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37results about How to "Lighten the manipulation burden" patented technology
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Maneuverability improving and controlling method based on distributively driven electric vehicle
ActiveCN103786602ALighten the manipulation burdenGuaranteed road sense informationSpeed controllerNon-deflectable wheel steeringTurn angleSteering wheel
The invention relates to a maneuverability improving and controlling method based on a distributively driven electric vehicle. The method includes steps: acquisition of an ideal differential power-assisted steering curve, namely acquiring the differential power-assisted steering curve according to a longitudinal vehicle speed and a steering wheel torque; calculation of a reference yaw velocity, namely calculating an ideal yaw velocity target value according to a steering wheel turn angle and vehicular running parameters, and taking the calculated ideal yaw velocity target value as the reference yaw velocity; calculation of an additional yaw torque, namely tracking the calculated reference yaw velocity in real time, calculating the additional yaw torque through feedforward control and feedback control; longitudinal force distribution, namely distributing driving torques of front-axle left and right wheels and rear-axle left and right wheels according to the ideal differential power-assisted steering curve and the additional yaw torque. Compared with the prior art, the method has the advantages that overall yaw velocity response is improved while operating burden is relieved for a driver, and accordingly maneuverability of the whole vehicle is effectively improved.
Owner:TONGJI UNIV
Vector distribution control method for torque of distributed-driven electric automobile
ActiveCN109747434AInhibition of difficult steering problemsImprove driving stabilitySpeed controllerElectric energy managementBrake torqueStable state
The invention discloses a vector distribution control method for torque of a distributed-driven electric automobile. Through the relation between vehicle driving state stability and the expected yaw velocity under a vehicle dynamical model, an ideal motion state of a vehicle under generalized additional yawing moment is worked out, and control stability of a system is judged and analyzed through the expected yaw velocity so as to determine whether yawing moment control is required or not; a tyre longitudinal slip rate is set as a specific value in a stable state, and driving torque is precisely distributed under the condition that a coefficient of road adhesion is met. Through reasonable distribution of driving or braking torque of front and back axles, the response speed to the expected yaw velocity can be remarkably increased, so that the vehicle has an ideal motion state when passing a curve, the problem of difficult steering of the vehicle when acceleration is not enough is effectively restrained, curve passing efficiency is improved, vehicle driving stability and smoothness are improved, control burden of the driver is remarkably reduced, and driving safety is improved.
Owner:SHANGHAI MUNICIPAL ELECTRIC POWER CO
Distributed driving electric automobile torque vector control method based on double-layer control
ActiveCN109606133AImprove driving stabilityEasy rideSpeed controllerElectric energy managementVehicle dynamicsDrive wheel
The invention discloses a distributed driving electric automobile torque vector control method based on double-layer control. The control method comprises the following steps: establishing a vehicle dynamic model, and calculating a tire slip rate by utilizing a Dugoff tire model; establishing a torque distribution controller based on the vehicle dynamic model and the Dugoff tire model, wherein thetorque distribution controller comprises an upper controller and a lower controller; calculating the current drive torque of each driving wheel of the vehicle by the upper controller according to body yawing angular velocity; calculating a compensating torque needed for remaining an ideal slip rate of each driving wheel by the lower controller according to the ideal slip rate of each driving wheel serving as a control objective, and further performing compensation distribution on the driving torque, so that an actual torque is output to the driving wheel, and torque vector control is completed. According to the control method disclosed by the invention, the automobile torque can be effectively subjected to vector distribution, the vehicle driving stability and smoothness are improved, theoperating burden of the driver is obviously decreased, and the driving safety is improved.
Owner:ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
Aerial oil receiving guide control method based on machine vision
ActiveCN104133480AIncrease success rateLighten the manipulation burdenPosition/course control in three dimensionsFly controlMachine vision
The invention belongs to the technical field of flying control, and particularly relates to an aerial oil receiving guide control method based on machine vision. The method aims at an airplane with oil adding and oil receiving functions so as to broaden the range of fighting and improve the possibility of successful recovery. The method is characterized in that the key point for realizing aerial oil adding is that the relative position between an oil adding cone tube and an oil receiving plane is accurately measured and effective guide and control are carried out on the oil receiving plane. As for a vision guide system, two main components of vision navigation and guide control can be divided. Supposed the oil adding plane flies at the set height at a constant speed and in a straight line, an auxiliary optical marker is arranged on the oil adding cone tube of the oil adding plane, a camera is arranged on the oil receiving plane, the position and the gesture of the oil adding cone tube can be measured in real time by adopting the vision measurement technology, a proper flight control rate is designed to guide the oil receiving plane, and oil adding and docking can be finished. According to the aerial refueling guide control method based on machine vision, the method is suitable for features of the oil receiving task, the operation burdens of a pilot during the oil receiving task process are reduced, and the success rate of the oil receiving task can be greatly improved.
Owner:SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
Steering redundancy and integrated control system and method of four-wheel independent driving electric automobile
InactiveCN108163044AMeet individual needsImprove maneuverabilitySteering linkagesAutomatic steering controlElectric power steeringDriver/operator
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.
Owner:TONGJI UNIV
Method for using throttle lever for comprehensively controlling engine and propeller
InactiveCN105620767ASimple interfaceLighten the manipulation burdenElectrical controlMachines/enginesThrottle controlJet aeroplane
The invention belongs to the technology of civil airplane engine operation system design and relates to a structure for using a single throttle lever for comprehensively controlling an engine and a propeller of a civil turbo-propeller airplane. The method is characterized in that one throttle lever is used for comprehensively controlling the power of the engine and the propeller; the angle of the throttle lever is transmitted to an electronic controller of the engine through an angle sensor; according to the angle of the throttle lever and a preset control law, a power instruction of the engine and a control instruction of the propeller are determined; the electronic controller of the engine controls the oil supply amount according to the power control instruction of the engine; the control instruction of the propeller is transmitted to an electronic controller of the propeller through a bus; and the electronic controller of the propeller determines a control law, the rotation speed and the propeller blade angle of the propeller according to the instruction. By the adoption of the method, throttle operation of a traditional turbo-propeller airplane is effectively simplified, the engine and the propeller are comprehensively controlled through the single throttle lever, throttle control and operation are simplified, and the flight safety is improved.
Owner:XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
Front wheel turning anti-swing system with medium speed correction function
ActiveCN105905284ASafe manipulationLighten the manipulation burdenProgramme control in sequence/logic controllersWheel arrangementsMan machineAutomated control system
The invention discloses a front wheel turning anti-swing system with a medium speed correction function. The system comprises an instruction sensor, a hydraulic valve, a turning actuator, a feedback sensor and a front wheel turning control box. The system is normally at an anti-swing state; the hydraulic valve is at a power-off state, and when a front airplane wheel sways, oil is forced to flow the other cavity from one cavity of the turning actuator through a two-way damping valve of the hydraulic valve; when a nose landing gear of an airplane is put down and a power switch is connected, an on-plane power supply supplies power for the front wheel turning control box, and the front wheel turning control box automatically controls the system to be switched into a turning state from the anti-swing state when receiving the instruction value of the instruction sensor. The medium speed correction function of the front wheel turning anti-swing system is fulfilled, the maximum autonomous manipulation ability of a pilot is rendered under the premise of ensuring the manipulation safety of the airplane, and the ground maneuver performance of the airplane is improved; automatic switching of the system states and gain scheduling manipulation of turning are realized, the manipulation load of the pilot is decreased, and man-machine comfort is enhanced.
Owner:JIANGXI HONGDU AVIATION IND GRP
A lateral automatic trim control method for twin-propeller unmanned aerial vehicle
The invention relates to the technical field of flight control, and discloses a lateral automatic trimming control method of a twin-propeller unmanned aerial vehicle. The method comprises the following steps: step 1,when that unmanned aerial vehicle (UAV) leave the ground, turning on an integrating switch, and integrating the integrator according to the roll angular rate and the roll angular ratedeviation until the deviation is eliminate and the integrating value is obtained; step 2, obtaining an integral output according to that integral value; step 3, adding that speed limit command to theintegral output to obtain the aileron command, and transmitting the aileron command to the unmanned aerial vehicle. The technical proposal of the invention restrains the asymmetry of the aircraft dueto the inconsistency of the propeller and the double-engine thrust by adding a rolling angular rate integral term in the rolling angular rate loop of the aircraft. On the one hand, the rolling angularrate integral guarantees the rapidity of the lateral automatic trimming; On the other hand, in view of the technical characteristics of propeller and twin thrust which are inconsistent and time-varying, the integrating term of roll angular rate can automatically adjust the integrating value, which has a good effect of automatic trimming.
Owner:四川腾盾科技有限公司
Strong-robustness full-envelope integrated control method for tilt-rotor unmanned aerial vehicle
ActiveCN111522356AAchieve unified controlReduce dependencePosition/course control in three dimensionsControl signalControl manner
The invention discloses a strong-robustness full-envelope integrated control method for a tilt-rotor unmanned aerial vehicle. The method can achieve unified control of a single controller for a full-flight envelope on the basis of INDI control in combination with envelope protection, hierarchical control distribution and height and attitude integrated control. The control method is characterized in that a problem of control quality reduction caused by the nonlinear time-varying characteristic of the tilt-rotor unmanned aerial vehicle can be effectively solved, and accurate control over the height and attitude of the tilt-rotor unmanned aerial vehicle is achieved. The control method is advantaged in that dependence of controller parameters on accuracy of the unmanned aerial vehicle model can be greatly reduced, and robustness of a controller to model mismatch and external disturbance is improved; different from a traditional sectional type tilting rotorcraft control mode, an integratedcontrol structure is adopted, discontinuity caused by manual introduction of control parameters or control signals can be avoided, and flight safety and the integration degree of the controller are improved.
Owner:BEIHANG UNIV
A Hybrid Lateral Control System for Large Aircraft
ActiveCN105523171BImprove securityLighten the manipulation burdenAircraft controlTelexCable transmission
The invention belongs to the technical field of flight control, in particular to a lateral control system. The invention utilizes the driver's main control device with instructions, the irreversible full-assist electromechanical control integrated actuation system, the long-wire cable transmission device, the centering spring near the rudder surface, etc., so that the implementation of the mechanical and telex hybrid lateral control system is simple. , light weight, high degree of system integration, two different control methods to increase the redundancy design, with a control backup function, which improves the safety of the aircraft. In the mechanical mode, the attitude control of the aircraft is easy.
Owner:XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
UAV layout with least control surface configurations and control method for same
ActiveCN110576965AReduce in quantityReduce control consumptionActuated personallyFlight vehicleFlight control modes
The invention provides a UAV layout with the least control configurations and belongs to the technical field of flight vehicle design and flight control. A UAV comprises a plane body, wings on both sides, engines on both sides and a stabilator, wherein the engines on the both sides are fixed under the wings on the both sides respectively, and the stabilator is fixed on the tail part of the plane body; and horizontal course control of the UAV is realized by the engines on the both sides of the plane body, and longitudinal control of the UAV is realized by deflection of the stabilator. The UAV layout provided by the invention has the beneficial effects that only one stabilator is disposed on a control pneumatic control surface of the UAV, so a resistance generation face is greatly reduced during UAV design and flight resistance is reduced without addition of an extra control execution mechanism; the least control surface is used for control, and the quantity of the control execution mechanism is minimized, so energy consumption generated from control can be reduced to a certain extent; and overall deflection of the stabilator is used, so steerage effects of control are increased as much as possible on the premise that a horizontal tail area is reduced and thus UAV control is more sensitive and effective.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
Method for controlling unmanned aerial vehicle based on maneuvering action chain and device
ActiveCN109933053AEasy to controlEnsure safetyAircraft componentsTarget-seeking controlUncrewed vehicleEngineering
The embodiment of the invention, which relates to the control technology of the unmanned aerial vehicle, discloses a method for controlling an unmanned aerial vehicle based on a maneuvering action chain and a device, thereby solving a problem of too large control load of the commander of the existing unmanned aerial vehicle control technology. The commander make a decision based on the state of the unmanned aerial vehicle and the current air situation and then selects an air battle task that is going to be performed by the unmanned aerial vehicle; on the basis of the air battle task, one maneuvering action chain including the maneuvering action type, parameters, and switching conditions is planned in an offline manner; the instruction information is sent to the unmanned aerial vehicle through a telemetering antenna; and after receiving the instruction information, the unmanned aerial vehicle performs the maneuvering action chain based on the instruction and completes the air battle task. The method and device are mainly applied to the unmanned aerial vehicle controlling.
Owner:HIWING AVIATION GENERAL EQUIP
Distributed drive electric vehicle torque vector distribution control method
ActiveCN109747434BInhibition of difficult steering problemsImprove driving stabilitySpeed controllerElectric energy managementVehicle dynamicsBrake torque
The invention discloses a vector distribution control method for torque of a distributed-driven electric automobile. Through the relation between vehicle driving state stability and the expected yaw velocity under a vehicle dynamical model, an ideal motion state of a vehicle under generalized additional yawing moment is worked out, and control stability of a system is judged and analyzed through the expected yaw velocity so as to determine whether yawing moment control is required or not; a tyre longitudinal slip rate is set as a specific value in a stable state, and driving torque is precisely distributed under the condition that a coefficient of road adhesion is met. Through reasonable distribution of driving or braking torque of front and back axles, the response speed to the expected yaw velocity can be remarkably increased, so that the vehicle has an ideal motion state when passing a curve, the problem of difficult steering of the vehicle when acceleration is not enough is effectively restrained, curve passing efficiency is improved, vehicle driving stability and smoothness are improved, control burden of the driver is remarkably reduced, and driving safety is improved.
Owner:SHANGHAI MUNICIPAL ELECTRIC POWER CO
Aircraft boundary limit control law and design method thereof
ActiveCN112597593ASimple Exact Boundary Limit MethodSolve the problem of a large reduction in the stability reserveGeometric CADSustainable transportationFly controlSteering column
The invention provides an aircraft boundary limit control law design method, which belongs to the technical field of flight control, and comprises the following steps: calculating boundary limit values according to flight speed, the boundary limit values comprising an attack angle limit value and a normal overload limit value, and determining a critical speed value; limiting an attack angle when the speed value is lower than the critical speed value, and limiting normal overload when the speed value is higher than the critical speed value; performing dynamic maximum value obtaining and logic comparison on attack angle and normal overload feedback signals; and calculating the difference between a signal output by a boundary limit control law of the steering column and a boundary limit value, and through static-error-free integral control law design, controlling the aircraft control surface to deflect so that the aircraft attack angle and overload do not exceed boundary limits. Accordingto the invention, worry-free control in the full flight envelope of the aircraft can be realized, and flight safety and maximum maneuverability of the aircraft are ensured.
Owner:SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
Aircraft brake dynamic-state and static-state comprehensive control system and aircraft brake dynamic-state and static-state comprehensive control method
InactiveCN105523176ALighten the manipulation burdenImprove use reliabilityAircraft brake actuating mechanismsAirplaneAutomotive engineering
The invention relates to an aircraft brake dynamic-state and static-state comprehensive control system, which comprises a brake command sensor, a brake controller, a brake control valve, a wheel brake device and a wheel speed sensor. According to the aircraft brake dynamic-state and static-state comprehensive control method, the condition that an aircraft is in a dynamic state or static state is determined through the wheel speed sensor signal to achieve different brake control laws, wherein the brake command is in the maximum value during the static-state braking and the corresponding brake system output pressure is the static brake pressure, and the brake command is in the maximum value during the dynamic-state braking and the corresponding brake system output pressure is the maximum normal brake pressure. According to the present invention, it can be ensured that the aircraft can automatically switch to the normal brake state and the static brake state during the take off process according to the aircraft state, it can be ensured that the pilot uses the pedal to perform the brake, the normal braking and the static braking can be achieved, the equipment additionally added to the configuration is not required, the burden on the pilot control is reduced, and the use reliability of the aircraft is improved.
Owner:XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA
Man-machine collaborative path planning method for mobile robot in unstructured environment
ActiveCN113467461ALighten the manipulation burdenImprove work efficiencyPosition/course control in two dimensionsRemote controlSimulation
The invention provides a man-machine collaborative path planning method for a mobile robot in an unstructured environment. The man-machine collaborative path planning method comprises the following steps: S1, enabling an operator to guide a path planner; s2 using a robot autonomous path planner; s3, performing hybrid filtering on the path planned by the operator obtained in the step S1 and the path autonomously planned by the robot obtained in the step S2, and synthesizing the path modified by the operator and the path autonomously planned by the robot; and S4, tactile feedback: feeding back the position deviation and the speed deviation of the planned path and the actual driving path of the robot to a handle of an operator in a force / tactile form. According to the method, the remote control technology based on force / touch and the autonomous planning technology are combined together, the defect that the mobile robot cannot autonomously complete field complex environment planning is overcome, the control burden of an operator is relieved, and the working efficiency is improved.
Owner:YANSHAN UNIV
A Torque Adjustment Mechanism for Two Degrees of Freedom Coaxial Rotorcraft
The invention relates to a two-degree-of-freedom coaxial rotorcraft torque adjustment mechanism. A support is of a rectangular frame structure. An adjustment piece shaft is supported at the front end and the rear end of the support through coaxial bearings correspondingly. One end of the adjustment piece shaft stretches out of the support to be connected with an adjustment piece. The other end of the adjustment piece shaft is connected with a rotary steering engine through a rotary linkage device, and the rotary steering engine is fixed to the support. The two sides of the support are movably connected with a base through hinge pins. The base is of a U-shaped frame structure. The support is located in a U-shaped opening of the base. A deflection steering engine which is fixed to the base is connected between the base and the support through a deflection linkage device. According to the adjustment mechanism, a gyroscope is used for judging the flight posture, and the torque difference, caused by two coaxial rotors, of the aircraft is counteracted by changing the direction and the inclination angle of the adjustment piece; and meanwhile, since the adjustment piece has two degrees of freedom, the adjustment range is greatly widened, the adjustment precision is greatly improved, and the stability of the aircraft is improved.
Owner:AVIC SAC COMML AIRCRAFT
Air speed correction method for helicopter maneuvering flight
ActiveCN105467158ASolve the problem of reverse airspeed changeEasy to controlTesting/calibration of speed/acceleration/shock measurement devicesAtmospheric airCorrection method
The invention belongs to the helicopter atmosphere system field, particularly to an air speed correction method for helicopter maneuvering flight, and solves the problem of air speed change in reverse direction when a helicopter performs large maneuvering movements like changing from rapid downslide to rapid climbing. An inertia sensor on the helicopter measures a vertical acceleration a; the vertical acceleration a opens a mobile points window for low pass filtering processing; the vertical acceleration is corrected after filtering processing to obtain a correction air speed that is close to a real air speed. <{EN3}>The correction of the air speed that is has a local distortion benefits controlling the flight stability by the automatic stationary system, reducing pilot's control burden and improving flight comfort level.
Owner:TAIYUAN AERO INSTR
Linear displacement override rod structure and method thereof
ActiveCN107839872ALighten the manipulation burdenImprove securityActuated personallyJet aeroplaneDriver/operator
The invention relates to a linear displacement override rod structure, which comprises an internal cylinder, an external cylinder and a brake apparatus; one end of the internal cylinder is an airplaneoperating lever system coupling end, one end of the external cylinder is the airplane operating lever system coupling end, the other end of the internal cylinder is inserted with the other end of theexternal cylinder, and a sleeving structure is formed, the internal cylinder and the external cylinder realize sliding fit, the brake apparatus is fixed on the external cylinder, the brake apparatusapplies restriction force between the internal cylinder and the external cylinder, so that the internal cylinder and the external cylinder are mutually slid, and rigid connection is formed. A combination mode of a torque limiter and rack-and-pinion realizes linear displacement override, an axial length is short, weight is light, the linear displacement override rod structure is suitable for installation in a small space, disengagement while override is rapid, residual stress after disengagement is small, driver control burden is greatly mitigated, artificial reset can be carried out at ground,maintenance performance is good, reliability is high, service life is long, and security and control quality for airplane control are increased.
Owner:LANZHOU FLIGHT CONTROL
Steering-by-wire steering platform and manipulation method for a heavy-duty manned legged robot
ActiveCN105564527BImprove flexibilityImprove driving comfort performanceMechanical steeringElectrical steeringSteering wheelSimulation
Owner:严格科创产业发展集团合肥有限公司
A linear displacement overriding rod structure and method thereof
ActiveCN107839872BLighten the manipulation burdenImprove securityActuated personallyDriver/operatorJoystick
The invention relates to a linear displacement override rod structure, which comprises an internal cylinder, an external cylinder and a brake apparatus; one end of the internal cylinder is an airplaneoperating lever system coupling end, one end of the external cylinder is the airplane operating lever system coupling end, the other end of the internal cylinder is inserted with the other end of theexternal cylinder, and a sleeving structure is formed, the internal cylinder and the external cylinder realize sliding fit, the brake apparatus is fixed on the external cylinder, the brake apparatusapplies restriction force between the internal cylinder and the external cylinder, so that the internal cylinder and the external cylinder are mutually slid, and rigid connection is formed. A combination mode of a torque limiter and rack-and-pinion realizes linear displacement override, an axial length is short, weight is light, the linear displacement override rod structure is suitable for installation in a small space, disengagement while override is rapid, residual stress after disengagement is small, driver control burden is greatly mitigated, artificial reset can be carried out at ground,maintenance performance is good, reliability is high, service life is long, and security and control quality for airplane control are increased.
Owner:LANZHOU FLIGHT CONTROL
A Human-Robot Collaborative Path Planning Method for Mobile Robots in Unstructured Environments
ActiveCN113467461BLighten the manipulation burdenImprove work efficiencyPosition/course control in two dimensionsSimulationMan machine
The present invention provides a human-machine collaborative path planning method in an unstructured environment for a mobile robot, which includes the following steps: S1, an operator-guided path planner; S2, a robot autonomous path planner; S3, the obtained result of step S1 The path planned by the operator and the path independently planned by the robot obtained in step S2 are mixed and filtered, and the path modified by the operator is combined with the path independently planned by the robot; S4, tactile feedback: the position deviation between the planned path and the actual path traveled by the robot Deviation from speed is fed back to the operator's handle in the form of force / tactile sensation. The method of the present invention combines force / tactile-based telemanipulation technology with autonomous planning technology, which not only overcomes the shortcoming that the mobile robot cannot autonomously complete field complex environment planning, but also reduces the operator's manipulation burden and improves work efficiency.
Owner:YANSHAN UNIV
A kind of unmanned aerial vehicle control method and unmanned aerial vehicle based on maneuver action chain
ActiveCN109933053BEasy to controlEnsure safetyAircraft componentsTarget-seeking controlAir combatReal-time computing
A method and device for controlling an unmanned aerial vehicle based on a maneuver chain disclosed in the embodiments of the present invention relate to unmanned aerial vehicle control technology and can solve the problem of a large operating burden on the commander of the existing unmanned aerial vehicle control technology. According to the status of the UAV and the current air situation, the commander selects the air combat mission that the UAV will perform after making a decision. For the air combat mission, a maneuver chain can be planned offline, including the maneuver type, parameters and switching conditions, and the command information The telemetry antenna is sent to the UAV, and the UAV executes the maneuvering action chain and completes the air combat task according to the instruction after receiving it. The method and device are mainly used for UAV control.
Owner:HIWING AVIATION GENERAL EQUIP
Airspeed Correction Method for Helicopter Maneuvering Flight
ActiveCN105467158BSolve the problem of reverse airspeed changeEasy to controlTesting/calibration of speed/acceleration/shock measurement devicesCorrection methodSpatial acceleration
The invention belongs to the helicopter atmosphere system field, particularly to an air speed correction method for helicopter maneuvering flight, and solves the problem of air speed change in reverse direction when a helicopter performs large maneuvering movements like changing from rapid downslide to rapid climbing. An inertia sensor on the helicopter measures a vertical acceleration a; the vertical acceleration a opens a mobile points window for low pass filtering processing; the vertical acceleration is corrected after filtering processing to obtain a correction air speed that is close to a real air speed. <{EN3}>The correction of the air speed that is has a local distortion benefits controlling the flight stability by the automatic stationary system, reducing pilot's control burden and improving flight comfort level.
Owner:TAIYUAN AERO INSTR
Aircraft braking antiskid control method and aircraft braking system
InactiveCN106218871BReduced brake skill requirementsLighten the manipulation burdenBrake regulatorsApplication and release valvesDriver/operatorPotential accident
The invention relates to an antiskid control method for an aircraft brake and an aircraft brake system. An active control concept is adopted, and through combination of aircraft speeds during braking, and through consideration of the influence of lifting force for the high-speed aircraft, actual brake pressure is gradually increased along with the decelerating of the aircraft, dangers that at the beginning of brake, ground attachment coefficients are small, so that the aircraft skids, and even tyres can be exploded due to brake are avoided; besides, requirements for braking skills of a pilot are further reduced, overcoming of human factors is facilitated, and using safety of the aircraft at high speed is guaranteed; the braking pressure is gradually enlarged along with the decelerating of the aircraft, so that potential accident hazards existing in brake of the aircraft at high speed are solved, but also the operating frequency of antiskid control is reduced, and the braking efficiency is improved. The antiskid control method of the aircraft brake and the aircraft brake system disclosed by the invention are suitable for development of a new aircraft, and are suitable for refitting of active service aircraft types.
Owner:XIAN AVIATION BRAKE TECH
Maneuverability improvement control method for electric vehicles based on distributed drive
ActiveCN103786602BLighten the manipulation burdenGuaranteed road sense informationSpeed controllerNon-deflectable wheel steeringTurn angleSteering wheel
Owner:TONGJI UNIV
Torque vector control method for distributed drive electric vehicles based on double-layer control
ActiveCN109606133BImprove driving stabilityEasy rideSpeed controllerElectric energy managementVehicle dynamicsDrive wheel
The invention discloses a distributed driving electric automobile torque vector control method based on double-layer control. The control method comprises the following steps: establishing a vehicle dynamic model, and calculating a tire slip rate by utilizing a Dugoff tire model; establishing a torque distribution controller based on the vehicle dynamic model and the Dugoff tire model, wherein thetorque distribution controller comprises an upper controller and a lower controller; calculating the current drive torque of each driving wheel of the vehicle by the upper controller according to body yawing angular velocity; calculating a compensating torque needed for remaining an ideal slip rate of each driving wheel by the lower controller according to the ideal slip rate of each driving wheel serving as a control objective, and further performing compensation distribution on the driving torque, so that an actual torque is output to the driving wheel, and torque vector control is completed. According to the control method disclosed by the invention, the automobile torque can be effectively subjected to vector distribution, the vehicle driving stability and smoothness are improved, theoperating burden of the driver is obviously decreased, and the driving safety is improved.
Owner:ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
A strong robust full-envelope integrated control method for tilt-rotor UAV
ActiveCN111522356BAchieve unified controlReduce dependencePosition/course control in three dimensionsControl signalControl manner
The invention discloses a strong and robust full-envelope integrated control method for a tilt-rotor UAV. On the basis of INDI control, combined with envelope protection, hierarchical control distribution, and integrated control of height and attitude, single control can be realized Unified control of the entire flight envelope by the controller. This control method can effectively deal with the problem of control quality degradation caused by the nonlinear time-varying characteristics of the tilt-rotor UAV, and realize the precise control of the height and attitude of the tilt-rotor UAV. This control method can greatly reduce the dependence of controller parameters on the accuracy of the UAV model, and improve the robustness of the controller to model mismatch and external disturbances. Different from the traditional segmented tiltrotor control mode, the present invention adopts an integrated control structure, which can avoid artificially introducing discontinuity of control parameters or control signals, and improve flight safety and controller integration.
Owner:BEIHANG UNIV
A method of aerial refueling guidance control based on machine vision
ActiveCN104133480BIncrease success rateLighten the manipulation burdenPosition/course control in three dimensionsFly controlMachine vision
The invention belongs to the technical field of flying control, and particularly relates to an aerial oil receiving guide control method based on machine vision. The method aims at an airplane with oil adding and oil receiving functions so as to broaden the range of fighting and improve the possibility of successful recovery. The method is characterized in that the key point for realizing aerial oil adding is that the relative position between an oil adding cone tube and an oil receiving plane is accurately measured and effective guide and control are carried out on the oil receiving plane. As for a vision guide system, two main components of vision navigation and guide control can be divided. Supposed the oil adding plane flies at the set height at a constant speed and in a straight line, an auxiliary optical marker is arranged on the oil adding cone tube of the oil adding plane, a camera is arranged on the oil receiving plane, the position and the gesture of the oil adding cone tube can be measured in real time by adopting the vision measurement technology, a proper flight control rate is designed to guide the oil receiving plane, and oil adding and docking can be finished. According to the aerial refueling guide control method based on machine vision, the method is suitable for features of the oil receiving task, the operation burdens of a pilot during the oil receiving task process are reduced, and the success rate of the oil receiving task can be greatly improved.
Owner:SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
Variable-gradient load mechanism
PendingCN112693596ALighten the manipulation burdenImprove operating precisionActuated personallyDriver/operatorClassical mechanics
The invention provides a variable-gradient load mechanism. The variable-gradient load mechanism comprises an earring joint; a rear housing; and a core rod which is arranged between the earring joint and the rear shell, one end of the core rod and the earring joint are relatively limited, and the other end of the core rod can move relative to the rear shell; bushings with first springs are arranged on the two sides, close to the earring connector and the rear shell, of the core rod respectively, check rings are arranged at ports of the bushings, a second spring is arranged between the two bushings, the elastic force of the second spring is larger than that of the first spring, and the bushings are limited by limiting mechanisms arranged on the corresponding sides of the core rod; wherein the core rod and the rear shell are partially sleeved with the main shell, a cavity of the lining is formed between the main shell and the core rod, and the main shell and the rear shell are relatively fixed. The variable-gradient load mechanism has a large force gradient during small displacement and a small rod force gradient during large displacement control, the operation precision during small displacement is improved, and the control burden of a driver during large displacement is reduced.
Owner:SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
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