CN106081081A - Can be automatically near unmanned vehicle and the control method of vertical - Google Patents
Can be automatically near unmanned vehicle and the control method of vertical Download PDFInfo
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- CN106081081A CN106081081A CN201610452278.1A CN201610452278A CN106081081A CN 106081081 A CN106081081 A CN 106081081A CN 201610452278 A CN201610452278 A CN 201610452278A CN 106081081 A CN106081081 A CN 106081081A
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- fuselage
- vertical
- distance
- angle
- sensor
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 235000009470 Theobroma cacao Nutrition 0.000 description 1
- 244000240602 cacao Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of can be automatically near the unmanned vehicle of vertical and control method, described unmanned vehicle includes fuselage, flight assembly, deflection measuring unit, course adjustment unit and close control unit, wherein: described flight assembly is attached on fuselage and drives fuselage to fly；Described deflection measuring unit is positioned at fuselage and measures the angle of fuselage and front vertical face when the vertical of fuselage with front is less than the first distance；Described course adjustment unit, controls flight crew part when the angle non-90 degree of the fuselage recorded in deflection measuring unit and front vertical face and adjusts course angle；Described near control unit, it is used for when the angle of the fuselage that deflection measuring unit records with vertical is 90 ° controlling flight crew part and makes fuselage fly to vertical.The present invention adjusts course automatically by measuring the angle of fuselage and front vertical face, thus unmanned vehicle can be made to fly to curtain wall in the way of vertical curtain wall.
Description
Technical field
The present invention relates to unmanned plane field, more particularly, it relates to a kind of cocoa is automatically near the unmanned flight of vertical
Device and control method.
Background technology
Many rotor unmanned aircrafts are with features such as its simple in construction, with low cost, maneuverabilities so that photography of taking photo by plane,
The application of the industry such as ground mapping, reconnaissance and surveillance is the most extensive.Above-mentioned many rotor unmanned aircrafts typically by wireless remote control or
Program handles flight.
Current unmanned vehicle is in flight course, and course angle is all by operator (flying hands) Non-follow control.In nothing
People's aircraft is near vertical (such as curtain wall etc.) when, and the error of manual control mode is very big, and owing to making in high-altitude
Industry, operator often cannot see the attitude of aircraft, maloperation easily occur, make the unmanned vehicle cannot be vertically near curtain
Wall.
Summary of the invention
The technical problem to be solved in the present invention is, for above-mentioned unmanned vehicle manually near curtain wall time be difficulty with hanging down
The most close problem, it is provided that a kind of can be automatically near the unmanned vehicle of vertical and control method.
The present invention solve the technical scheme of above-mentioned technical problem be to provide a kind of can be automatically near the unmanned flight of vertical
Device, including fuselage, flight assembly, deflection measuring unit, course adjustment unit and close control unit, wherein: described flight crew
Part is attached on fuselage and drives fuselage to fly；Described deflection measuring unit is positioned at fuselage little with the vertical in front at fuselage
The angle of fuselage and front vertical face is measured when the first distance；Described course adjustment unit, for surveying in deflection measuring unit
The angle non-90 degree of fuselage and front vertical face time control flight crew part and adjust course angle；Described near control unit, it is used for
Controlling flight crew part when the angle of the fuselage that deflection measuring unit records with vertical is 90 ° makes fuselage fly to vertical.
Of the present invention can automatically near vertical unmanned vehicle in, described deflection measuring unit includes first
Range sensor, second distance sensor and deflection angle computation subunit, and described first range sensor and second distance pass
Sensor is positioned in the same level of fuselage；Described deflection angle computation subunit passes according to the first range sensor and second distance
The distance signal recorded of sensor calculates the angle of fuselage and front vertical face.
Of the present invention can automatically near vertical unmanned vehicle in, described unmanned vehicle also include hovering
Control unit is little for the distance between the fuselage recorded at described first range sensor or second distance sensor and vertical
In or equal to second distance time, control flight assembly make fuselage hovering flight.
Of the present invention can automatically near vertical unmanned vehicle in, described first range sensor and second
Range sensor is positioned at the leading flank of fuselage, and the line of this first range sensor and second distance sensor is perpendicular to fuselage
Axis.
Of the present invention can automatically near vertical unmanned vehicle in, described deflection angle computation subunit is passed through
Formula calculated below calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor and second distance sensor records, L is first
Range sensor and the spacing of second distance sensor, a is constant.
The present invention also provide for a kind of can be automatically near the unmanned vehicle control method of vertical, described unmanned vehicle bag
Including fuselage and flight assembly, the method comprises the following steps:
Vertical at fuselage with front measures the angle of fuselage and front vertical face when being less than the first distance；
Control flight crew part when fuselage is with the angle non-90 degree of front vertical face and adjust course angle；
Controlling flight crew part when the angle of fuselage Yu vertical is 90 ° makes fuselage fly to vertical.
Of the present invention can automatically near vertical unmanned vehicle control method in, described measurement fuselage is with front
The step of the angle of side's vertical includes:
Respectively by the first range sensor, second distance sensor measurement and the distance of vertical, described first distance
Sensor and second distance sensor are positioned in the same level of fuselage；
Fuselage and front vertical face is calculated according to the distance signal that the first range sensor and second distance sensor record
Angle.
Of the present invention can automatically near vertical unmanned vehicle control method in, described method also includes:
Distance between the fuselage recorded at described first range sensor or second distance sensor and vertical is less than or equal to second
During distance, control flight assembly and make fuselage hovering flight.
Of the present invention can automatically near vertical unmanned vehicle control method in, described first Distance-sensing
Device and second distance sensor are positioned at the leading flank of fuselage, and the line of this first range sensor and second distance sensor hangs down
Straight in the axis of fuselage.
Of the present invention can automatically near vertical unmanned vehicle control method in, described according to the first distance
When the distance signal that sensor and second distance sensor record calculates the angle of fuselage and front vertical face, by calculated below
Formula calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor and second distance sensor records, L is first
Range sensor and the spacing of second distance sensor, a is constant.
The present invention's can be automatically near unmanned vehicle and the control method of vertical, by measuring fuselage and front vertical
The angle in face adjusts course automatically, thus unmanned vehicle can be made to fly to curtain wall in the way of vertical curtain wall.The present invention can apply
Need to fly in flight clean robot etc. and be accommodated to the application of vertical, and aspect equipment is stopped.
Accompanying drawing explanation
Fig. 1 is that the present invention can be automatically near the schematic diagram of unmanned vehicle embodiment of vertical.
Fig. 2 is the schematic diagram that the present invention can fly to vertical automatically near the unmanned vehicle of vertical.
Fig. 3 is that the present invention can be automatically near the schematic flow sheet of unmanned vehicle control method embodiment of vertical.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, 2, it is that the present invention can be automatically near the schematic diagram of unmanned vehicle embodiment of vertical, above-mentioned nothing
People's aircraft can control flight and action by remote controller, to complete corresponding function.Can automatically close hang down in the present embodiment
The unmanned vehicle faced directly includes fuselage 11, flight assembly 15, deflection measuring unit 12, course adjustment unit 14 and close control
Unit 13, wherein flight assembly 15 is attached on fuselage 11 and drives fuselage 11 to fly, and has controller in fuselage 11.Fly
Row assembly 15 and fuselage 11 constitute unmanned vehicle main frame, and the controller in fuselage 11 can be believed according to the control from remote controller
Number control flight assembly 15, it is achieved the flare maneuver of unmanned vehicle main frame.Course adjustment unit 14 and close control unit 13
Can be by the software sharing of the controller being integrated in fuselage 11, deflecting measuring unit 12 then can be by increasing at fuselage 11 accordingly
Sensor also combines the software sharing in controller.
Especially, above-mentioned flight assembly 15 includes four rotors 151, and these four rotors 151 are evenly distributed on fuselage 11
On, i.e. aircraft main frame is quadrotor.
Deflection measuring unit 12 is positioned at fuselage 11 and the vertical 20 in fuselage 11 and front (can basis less than the first distance
Need to arrange) time measure fuselage 11 (the axis ZZ ' of fuselage 11 in Fig. 2) and the folder of front vertical face 20 (such as curtain wall)
Angle.
Course adjustment unit 14 is non-with the angle of front vertical face 20 for the fuselage 11 recorded in deflection measuring unit 12
Control flight crew part 15 when 90 ° and adjust course angle.This course adjustment unit 14 by adjust unmanned vehicle main frame course angle,
Make fuselage 11 trend towards 90 ° with the angle of front vertical face 20, namely make fuselage 11 be perpendicular to vertical 20.Such as partially
When turning fuselage 11 that measuring unit 12 the records angle non-90 degree with front vertical face 20 less than 90 degree (∠ α as shown in Figure 2),
Course adjustment unit 14 adjusts course angle makes the head of fuselage 11 to left avertence；At the deflection fuselage 11 that records of measuring unit 12 with front
When the angle non-90 degree of side's vertical 20 is more than 90 degree (∠ α as shown in Figure 2), course adjustment unit 14 adjusts course angle and makes machine
The head of body 11 is to right avertence.Carry out in course angle self-regulating process at course adjustment unit 14, aircraft main frame can be made with slightly
Speed flight more than zero.
It is used for when the angle of the fuselage 11 that deflection measuring unit 12 records with vertical 20 is 90 ° near control unit 13
Controlling flight assembly 15 makes fuselage 11 (keeping previous course angle) fly to curtain wall.Flight assembly is controlled near control unit 13
15 can be arranged as required to the speed of vertical 20 flight.
This deflection measuring unit 12, course adjustment unit 14 and near control unit 13 can controller receive from
The instruction of the close vertical of remote controller (such as fuselage 11 and the distance of vertical 20 less than first apart from rear also receive to
Vertical 20 direction flight instruction, or receive remote controller generate by wall instruct) time start, (example in this approach process
As the distance of fuselage 11 with vertical 20 is less than first apart from rear), the flight from remote controller ignored by the controller in fuselage 11
Control instruction.Especially, controller after the distance of fuselage 11 and vertical 21 is less than the first distance, auto-flare system assembly
15, the flight speed of fuselage is down to close to zero.
The present invention's can be automatically near the unmanned vehicle of vertical, by measuring the folder of fuselage 11 and front vertical face 20
Angle adjusts course automatically, thus unmanned vehicle can be made to fly to curtain wall in the way of vertical curtain wall.Present invention can apply to flight
Clean robot, consequently facilitating flight clean robot is stably accommodated to curtain wall.
Above-mentioned deflection measuring unit 12 can include the first range sensor 121, second distance sensor 122 and deflection angle meter
Operator unit, and the first range sensor 121 and second distance sensor 122 be positioned in the same level of fuselage；Deflection angle
Computation subunit then calculates fuselage according to the distance signal recorded of the first range sensor 121 and second distance sensor 122
11 with the angle of front vertical face 20.
Specifically, the first range sensor 121 and second distance sensor 122 are positioned at the leading flank of fuselage 11, and this
The line of one range sensor 121 and second distance sensor 122 is perpendicular to the axis ZZ ' of fuselage 11.Above-mentioned first distance passes
The both sides that sensor 121 and second distance sensor 122 are positioned at axis ZZ ' are equal, and the first range sensor 121 and second distance
Sensor 122 is equal with the distance of axis ZZ ', i.e. axis ZZ ' constitutes the first range sensor 121 and second distance sensor
The axis of symmetry of 122.
Correspondingly, deflection angle computation subunit is by formula calculated below calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor 121 and second distance sensor 122 records, L
Being the spacing of the first range sensor and second distance sensor, a is constant.
Additionally, above-mentioned unmanned vehicle may also include Hovering control unit, at the first range sensor 121 or the second
Distance between fuselage 11 that range sensor 122 records and vertical 20 is less than or equal to second distance (can be arranged as required to)
And fuselage 11 is when being perpendicular to vertical 20 (angle that i.e. deflection measuring unit 12 records is 90 °), controls flight assembly 15 and make machine
Body 11 hovering flight.By Hovering control unit, it is simple to unmanned vehicle performs further action, such as attach to vertical 20
Deng.
As it is shown on figure 3, be that the present invention can the flow process of unmanned vehicle control method embodiment near vertical show automatically
Being intended to, above-mentioned unmanned vehicle includes that (fuselage and flight assembly constitute aircraft main frame, and pass through fuselage for fuselage and flight assembly
Interior controller controls flight from remote control instruction), the method comprises the following steps:
Step S31: the vertical at fuselage with front measures the angle of fuselage and front vertical face when being less than the first distance,
I.e. measure fuselage skew.This step can receive the instruction of the close vertical from remote controller (such as at fuselage at controller
11 with the distance of vertical 20 less than first apart from the rear instruction also received to the flight of vertical 20 direction, or receive distant
Control device generate by wall instruct) time start.
In this step, the distance of the first range sensor, second distance sensor measurement and vertical can be passed through respectively, on
State the first range sensor and second distance sensor is positioned in the same level of fuselage；Then according to the first range sensor
The distance signal calculating fuselage recorded with second distance sensor and the angle of front vertical face.
Especially, the first range sensor and second distance sensor are positioned at the leading flank of fuselage, and this first distance passes
The line of sensor and second distance sensor is perpendicular to the axis of fuselage.Above-mentioned first range sensor and second distance sensor
The both sides being positioned at axis are equal, and the first range sensor and second distance sensor are equal with the distance of axis, i.e. axis structure
Become the first range sensor and the axis of symmetry of second distance sensor.
Now, can be by formula calculated below calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor and second distance sensor records, L is first
Range sensor and the spacing of second distance sensor, a is constant.
Step S32: according to the angle of the fuselage recorded in step S31 Yu front vertical face, it is judged that whether fuselage is with vertical
Face is vertical (when angle is 90 °, fuselage is vertical with vertical), and performs step S34 when fuselage is vertical with vertical, otherwise
Perform step S33.
Step S33: control flight assembly and adjust course angle, make fuselage trend towards vertical with vertical, be then back to step
S31.Above-mentioned steps S31～S33 perform repeatedly, until fuselage is vertical with vertical.
Step S34: control flight assembly and make fuselage fly to vertical.
During above-mentioned steps S31～S34 perform, flight assembly is in low-speed condition all the time, i.e. at aircraft
The controller of main frame receive the instruction of the close vertical from remote controller and the fuselage distance with vertical less than first away from
From time, controller reduces the flight speed of flight assembly automatically.
Especially, said method may also include that the fuselage that records at the first range sensor or second distance sensor with
When distance between vertical is less than or equal to second distance (can be arranged as required to), controls flight assembly and make fuselage hovering fly
OK.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is as the criterion.
Claims (10)
1. one kind can be automatically near the unmanned vehicle of vertical, it is characterised in that: include that fuselage, flight assembly, deflection are measured
Unit, course adjustment unit and close control unit, wherein: described flight assembly is attached on fuselage and drives fuselage to fly；
It is vertical with front less than measuring fuselage during the first distance that described deflection measuring unit is positioned at fuselage the vertical in fuselage and front
The angle faced directly；Described course adjustment unit, non-with the angle of front vertical face for the fuselage recorded in deflection measuring unit
Control flight crew part when 90 ° and adjust course angle；Described near control unit, for the fuselage that records in deflection measuring unit with hang down
Controlling flight crew part when the angle faced directly is 90 ° makes fuselage fly to vertical.
The most according to claim 1 can be automatically near the unmanned vehicle of vertical, described deflection measuring unit includes the
One range sensor, second distance sensor and deflection angle computation subunit, and described first range sensor and second distance
Sensor is positioned in the same level of fuselage；Described deflection angle computation subunit is according to the first range sensor and second distance
The distance signal recorded of sensor calculates the angle of fuselage and front vertical face.
The most according to claim 2 can be automatically near the unmanned vehicle of vertical, it is characterised in that: described unmanned flight
Device also includes Hovering control unit, for the fuselage that records at described first range sensor or second distance sensor with vertical
When distance between face is less than or equal to second distance, controls flight assembly and make fuselage hovering flight.
The most according to claim 2 can be automatically near the unmanned vehicle of vertical, it is characterised in that: described first distance
Sensor and second distance sensor are positioned at the leading flank of fuselage, and this first range sensor and the company of second distance sensor
Line is perpendicular to the axis of fuselage.
5. according to according to any one of claim 4 can be automatically near the unmanned vehicle of vertical, it is characterised in that: described
Deflection angle computation subunit is by formula calculated below calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor and second distance sensor records, L is the first distance
Sensor and the spacing of second distance sensor, a is constant.
6. can be automatically near a unmanned vehicle control method for vertical, described unmanned vehicle includes fuselage and flight crew
Part, it is characterised in that: the method comprises the following steps:
Vertical at fuselage with front measures the angle of fuselage and front vertical face when being less than the first distance；
Control flight crew part when fuselage is with the angle non-90 degree of front vertical face and adjust course angle；
Controlling flight crew part when the angle of fuselage Yu vertical is 90 ° makes fuselage fly to vertical.
The most according to claim 6 can be automatically near the unmanned vehicle control method of vertical, it is characterised in that: described
Measurement fuselage includes with the step of the angle of front vertical face:
Respectively by the first range sensor, second distance sensor measurement and the distance of vertical, described first Distance-sensing
Device and second distance sensor are positioned in the same level of fuselage；
The distance signal recorded according to the first range sensor and second distance sensor calculates the folder of fuselage and front vertical face
Angle.
The most according to claim 7 can be automatically near the unmanned vehicle control method of vertical, it is characterised in that: described
Method also includes: the distance between the fuselage recorded at described first range sensor or second distance sensor and vertical is less than
Or during equal to second distance, control flight assembly and make fuselage hovering flight.
The most according to claim 7 can be automatically near the unmanned vehicle control method of vertical, it is characterised in that: described
First range sensor and second distance sensor are positioned at the leading flank of fuselage, and this first range sensor and second distance pass
The line of sensor is perpendicular to the axis of fuselage.
The most according to claim 6 can be automatically near the unmanned vehicle control method of vertical, it is characterised in that: institute
State the angle of distance signal calculating fuselage and the front vertical face recorded according to the first range sensor and second distance sensor
Time, by formula calculated below calculating deflection angle theta:
θ=arcsin (a × S/L)
The wherein difference of the distance with vertical that S is the first range sensor and second distance sensor records, L is the first distance
Sensor and the spacing of second distance sensor, a is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610452278.1A CN106081081A (en) | 2016-06-21 | 2016-06-21 | Can be automatically near unmanned vehicle and the control method of vertical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610452278.1A CN106081081A (en) | 2016-06-21 | 2016-06-21 | Can be automatically near unmanned vehicle and the control method of vertical |
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| Publication Number | Publication Date |
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| CN106081081A true CN106081081A (en) | 2016-11-09 |
Family
ID=57238243
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|---|---|---|---|
| CN201610452278.1A Pending CN106081081A (en) | 2016-06-21 | 2016-06-21 | Can be automatically near unmanned vehicle and the control method of vertical |
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| CN (1) | CN106081081A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106510567A (en) * | 2016-12-13 | 2017-03-22 | 内蒙古格润思贝思建筑维护有限公司 | Curtain wall scrubbing system based on flying robot |
| CN109481943A (en) * | 2018-05-28 | 2019-03-19 | 王丽芸 | Automatically the four-axle aircraft toy and its control method made a concession |
| CN109512314A (en) * | 2018-12-06 | 2019-03-26 | 北京工业大学 | A kind of high altitude operation special type service robot |
| CN111474952A (en) * | 2020-03-09 | 2020-07-31 | 浙江科比特科技有限公司 | Course guiding method and device of multi-rotor unmanned aerial vehicle |
| CN113928538A (en) * | 2021-09-16 | 2022-01-14 | 南京航空航天大学 | Control method of head deflectable deformation mechanism of supersonic aircraft |
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| CN113928538A (en) * | 2021-09-16 | 2022-01-14 | 南京航空航天大学 | Control method of head deflectable deformation mechanism of supersonic aircraft |
| CN113928538B (en) * | 2021-09-16 | 2022-10-21 | 南京航空航天大学 | Control method of head deflectable deformation mechanism of supersonic aircraft |
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Application publication date: 20161109 |