affected due to shutdown is avoided even on the condition that anemorumbometer is damaged.

An inertial measurement system for a spinning projectile comprising: a first, roll gyro to be oriented substantially parallel to the spin axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; calculate a roll angle error based on the difference between the computed pitch and yaw angles and expected pitch and yaw angles; provide the roll angle error as an input to a Kalman filter that outputs a roll angle correction and a roll rate scale factor correction; and apply the calculated roll angle correction and roll rate scale factor correction to the output of the roll gyro; wherein the Kalman filter models roll angle error as a function of roll rate and one or more wind variables. The system provides improved calibration of the roll axis rate gyro scale factor, e.g. of an IMU fitted to a rolling projectile. A separate process (an Euler angle filter) is used to calculate an estimate of the roll angle error without the use of the Kalman filter and is then provided as an input to the Kalman filter which can then operate in a stable manner. The filter can be configured to estimate and correct for crosswind effects which would otherwise significantly degrade performance.

Provided is a travel route estimation device capable of accurately estimating, without excessively increasing communication load of the device, a shape of a travel route even when one's own-vehicle is traveling on a travel route that does not have any objects installed on the route. A calculation section calculates and successively stores a radius of curvature of the travel route based on a yaw rate detected by a yaw rate detection section and on a traveling velocity detected by a velocity detection section. When conducting a filtering process for reducing variation of the calculate radius of curvature, the calculation section selects a filtering constant for multiplying the stored radius of curvature in accordance with the type of the travel route of the own-vehicle, and generates information representing a radius of curvature obtained by conducting at least one filtering process by using the selected filtering constant.

The invention relates to a steering redundancy and integrated control system and method of a four-wheel independent driving electric automobile. The control method comprises the steps that a differential action power reference curve is determined by an automobile controller according to the steering wheel hand power demands of a driver; an electric power steering module obtains a power torque command according to the measured steering wheel rotating angle data and sends the power torque command to an EPS (Electronic Power Steering, electronic power steering system); a differential action powersteering module utilizes the differential action power reference curve to obtain a front axle differential action torque of the electric automobile according to the measured data; a reference yaw angle velocity is obtained according to the measured automobile practical yaw angle velocity, the steering wheel rotating angle and the automobile speed data, and accordingly the additive yawing moment is obtained; and the automobile controller utilizes the front axle differential action torque and the additive yawing moment to obtain a four-wheel driving motor target output torque. Compared with theprior art, the steering redundancy and integrated control system and method have the advantages that the individualized demands of the driver can be met, the driving safety of the automobile is improved, and the manipulation burden of the driver is relieved.