77 results about "Yaw control" patented technology

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention relates to the technical field of intelligent driving, and discloses a vehicle drift control method, device and equipment and a medium, and the method comprises the steps: firstly determining a road adhesion coefficient and a drift target parameter based on the current transverse and longitudinal acceleration of a vehicle; and comparing the current drifting parameter with the drifting target parameter, and judging whether the vehicle enters a drifting state or not. And in combination with the road adhesion coefficient and the accelerator pedal opening degree, the initial target slip rate and the initial torque are obtained through table look-up, and the initial target slip rate and the initial drift target yaw velocity are corrected in real time through the dynamic adjustment model. The yaw error between the target yaw velocity and the actual yaw velocity and the slip error between the target slip rate and the actual slip rate are further calculated, and finally the target torque is comprehensively calculated based on the two errors, so that the driving torque is controlled to be transited to the target value from the initial value. According to the technical scheme provided by the invention, the contradiction between slip control and yaw control in the drifting process can be solved.

The invention relates to a distributed propulsion aircraft yaw control method and system.The method comprises the steps that in response to received yaw control instruction information, yaw moment needed for achieving yaw is determined; based on the yaw moment, a control signal used for driving the thrust reverser is generated; based on the control signal and the state information of the aircraft, through a cooperative control strategy, obtaining a global control instruction of a thrust reverser and a propulsion device; and executing the global control instruction, and controlling the thrust reverser and the propulsion device to cooperatively act. The problem of how to improve the yaw control efficiency of the aircraft in the related technology is solved.

The invention relates to the technical field of yaw control, in particular to a wind power plant robust yaw control method considering wind direction uncertainty. The method comprises the following steps: acquiring historical and real-time wind direction data of each fan in a wind power plant, and preprocessing the wind direction data; extracting wind direction statistical characteristics based on the preprocessed wind direction data, constructing a wind direction uncertainty representation model based on the wind direction statistical characteristics, and representing wind direction uncertainty in a probability form; and establishing a robust wake flow prediction model based on a wind direction uncertainty representation result in combination with terrain and fan layout information so as to predict a change trend of a fan wake flow superimposed effect under a wind direction uncertainty condition. According to the method, the wind direction uncertainty probability representation model based on the circle statistics theory is constructed, the wind direction distribution parameters are updated online in combination with a sliding time window mechanism, and random fluctuation, rapid change and space inconsistency of the wind direction can be accurately described.

Horizontal translation, pendular motion, and or yaw control of a load suspended from a carrier with a suspended load control system comprising a thruster which comprises a fan and a multi-pendant management module, wherein control input to the suspended load control system may be provided through the use of more than one remote pendant.

The invention discloses a wind turbine generator yaw control method, device and equipment and a medium, is applied to a wind turbine generator yaw system and relates to the field of automation, and the method comprises the steps that whether load reduction yaw is triggered or not is determined according to the running state of a wind turbine generator and environmental wind power data, if yes, a current target time node is recorded, and a corresponding load reduction preparation mark is set; determining whether a preset load shedding yaw condition is met or not based on the operation state of the wind turbine generator, the environmental wind power data, the target time node and the load shedding preparation mark, and setting the current load shedding yaw mark as a first mark or a second mark according to the met condition; if the mark is the first mark, directly executing the load reduction yaw operation, and if the mark is the second mark, adjusting the current rotating speed of the engine, and executing the load reduction yaw operation after the rotating speed is smaller than a preset rotating speed threshold value; and if the load shedding yaw operation is completed, setting the current load shedding yaw mark as a second mark. Therefore, yaw control can be carried out through an intelligent load reduction yaw control means.

The invention discloses a multi-unmanned ship formation predefined time distributed control method, and relates to the technical field of under-actuated multi-unmanned ship formation control, and the method comprises the following steps: (1), building a horizontal plane motion mathematical model of a three-degree-of-freedom unmanned ship; (2) defining an ideal offset vector and an actual offset vector of the ith unmanned ship relative to the jth unmanned ship; step (3), constructing a communication topology of the unmanned ship formation system, and defining a distributed position error vector; (4) designing a predefined time surging virtual control law and a predefined time yawing virtual control law of the ith unmanned ship; (5) designing a predefined time surging control law and a predefined time yawing control law of the ith unmanned ship; and (6) performing simulation verification. The invention aims to combine the design of the distributed controller with the predefined time control strategy, so that the tracking error can be stably converged within the preset time, thereby improving the transient response performance and the steady state control precision of the system, and achieving the rapidity, robustness and distributed characteristics of the formation control of multiple unmanned ships.

A yaw control method and apparatus for a wind turbine generator set are provided. The yaw control method includes: identifying the operating condition of the wind turbine generator set; when the wind turbine generator set is in power generation mode, performing yaw control according to a first yaw control rule; when the wind turbine generator set is in non-power generation mode and the current wind speed is within one of multiple preset wind speed ranges, performing yaw control according to a yaw control rule corresponding to the preset wind speed range to which the current wind speed is located; wherein the multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule; wherein the yaw control parameters used by the different yaw control rules are at least partially different.

This invention relates to an optimization method for yaw control of wind turbine generators based on operational data clustering. By filtering massive amounts of operational data from wind turbine generators, key information related to yaw deviation, such as wind speed, power generation, and wind angle, is extracted. The data is then divided into intervals based on wind speed and power generation, and cluster optimization is performed on the power generation and wind angle within each wind speed interval to find the optimal cluster center point for each interval. Finally, with the goal of maximizing wind turbine generator power generation, the comprehensive wind deviation angle is calculated and used as the yaw control compensation angle for the wind turbine generator, thereby improving yaw accuracy and increasing generator power generation efficiency.

This invention discloses a jig for assembling the arms of a multi-rotor manned aircraft. The jig uses a locking mechanism to fix the arm components, further completing the assembly of the arm components. This invention utilizes a small number of parts to assemble the arms of a multi-rotor manned aircraft with high quality, reducing assembly errors. Improved assembly precision of individual arms reduces the cumulative assembly error of all arms in the multi-rotor manned aircraft, thereby reducing the difficulty of parameter control. This results in a significant reduction in yaw control throttle, improved yaw angle tracking accuracy, extended flight time, and further enhanced safety of the manned aircraft. The invention is simple to implement, easy to operate, and highly effective.

The invention discloses a surface topography detection probe device and method based on active deflection compensation, and the device comprises an up-down displacement measurement module which is used for carrying out the measurement of the vertical displacement of a contact probe through a split type multi-polar-plate capacitive sensor structure; the up-and-down force balance control module and the up-and-down displacement measurement module form a second closed-loop control system and are used for controlling the contact force between the contact pin and the surface of the sample to be constant; the front and back deflection measurement module is used for detecting the deflection amount of the contact pin in the scanning direction; the front-back deflection control correction module and the front-back deflection measurement module form a first closed-loop control system and are used for calculating required correction torque through a closed-loop control algorithm and applying reverse driving force to counteract deflection caused by shearing force, and the two closed-loop systems work cooperatively to control the probe in the horizontal direction and the vertical direction. The problems that when an existing probe scans a complex shape, a track deviates due to shearing force, and the signal-to-noise ratio of displacement measurement is insufficient are solved.

A system and method reduce vibrations in a blade mounted on a hub of a wind turbine rotor when the rotor is in a limited yaw capacity state with a defined allowable yaw sweep. An allowable yaw sweep is defined for the limited yaw capacity state. A sensor in communication with a controller monitors for vibrations in the blade with the rotor at an initial yaw position. Upon detection of vibrations, the controller determines a yaw sweep sector that is within and less than the allowable yaw sweep and issues a command to a yaw system to yaw the rotor in a continuous back and forth manner in the yaw sweep sector. The controller continues to monitor for vibrations in the blade during or after the continuous yawing of the rotor and stops the continuous yawing of the rotor when the blade vibrations reduce to below the threshold level.

The invention relates to the field of wind power generation, in particular to a wind turbine generator yaw static error correction method and system based on a multi-beam laser radar. The method comprises the following steps: S1, scanning a wind field area in front of an impeller of a generator set through a multi-beam wind measurement laser radar mounted in a cabin of the wind turbine generator set to obtain parameter information of a plurality of spatial points; s2, performing fitting calculation on the parameter information system to obtain a fitting circle representing a horizontal wind vector of the wind field area, and solving the fitting circle to obtain a free flow wind direction; s3, the free flow wind direction is compared with the current cabin orientation, and a real-time static yaw error angle is obtained through calculation; generating a yaw control instruction according to a preset control strategy; s5, solving and calculating the fitting circle to obtain a transverse wind component, and correcting the yaw control instruction; according to the method, the control instruction is generated through the control strategy to drive the yaw system to perform dynamic compensation, so that the wind turbine generator can continuously maintain the optimal windward attitude, and the stability and long-term effectiveness of control are ensured.

The invention discloses an active yaw control method of a multi-impeller floating type wind generating set and related equipment. The active yaw control method comprises the steps that the incoming flow wind direction and the real-time azimuth angle and the motion state of a floating type platform are monitored in real time or periodically; filtering or state estimation processing is carried out on the real-time azimuth angle of the floating platform to filter out high-frequency oscillation components induced by waves, and an estimated azimuth angle reflecting the average yaw attitude of the floating platform is obtained; determining a target azimuth angle of the floating platform according to the incoming flow wind direction, and calculating a deviation angle between the estimated azimuth angle and the target azimuth angle; when the deviation angle exceeds a preset threshold value, according to the deviation angle and the environmental disturbance influence, generating a rotating torque control instruction used for driving the floating platform to rotate around the single-point mooring system; according to the rotation torque control instruction, at least one propeller installed on the floating type platform is controlled to generate thrust so as to drive the floating type platform to rotate till the deviation angle is reduced to be within a preset threshold value. The invention aims to realize quick, accurate and cooperative yaw control in the multi-impeller floating type fan, avoid the adoption of a complex and heavy independent yaw mechanism and inhibit the influence of wave disturbance on the yaw precision.

The invention belongs to the field of fan control, and particularly relates to a fan yaw automatic control method and system based on dynamic deviation tracking, and the method comprises the steps: collecting real-time operation parameters through a sensing device and a monitoring system configured by a fan; screening and standardizing the real-time operation parameters to form a yaw control analysis data set; decomposing the yaw deviation by adopting a deviation decomposition algorithm to obtain a steady-state deviation component and a dynamic fluctuation deviation component; inputting the real-time operation parameters into a power loss analysis model, outputting a power loss sensitivity coefficient, and calculating a deviation correction angle as a dynamic correction instruction; and the dynamic correction instruction is issued to a fan yaw driving system, the cabin is controlled to adjust the orientation according to the deviation correction angle, and safety monitoring is carried out based on cabin load data. According to the method, the problems of insufficient yaw control precision and more yaw related power loss caused by the fact that steady-state deviation and dynamic fluctuation deviation are not distinguished in traditional fan yaw control are solved.

The invention belongs to the technical field of intelligent control of wind generating sets, and particularly relates to a self-adaptive yaw control method and device based on fuzzy logic and a medium, and the method comprises the steps of collecting and preprocessing unit operation data, and calculating the absolute wind direction, the wind direction deviation and the turbulence intensity. A virtual yaw system is constructed, and an initial fuzzy rule base and a membership function are established by taking wind direction deviation, wind speed and turbulence intensity as input and taking a yaw control instruction as output. And a genetic algorithm is adopted to code and iteratively optimize the fuzzy rule combination and membership function parameters, and optimal control parameters are obtained by taking maximization of wind energy utilization and meeting of yaw frequency constraints as targets. Finally, the optimal parameters are migrated to an actual fan controller, and real-time self-adaptive yaw control is achieved. The yaw control instruction can be accurately generated according to the real-time wind condition and the unit state, the wind energy utilization rate is increased under the condition that the yaw frequency constraint is met, yaw control over the wind turbine unit is achieved, and the power generation efficiency is improved.

Systems and methods for controlling the motion, flight, and stability of vertical takeoff and landing (VTOL) aircraft are disclosed. These systems employ four or more stabilators with airfoil cross-sections to redirect airflow from rotor blades, allowing independent adjustment for hover, roll, yaw, pitch, and forward or reverse movement. In one configuration, the VTOL aircraft transitions between helicopter and fixed-wing modes during flight, with stabilators augmenting lift in fixed-wing mode. Additional yaw control surfaces redirect thrust from engines to enhance maneuverability. The design enables low-cost, easily maintained VTOL aircraft capable of achieving forward speeds greater than those of traditional helicopters.

This invention relates to the field of aircraft technology, specifically to a vertical takeoff and landing (VTOL) aircraft and its control method. The VTOL aircraft includes a tailless flying wing fuselage. Multiple drag rudders are mounted on the trailing edges of the left and right wing surfaces of the fuselage. These drag rudders can deflect vertically, generating differential drag through asymmetric deflection to provide yaw control torque for the fuselage. A tiltrotor quadcopter system is also mounted on the fuselage. The left and right propellers of the tiltrotor quadcopter system can differentially adjust their speed to further assist in providing yaw control torque. This invention significantly improves the aircraft's crosswind resistance during VTOL by eliminating the vertical takeoff and landing phase, while also achieving better aerodynamic efficiency during level flight. The integrated drag rudders and tiltrotor quadcopter system on the fuselage provide yaw control torque, thereby improving the aircraft's directional stability.

This invention discloses a heterogeneous multi-rotor layout with a single main rotor and partially tilted multiple slave rotors, relating to the field of unmanned aerial vehicle (UAV) design technology. It includes a large main rotor providing primary lift and n control rotors arranged around it, with some control rotors mounted horizontally and the rest tilted at a fixed angle. During steady-state flight, the anti-torsional torque of the main rotor is statically balanced by the horizontal component torque of the pull force from the tilted slave rotors. Attitude control of the UAV is achieved by differentially adjusting the rotational speeds of the control rotors, including pitch control, roll control, and yaw control. Pitch and roll control are achieved by differentially adjusting the rotational speeds of symmetrically positioned control rotors, while yaw control is achieved by differentially adjusting the rotational speeds between the horizontally mounted and tilted control rotor groups. This invention achieves a fusion of high aerodynamic efficiency and easy operation, effectively improving the UAV's endurance and flight performance.

This invention relates to a method for controlling the yaw of a wind turbine system by controlling multiple yaw drive actuators. Based on a requested motor speed reference as an input signal and an average motor speed reference as a feedback signal, the method determines a desired motor torque reference as the output signal for the multiple yaw drive actuators. The multiple yaw drive actuators rotate the nacelle or a structure comprising multiple nacelles, thereby providing a uniform load distribution to the multiple yaw drive actuators.

A rotorcraft with an unanticipated yaw prevention system for preventing unanticipated yaw of the rotorcraft in flight condition. In one embodiment, an alerting system is configured for alerting in hover condition of the rotorcraft at least a pilot of the rotorcraft about an unanticipated yaw risk. In another embodiment, the alerting system is configured to alert at least a pilot of the rotorcraft if a current yaw rate of the rotorcraft exceeds a predetermined yaw rate threshold, and a corrective measure indicating system is configured to indicate at least one corrective measure, in particular a pilot action on a yaw control member, adapted for preventing unanticipated yaw of the rotorcraft in the flight condition if the current yaw rate exceeds the predetermined threshold.

The present application relates to the technical field of compound-wing aircraft. Disclosed are a compound-wing aircraft yaw control method and yaw control system, a flight device and a storage medium. The compound-wing aircraft yaw control method of the present application comprises: acquiring rotor motor health status information in real time, and, on the basis of the rotor motor health status information, starting a tail propulsion control strategy for a tail propulsion motor, so as to achieve active yaw of the aircraft and maintain the current flight speed of the aircraft. In the compound-wing aircraft yaw control method of the present embodiment, when the rotor motor fails, yaw control is assisted by means of the tail propulsion motor, thus reducing the control burden of the rotor motor, and accordingly improving the handling performance.

The application relates to the technical field of wind turbine wake calculation, in particular to a wind farm full-field full-domain wake analysis method based on yaw control, which comprises the following steps: acquiring wind turbine parameters and terrain and inflow parameters of an operating environment in a wind farm, including the position of the wind turbine, the rotor diameter, the hub height, the yaw angle and the thrust coefficient, the flat terrain inflow wind speed, the complex terrain inflow wind speed and the turbulence intensity; calculating the lateral offset of the wake generated by the yaw of the wind turbine based on the law of conservation of momentum and the law of conservation of mass; calculating the wake width downstream of the wind turbine based on the inflow parameters and the lateral offset of the wake, and determining the range of the wake area; calculating the initial speed loss of the full-field full-domain wake based on the law of conservation of mass and the cosine distribution function; and obtaining the full-field full-domain wake speed of the wind farm based on the inflow speed and the wake speed loss at the complex terrain. Through comprehensive consideration of factors such as complex terrain, wake yaw and wake interaction, high-precision prediction of the wake speed of the wind farm is realized.

This disclosure provides a method for monitoring and correcting yaw angle anomalies, comprising the following steps: obtaining the angle α0 between the nacelle zero degree and true north, where nacelle zero degree is a preset initial angle for the nacelle; calculating the absolute position angle β of the nacelle based on the yaw position angle θ of the crew and the nacelle zero degree angle α0; uploading the absolute position angle β of the nacelle to the station monitoring system and generating the station's absolute position reference value β. ref Real-time monitoring of the cabin's absolute position angle β and absolute position reference value β ref deviation value β dif And using the station's absolute position reference value β ref Adjusting the nacelle position. The system uses a yaw control program to perform the unmooring function, ensuring the continuity and safety of the nacelle rotation. This method overcomes the time delay problem caused by offline determination in existing technologies, significantly improves the response speed and operational stability of wind turbines, reduces equipment failure rates, extends the service life of wind turbines, and further enhances the overall power generation performance of wind farms.

The invention discloses an active yaw moment control method integrating a multi-mode state machine and graded pressure control, and relates to the technical field of vehicle dynamics control. The method aims at solving the problems that a traditional vehicle yaw control system is lagged in yaw velocity dynamic response, insufficient in torque distribution and brake pressure control collaboration, limited in control precision and lack of personalized adaptation. The core of the system is to construct a multi-modal state machine framework, and realize accurate yaw control of the vehicle under different working conditions by combining a dynamic torque control algorithm, hierarchical brake pressure control and road adhesion coefficient self-adaption, and meanwhile, the system supports a driver to autonomously select a driving style, and improves driving safety and personalized experience.

The present application relates to wind turbine yaw control technical field, especially to a kind of feedforward and torque dynamic compensation active yaw control method and system, including wind farm feedforward solving unit, load real-time feedforward unit, torque dynamic compensation unit, yaw state monitoring unit, active yaw controller, electric drive execution unit and yaw damping vibration suppression unit;Each unit is communicatively connected.The present application is a kind of feedforward and torque dynamic compensation active yaw control method and system, system uses double feedforward compensation-three dynamic torque correction-active vibration suppression-closed loop correction collaborative architecture, method is based on forward wind prediction, multivariable fusion control, full torque dynamic compensation realizes accurate active yaw, solves the technical defects of traditional yaw control response lag, low wind precision, no dynamic torque compensation, large backlash impact, load and vibration are high, suitable for all kinds of wind turbine full working condition efficient, stable, long service life active yaw control.

This application discloses a wind turbine control method and system based on dynamic yaw optimization, relating to the field of wind turbine control technology. The method includes: measuring wind speed and direction at a forward measurement point in front of the wind turbine using a lidar mounted on the wind turbine nacelle to obtain forward wind information; acquiring the wind turbine's current yaw angle, current wind speed, generator power output, and nacelle acceleration in real time; predicting the target yaw angle of the wind turbine within a prediction time window based on the forward wind information, current yaw angle, current wind speed, generator power output, and nacelle acceleration; generating a yaw control command based on the target yaw angle; and sending the yaw control command to the yaw drive system to enable the wind turbine to control the wind ahead of time. This method solves the technical problems of low wind energy capture efficiency and high turbine load caused by yaw control response lag in existing technologies.

The application discloses a wind turbine yaw control system, comprising a wind direction data acquisition module, an MCU main control module, a yaw control module, a wind-aiming adjustment module, a yaw brake module, a cable release control module, a yaw error angle analysis module, a monitoring control module and a power module; the wind direction data acquisition module transmits collected information to the MCU main control module; the MCU main control module controls the wind-aiming adjustment module, the yaw brake module and the cable release control module through the yaw control module; the MCU main control module controls the yaw error angle analysis module and the monitoring control module; the application provides a wind turbine yaw control system with multiple functions, accurate wind direction control, flexibility, high stability, safety, cost reduction and work efficiency improvement.

The invention relates to a yaw prediction control method and system of a wind generating set, a medium and equipment. The yaw prediction control method comprises the following steps: constructing a Y-direction dynamic characteristic twin model of the wind generating set; constructing an X-direction dynamic characteristic twin model of the wind generating set; integrating the X-direction dynamic characteristic twin model and the Y-direction dynamic characteristic twin model to obtain a limit dynamic characteristic model; acquiring current state data and limit parameters of the wind generating set; predicting according to the current state data, the limit parameters and the limit dynamic characteristic model to obtain the limit wind speed of the wind generating set; and performing yaw control on the wind generating set according to the limit wind speed and the actual wind speed of the wind generating set. By means of the method, the maximum bearable wind condition limit of the wind generating set in the future time domain can be predicted, the yaw control effect of the future time domain is determined, and it is guaranteed that the set operates safely under the condition that the power loss is minimized.