2772 results about "Attitude control" patented technology

The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

The invention relates to an indoor autonomous navigation method for a micro unmanned aerial vehicle, belonging to the technical field of autonomous navigation of micro unmanned aerial vehicles. The method comprises the following steps: estimating the motion state of the micro unmanned aerial vehicle based on an RGB-D camera and an MEMS inertial sensor; performing real-time three-dimensional environment modeling based on fusion of the RGB-D camera and the MEMS inertial sensor; and performing real-time trusted path planning and path tracking control, implementing position control and attitude control through the three steps, and guiding the unmanned aerial vehicle to track the preset path to fly. According to the method, the unmanned aerial vehicle positioning accuracy and the motion state estimation accuracy are improved; the indoor autonomous environmental perception capability of the micro unmanned aerial vehicle is improved; according to the generated path, the positioning accuracy can be effectively guaranteed on the basis that the path feasibility is met; and the autonomy capability of the micro unmanned aerial vehicle is effectively improved.

A system and method are provided for ashort take-off and landing / vertical take-off and landing aircraft that stores required take-off power in the form of primarily an electric fan engine, and secondarily in the form of an internal combustion engine, wherein the combined power of the electric fan and internal combustion engines can cause the STOL / VTOL A / C to take-off in substantially less amount of time and space than other STOL / VTOL A / C, and further wherein the transition from vertical to horizontal thrust is carefully executed to rapidly rise from the take-off position to a forward flight position, thereby minimizing the necessity for a larger electric fan engine.

A tilt-rotor compound VTOL aircraft has a multiple-flow thrust generator(s) comprising a gas-powered tip-jet driven rotor(s) having a thrust-augmentation ratio of at least two; that tilts about the aircraft's pitch axis wherein the rotor's plane of rotation is substantially horizontal for VTOL operations and the rotor's plane of rotation is substantially vertical forward flight operations. A relatively small fixed-wing sustains the aircraft during forward flight. Compressed exhaust gas from the fan-jet engine(s) is ducted to a manifold having valves which control power to the multiple-flow thrust generator(s) and to the jet exhaust nozzle(s) as supplemental thrust for forward propulsion and yaw control. The manifold also serves to distribute compressed gas to the dead engine side of the aircraft in the event of a dead engine emergency, and to reaction jets for attitude control during VTOL operations. Thus this tilt-rotor aircraft is more efficient, faster, immensely lighter, less complex and less expensive to purchase and maintain than its shaft-driven counterparts.

The invention discloses a six-degree-of-freedom vibration isolation platform based on a Stewart parallel mechanism. Through the combination of active vibration isolation technology, passive vibration isolation technology, the optimized design of the spatial six-degree-of-freedom parallel movement mechanism, the design of flexible mechanisms and the like, designed is the six-degree-of-freedom vibration isolation platform which is capable of rigidly transmitting low-frequency attitude control signals and attenuating high-frequency jamming signals and which is resonance free. A control moment gyro group is integrated in the platform; multi-degree-of-freedom disturbance produced by the control moment gyro group is converted into six independent unidirectional linear vibrations. Telescopic bars are exactly the same in structural design and all provided with an active vibration isolation unit and a passive vibration isolation unit, which are used to isolate the six independent linear vibrations respectively.

In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command θref serving as attitude command and current base angle θ0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position θr of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

The invention relates to the technical field of four-rotor aircrafts, in particular to a small four-rotor aircraft control system and method based on an airborne sensor. The small four-rotor aircraft control system based on the airborne sensor comprises an inertia measurement unit module, a microprocessor, an electronic speed controller, an ultrasonic sensor, an optical flow sensor, a camera, a wireless module and a DC brushless motor. By merging the information of a light and low-cost airborne sensor system, the six-DOF flight attitude of the aircraft is estimated in real time, and a closed-loop control strategy comprising inner-loop attitude control and outer-ring position control is designed. Under the environment without a GPS or an indoor positioning system, flight path control and aircraft formation control based on the leader followed strategy over the rotorcraft are achieved through the airborne sensor system and the microprocessor, wherein the flight path control comprises autonomous vertical take-off and landing, indoor accurate positioning, autonomous hovering and autonomous flight path point tracking. According to the small four-rotor aircraft control system and method, a reliable, accurate and low-cost control strategy is provided for achieving autonomous flight of the rotorcraft.

The invention relates to a three-layer airborne flight control device for a micro four-rotor aerial vehicle, and belongs to the technical field of micro aerial vehicles. A navigation control layer consists of a navigation controller, an inertial measurement unit, a micro laser distance measuring sensor, a micro vision sensor and a wireless fidelity (WiFi) wireless network; an attitude control layer consists of an attitude controller, a gyroscope, an accelerometer, a magnetometer, a pressure sensor, an ultrasonic sensor, a remote controller and receiver unit and a ZigBee wireless communication unit; and a motor speed regulation control layer consists of four brushless motor speed regulators and four actuator units. The attitude controller is added, so that the whole flight device becomes intelligent, can perform autonomous navigation positioning, can avoid obstacles, is independent of manual operation of a remote controller, and becomes an intelligent robot in the real sense.

The present invention discloses a generative adversarial network-based multi-pose face generation method. According to the generative adversarial network-based multi-pose face generation method, in a training phase, the face data of various poses are collected; two deep neural networks G and D are trained on the basis of a generative adversarial network; and after training is completed, the generative network G is inputted on the basis of random sampling and pose control parameters, so that face images of various poses can be obtained. With the method of the invention adopted, a large quantity of different face images of a plurality of poses can be generated, and the problem of data shortage in the multi-pose face recognition field can be solved; the newly generated face images of various poses are adopted as training data to train an encoder for extracting the identity information of the images; in a final testing process, an image of a random pose is inputted, and identity information features are obtained through the trained encoder; and the face images of various poses of the same person are obtained through the trained generative network.

The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

A control system for a coaxial rotorcraft comprises a coaxial rotor set, further comprising an upper rotor actuated by a first drive shaft and a lower rotor actuated by a second drive shaft, the lower rotor having a direction of rotation counter to a direction of rotation of the upper rotor. A collective blade pitch control is configured to: collectively control pitch of only one of the upper rotor and the lower rotor and not another of the upper rotor and the lower rotor; and create an unbalanced torque force which acts on the rotorcraft and which enables a yaw attitude control input through said collective blade pitch control.

The invention relates to a self-adaptive index time varying slip form posture control method of a reentry flight vehicle, belonging to the technical field of flight vehicles. The method comprises the steps of firstly establishing a posture motion equation in a mode that a powerless reentry flight vehicle model is used as an object; secondly modifying the equation into the mode of an MIMO (Multiple Input Multiple Output) affine non-linear system, further applying a feedback linearization principle to carry out linearization processing so as to obtain a three-channel linearization model of pitching, rolling and yawing; aiming at the obtained linearization system, designing a modified self-adaptive index time varying slip form controller; and subsequently obtaining a control moment instruction for the posture control of the reentry flight vehicle, and inputting the control moment instruction into the reentry flight vehicle so as to control the posture. By combining the index time varying slip form control with a self-adaptive method, the problem of excessive adaptation of switch gain in the self-adaptive slip form control is solved to a certain extent, the uncertainty of system parameters and the influence of external disturbance can be suppressed effectively, and the precise posture control is realized.

A vehicle attitude controller capable of improving turning operability, steering stability, and ride quality of a vehicle. In a normal-operation region, a pitch control unit for calculating a target pitch rate in accordance with a roll rate performs control in priority to a roll suppression section. In this case, a target damping force calculated in the pitch control unit is weighed to control a damping-force characteristic of the dampers so that a pitch rate becomes equal to the target pitch rate. In a critical region in which a road-surface gripping state of the vehicle tires is bad, the roll suppression section performs control in priority to the pitch control unit so as to weigh a target damping force calculated in the roll suppression section. As a result, the damping-force characteristic of the dampers is controlled so as to increase the amount of roll suppression control.

In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command θref serving as attitude command and current base angle θ0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position θr of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

An aircraft including a fuselage with a yaw axis, a pitch axis and a roll axis, two attitude control thrusters, fixedly connected to the fuselage to provide thrust parallel to the yaw axis, two locomotion and hover thrusters. The aircraft further includes for the locomotion and hover thruster, a mechanism for tilting the locomotion and hover thruster about a tilt axis parallel to the pitch axis to select a direction, parallel to a first plane defined by the yaw and roll axes, in which the locomotion and hover thruster provides thrust.

The invention discloses a system and a method for tracking and controlling gestures of a spacecraft. The system comprises a gesture measurement component, a gesture controller and a control executive component, wherein the gesture measurement component is used for acquiring gesture information of the spacecraft and outputting a signal having a functional relation with gesture parameters; the gesture controller is used for performing operation, correction and amplification in accordance with a set control law according to the information acquired by the gesture measurement component and a guidance command, and outputting a control signal to the control executive component; the control executive component comprises a magnetic torquer, a bias momentum wheel and a tilt switch control unit; and the tilt switch control unit is used for controlling the rotating speed control quantity of the bias momentum wheel. The system and the method skillfully achieve the fast control ability of a star pitch axis and simultaneously a high-precision complex gyroscopic instrument is not required in use, thus the dependence on angular speed information of the system is remarkably reduced.

A head guide with a display is attitudinally controlled for guiding the head of a passive viewer wherein the display is for viewing images that are emulative of images viewed by a cameraman with head mounted cameras whose head attitude is monitored for controlling the head guide in synchronism with the images gathered by the cameras. Additionally, the viewer's eyes may be induced to follow a sequence of visual fixations at the same time as the passive viewer's head is induced to execute attitudinal movements consistent therewith.

The invention discloses a flight control method of a small unmanned helicopter. According to the method, a flight execution unit, a state sensor unit, a parachute unit, a flight control unit, a ground control terminal and a remote controller unit are adopted, so that the effects of obstacle-avoidance flight, water-surface-avoidance landing, self-adaptive flight attitude control, power monitoring, automatic parachute opening in case of engine stop, flight control through a flight control panel, flight path generation through a signal panel and the like can be achieved. The flight control method of the small unmanned helicopter has the advantages that the self-adaptive obstacle-avoidance flight capacity of the small unmanned helicopter can be improved; the small unmanned helicopter can operate in a beyond visual range according to a preset instruction, can slowly land by using a parachute in an emergency of the engine stop in the air, is protected from being damaged, and can automatically avoid a water surface during landing.

The invention relates to a different-surface crossover quick-change track fixed time stable posture pointing direction tracking control method. The different-surface crossover quick-change track fixed time stable posture pointing direction tracking control method aims at solving the problems that the uncertainty of inertia of a spacecraft is not considered in the prior art, the convergence time can not be freely adjusted depending on the state initial value, and compensating moment generated in the singular direction of a flywheel needs to be designed artificially. The method comprises the particular steps that 1, a tracking satellite and a target satellite are supposed to be located on a different-surface crossover track, and the expected posture needs to be determined; 2, an expected posture tracking control rule is designed; 3, buffeting of the expected posture tracking control rule is eliminated; 4, the expected posture of the crossed points of the tracking satellite and the target satellite changes along with distance between the crossed points of the tracking satellite and the target satellite, a configuration scheme of an execution mechanism is determined according to the expected posture tracking control rule, and the expected posture control torque is solved. The different-surface crossover quick-change track fixed time stable posture pointing direction tracking control method is applied to the field of satellite control.

The invention relates to a spacecraft relative orbit control method which relates to a spacecraft close range relative orbit control method to achieve a hedgehop flying mode of a spacecraft, namely a tracking spacecraft runs according to the self orbit after entering the designated space range relevant to a target spacecraft, and only gesture control is required. The problems of complex calculation, poor pointing accuracy caused by pose orbit control coupling, easiness in identity exposure, difficulty in time maintaining and the like in the traditional methods of hovering, accompanying flying, diversion and the like are solved. The method includes the following steps that 1 the tracking spacecraft enters a sight angle range of the target spacecraft and enters the determined distance range between the tracking spacecraft and the target spacecraft; 2 the starting point, the end point and the initial orbit entering speed of an expected orbit of the target spacecraft are calculated, and the main wave direction is determined; 3 the tracking spacecraft enters the orbit with the calculated determined initial orbit entering speed from the starting point of the expected orbit and breaks away from the orbit at the end point of the expected orbit.

A compound Vertical TakeOff and Landing (VTOL) aircraft. In a specific embodiment, the VTOL aircraft includes a gas-powered tip-jet driven rotary-wing and a fixed-wing that is capable of providing necessary lift to the aircraft during certain forward-flight regimes so that lift from the rotary-wing is not required. This enables slowing of the rotor, thereby reducing drag during forward flight and enabling flight above and below mu-1. Valves and accompanying ducting are employed to control compressed gas flow to the rotary-wing. Various reaction jets are employed for attitude control during VTOL and transition operations. The aircraft further includes a jet exhaust nozzle to provide forward thrust to facilitate forward flight.

Thrust vectoring enhances aircraft and spacecraft maneuverability. The propulsion systems of aircraft, using gas turbine engines, and spacecraft, using solid or liquid rockets, generate compressed gases that are directed through a nozzle to generate forward thrust. This patent describes opening ports to release gases from aircraft and spacecraft in a direction other than the direction of forward propulsion. By altering the direction of gas flows leaving the craft pitch, roll, yaw and attitude control is obtained. To control gas flow from ports a variable throat thrust vectoring nozzle is described. Independent operation of ports, rotational nozzles, laterally moving flaps and rotational vanes assists the thrust vectoring of gases leaving aircraft or spacecraft ports. The ability to direct gases enhances maneuverability during vertical takeoff and landing, forward flight and space flight.

A method for acquiring images of a photographic target from arbitrary perspectives with an unmanned aerial vehicle (UAV) equipped with at least one image acquisition device having a fixed acquisition direction with respect to the vehicle, said UAV having automatic navigation means allowing to reach an arbitrary location and automatic attitude control means allowing to transiently reach an arbitrary orientation in space, said photographic target being outside the current field of view of the acquisition device while the UAV flies along a predefined flying path, this method comprising: computing a target UAV position and an orientation in space required to acquire a desired image from a set of parameters, navigating to said target UAV position, modifying an attitude of the UAV in order to modify the acquisition direction to point toward the photographic target, acquiring images, and starting a recovery phase by controlling the UAV back to cruise attitude and navigate back along the predefined flying path.

An aerial vehicle finite-time adaptive attitude control method based on an improved power reaching law aims at a problem of aerial vehicle attitude stabilization with concentrated uncertainty. A sliding mode control method based on the improved power reaching law is utilized, and furthermore through adaptive controlling, the aerial vehicle finite-time adaptive attitude control method based on the improved power reaching law is designed. A terminal sliding mode surface is designed for ensuring definite-time convergence of a system. Furthermore through the improved power reaching law, a buffeting problem is reduced in an actual control system. Furthermore the adaptive controlling is used for a feedback control system which intelligently adjusts a self characteristic according to the environment change so that the system can operate in an optimal state according to some preset standards. The invention provides the control method which can reduce the buffeting problem of the sliding mode surface and a control torque and furthermore realizes uniform ultimate boundedness of finite time of the system on the condition that uncertainty and interference exist in the system.

The mixed submarine navigation craft has the advantages of both underwater glider and underwater navigation craft combined together. It consists of a head compartment, a buoyancy driving and controlling compartment, a pose controlling compartment, a wing compartment, a battery compartment and a tail compartment connected successively. It has one buoyancy driving system comprising an outer casing, an inner casing and a hydraulic system; one pose regulating system comprising a pitch regulating system and a roll regulating system; two wings with two rotation freedoms each and capable of being withdrawn for fast propulsion; and one navigation and control system for craft pose measurement, navigation, buoyancy control, etc. The present invention is one modular designed structure and may embark proper measurement sensors and task modules for various water operations.

The invention discloses a low-altitude autonomous navigation system for a rotary-wing unmanned plane. The low-altitude autonomous navigation system is composed of a data acquisition device, a data preprocessing module, a data fusion module, a guidance control loop module and an attitude control loop module. The data preprocessing module is used for carrying out sampling filtering and error compensation on current location data information collected by the data acquisition device; the data fusion module is used for carrying out fusion and updating and obtaining a current position and speed of the rotary-wing unmanned plane; the guidance control loop module is used for calculating an expected attitude angle and an expected height value; and the attitude control loop module is used for generating a controlled quantity. According to the technical scheme, a problem of poor attitude estimation precision of the conventional navigation system can be solved; and requirements of high-precision heading attitude calculation and position and speed fusion of the rotary-wing unmanned plane can be met. High-precision filtering of the system is realized. On the basis of the analysis and calculation of the autonomous navigation system, the flight route and height can be corrected and the flight attitude can be adjusted autonomously; and the autonomous flight of the unmanned plane can be realized.

The invention discloses a self aircraft under water driven by the mixed power. It includes the main body, the fixed vane, the vertical tail vane, the horizontally fixed bow rudder and a canula screw thruster. In the dome, it is installed with the flotage driving out bladder, the flotage driving pressure capsule with the flotage driving system, the guise adjusting pressure capsule with the pitching adjusting system and the navigation system, the electric source and controlling system pressure capsule which are all connected with out water directly. By using the triangle vane, it is proper to improve the gliding effect when gliding; by using the horizontal bow rudder and the vertical tail rudder, the guise and the track can be controlled in the AUV mode to help the guise control in the gliding mode, the pitching guise adjusting system can reach the guise control in gliding mode. So it can monitor and detect the big field water for long time.

The invention provides a satellite attitude orbit determining system and a satellite attitude orbit determining method. The method comprises the following steps of: acquiring a pseudo-range, a pseudo-range rate and a carrier phase data from satellite navigation signals from an attitude orbit acquisition module by an attitude orbit determining module in an on-satellite subsystem, generating inter-satellite relative position information, inter-satellite relative velocity information and three-dimensional position information by using the pseudo-range, the pseudo-range rate and the carrier phase data, performing a federal filtering algorithm on the three-dimensional position information and a satellite starlight elevation to generate position information and velocity information of a relative satellite inertia system, performing joint attitude determining by using the satellite navigation signals, the satellite attitude angle information and the satellite starlight elevation to generate a triaxial angle, and performing optimal estimation on the triaxial angle to acquire a triaxial attitude angle and a triaxial attitude angular velocity of a satellite; and performing orbital transfer and attitude adjusting control by an attitude orbit control computer according to the information output by the attitude orbit determining module. By adopting the system and the method, the attitude determining precision and the orbit determining instantaneity can be improved.

The invention provides a multi-rotor type unmanned aircraft system with a fire detecting function. Six engine arms and a frame form a body frame of the multi-rotor type unmanned aircraft system; a motor and an electronic speed regulator are connected with each other to control the rotation speed of propeller blades; a landing gear is used for an aircraft to stably land during landing; an unmanned aircraft flight control system is used for controlling stable postures of the aircraft; a sensor is connected with the unmanned aircraft flight control system; a small-sized control computer is connected with laser distance measuring sensors through communication; a processed signal is input into the unmanned aircraft flight control system to control three-dimensional positions and postures of the aircraft indoors; high-definition cameras are connected with an image transmitting device to collect video images of environment; and the image transmitting device is used for transmitting a video image signal to a ground station device so as to realize real-time observation. The multi-rotor type unmanned aircraft system with the fire detecting function, provided by the invention, is advantaged in that the multi-rotor type unmanned aircraft system can autonomously fly under a complicated environment, automatically detect fires in real time, automatically avoid obstacles and protect personal safety; remote monitoring and remote real-time communication are realized; data can be saved and replayed and so on.