CN105836151B - A kind of ship carries the stable lifting gear of aircraft and control method - Google Patents
A kind of ship carries the stable lifting gear of aircraft and control method Download PDFInfo
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Abstract
The invention discloses a kind of ship to carry the stable lifting gear of aircraft and its control method, wherein, the ship, which carries the stable lifting gear of aircraft, includes athletic posture detection unit, microprocessor control unit and landing platform, the athletic posture detection unit and the landing platform electrically connect with the microprocessor control unit, and the landing platform has included mounting bracket, landing deck, DC speed-reducing, installing plate and electric machine support.The present invention carries the stable landing of aircraft exclusively for ship and designed, with simple in construction, compact, be easy to implement many advantages, such as, aircraft takeoff, the reliability of landing can be greatly enhanced, and compared with existing stabilized platform, many costs can be saved, there is good actual application value.
Description
Technical field
The present invention relates to the automatic control technology field to aircraft lowering or hoisting gear, more particularly to one kind can keep water automatically
Steadily fixed ship carries the stable lifting gear of aircraft and control method.
Background technology
It is that a kind of be provided on small-size water surface ships and light boats is supplied to ship load miniature self-service vertical that ship, which carries aircraft landing platform,
Landing aircraft takeoff, drop and stop the platform-type device used.Traditional landing platform is directly anchored on ship, can be with
The motion of ship and tilt and wave, because the small speed of the displacement of ship is fast, move, its under sail pitching big by Lidar Equation
Amplitude cause greatly landing platform wave acutely, be unfavorable for stop of the small-sized unmanned aircraft on ship, take off and drop.
In view of the foregoing, the stable landing dress of aircraft can be carried by the stable ship of keep level automatically there is an urgent need to a kind of
Put.
The content of the invention
The technical problems to be solved by the invention are：How to provide a kind of can carry flight by the stable ship of keep level automatically
The stable lifting gear of device and control method.Therefore, the present invention proposes that a kind of ship carries the stable lifting gear of aircraft and control method,
One or more problems caused by limitation and the defect due to prior art can fully be eliminated.
Additional advantages of the present invention, purpose and characteristic, a part will be elucidated in the following description, and another portion
Divide and be will be apparent for one of ordinary skill in the art by the investigation to following explanation or from the implementation of the present invention
Acquire.The present invention can be realized and obtain by the structure particularly pointed out in the specification and claims of word and accompanying drawing
Objects and advantages.
The invention provides a kind of ship to carry the stable lifting gear of aircraft, it is characterised in that it is stable that the ship carries aircraft
Lifting gear includes athletic posture detection unit, microprocessor control unit and landing platform, the athletic posture detection unit
Electrically connected with the landing platform with the microprocessor control unit, the landing platform has included mounting bracket, landing first
Plate, DC speed-reducing, installing plate and electric machine support, wherein, the installing plate is placed in the mounting bracket, the installing plate
On two bearing blocks and the electric machine support are installed, the DC speed-reducing is installed on the electric machine support, described two
It is connected to rotary shaft on individual bearing block, the motor shaft of the rotary shaft and the DC speed-reducing is docked by two ring flanges
Connection, the landing deck is fixed in the rotary shaft by two connectors；In addition,
The athletic posture detection unit is designed to the axle motion process component MPU6050 of conformability 6 and 3 axle electronic compass
HMC5883L, wherein 6 axle motion process component MPU6050 are integrated with 3 axle MEMS gyroscopes, 3 axle mems accelerometers and one
Expansible digital moving processor DMP (Digital Motion Processor), and one can be connected by I2C interface
Third-party digital sensor；
The landing deck is made up of metal framework and punching aluminium sheet, and the pass on the punching aluminium sheet can be arc
Shape angular length is square.
Preferably, the mounting bracket is made up of support arm, crossbeam and cantilever, and the support arm lower end is provided with for that will pacify
Dress support is connected to the mounting hole of ships and light boats afterbody, and the support arm is connected to ships and light boats by the cantilever.
Preferably, the upper end of the mounting bracket is installed to the bottom of the installing plate by ring flange.
Preferably, described two bearing blocks and the electric machine support horizontal distribution be on the same axis.
Preferably, the third-party digital sensor is such as magnetometer.
It is described present invention also offers a kind of method for being used to control ship as described above to carry the stable lifting gear of aircraft
Method comprises the following steps：
(1) system is initialized, and calibrates athletic posture detection unit.
(2) in predetermined time interval, microprocessor control unit reads the landing that athletic posture detection unit detects
Acceleration and angular velocity in pitch data of the deck in tri- directions of X, Y, Z.
Wherein, acceleration of the landing deck in tri- directions of X, Y, Z is designated as gn0(n0=x, y, z), angular velocity in pitch is designated as：
Angular velocity in roll φ ', angular velocity in pitch θ ', yawing angular speed ψ '.
(3) the landing deck that microprocessor control unit detects according to the athletic posture detection unit is in X, Y, Z tri-
The acceleration and angular velocity in pitch data in individual direction, calculate the current pitching attitude angle in landing deck.
(4) microprocessor control unit is calculated according to step (3) landing deck current pitching attitude angle and thing
The horizontal angle first set obtains output control amount as pid control computation.
(5) PID control amount being calculated is modulated into pwm signal and is output to landing platform by microprocessor control unit.
(6) landing platform makes DC speed-reducing adjustment turn to and rotating speed drive accordingly according to the pwm signal received
Landing deck rotates, and landing deck is reached level angle.
Preferably, the specific calculating process of step (3) is as follows：
(a) microprocessor control unit is according to formulaAnd formulaCalculate
The roll angle φ estimated1With pitch angular θ1, wherein, Gx, Gy, GzRespectively described athletic posture detection unit detects
Landing deck tri- directions of X, Y, Z acceleration.
(b) microprocessor control unit is by the measurement of the gyroscope received i.e. angular velocity in roll φ ', angular velocity in pitch
θ ', yawing angular speed ψ ' are integrated to obtain angle step V θ, V φ, V ψ.
(c) microprocessor control unit will pass through the roll angle φ of the estimation obtained by the calculating of step (a)1And pitching
Angle, θ1Merged with the angle step V θ obtained by the calculating by step (b), V φ, V ψ, obtain the pitching of landing platform
Attitude angle, its calculation formula are：gn=gn1*p+gn2* (1-p) { p ∈ (0,1) }.
Wherein, gn(n=x, y, z)=[θ φ ψ] is the landing platform attitude angle that is finally calculated, gn1(n=x, y,
Z)=[θ1 φ10] obtained attitude angle, g are estimated for accelerometern2(n=x, y, z)=[V θ V φ V ψ] accumulates for gyroscope
The attitude angle increment got, wherein, p is complementary filter weight factor.
Preferably, p typically takes 0.95.
Preferably, output control amount is calculated according to below equation：
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Prev_
error)。
Wherein, PWM_OUT is output control amount, and Kp, Ki and Kd are respectively the coefficient of ratio, integration and differential three,
Error is control deviation, makes the difference to obtain with expected angle by current sensor angle, Last_error and Prev_error difference
For last time error and last time error, error, Last_error and Prev_error are alternated at each controlling cycle end
Arrive, i.e. Last_error is assigned to Prev_error, and error is assigned to Last_error.
Ship proposed by the invention carries the stable lifting gear of aircraft and its control device carries the steady of aircraft exclusively for ship
Determine landing and design, there is many advantages, such as simple in construction, compact, be easy to implement, aircraft can be greatly enhanced and risen
Fly, the reliability of landing, and compared with existing stabilized platform, many costs can be saved, there is good practical application
Value.
Brief description of the drawings
Fig. 1 is system construction drawing according to the embodiment of the present invention, that ship carries the stable lifting gear of aircraft.
Fig. 2 is according to the embodiment of the present invention, landing platform front view.
Fig. 3 is according to the embodiment of the present invention, landing platform side view.
Fig. 4 is according to the embodiment of the present invention, landing deck top view.
Fig. 5 is the flow chart of method according to the embodiment of the present invention, that control ship carries the stable lifting gear of aircraft.
Fig. 6 is schematic diagram according to the embodiment of the present invention, calculating output control amount.
Embodiment
The present invention is described more fully with reference to the accompanying drawings, wherein illustrating the exemplary embodiment of the present invention.
As described in Figure 1, ship proposed by the present invention, which carries the stable lifting gear of aircraft, includes athletic posture detection unit 11, micro-
Processor control unit 12 and landing platform 13, the athletic posture detection unit 11 and the landing platform 13 and micro- place
Reason device control unit 12 electrically connects.
As shown in Figures 2 and 3, the landing platform 13 includes mounting bracket, landing deck 1, DC speed-reducing 2, peace
Loading board 3 and electric machine support 5, wherein, the installing plate 3 is placed in the mounting bracket, and two axles are provided with the installing plate 3
Bearing and the electric machine support 5, the DC speed-reducing 2 is installed on the electric machine support 5, connected on described two bearing blocks
Then the motor shaft of rotary shaft, the rotary shaft and the DC speed-reducing 2 passes through two docking connections of ring flange 4,6, institute
State landing deck 1 to fix on the rotary shaft by two connectors 7,8, it can be rotated with the rotation of rotary shaft.
As shown in Fig. 2 the mounting bracket is made up of support arm 10, crossbeam 9 and cantilever 14, the lower end of support arm 10 is provided with use
In the mounting hole that mounting bracket is connected to ships and light boats afterbody, support arm 10 is connected to ships and light boats to reinforce installation branch by cantilever 14
Frame, the upper end of mounting bracket are installed to the whole installing plate 3 of bottom support of installing plate 3 by ring flange.
As shown in Fig. 2 described two bearing blocks and the horizontal distribution of electric machine support 5 are on the same axis.
In addition, according to an embodiment of the invention, the landing deck 1 is made up of metal framework and punching aluminium sheet.Such as Fig. 4 institutes
Show, the pass on the punching aluminium sheet on landing deck 1 can be arc angle rectangle, to reduce windage.
Description more than, landing platform 13 proposed by the invention are that the stabilization that aircraft is carried exclusively for ship rises
The design of drop and creativeness, the landing platform have an advantages below than the landing platform of its main flow instantly：
1st, it is rational in infrastructure simple, it is possible to achieve in the globality installation and dismounting of ships and light boats, can according to ships and light boats itself whether
Need carrying unmanned plane to stop and be rapidly completed ships and light boats system design；
2nd, ships and light boats pitching is balanced, platform is remained horizontal, is easy to unmanned plane to land；
3rd, compact, it is in light weight relative to the landing platform that other are formed using hydraulic pressure, complicated machinery, suitable for small
Type ship；
4th, suitable for all kinds of aircraft of VTOL, such as more rotors, helicopter；
5th, landing deck uses punching aluminium sheet, and it is rectangular that the pass on punching aluminium sheet is creatively designed as into arc angle
Shape, minimize windage effect.
In addition, according to an embodiment of the invention, the athletic posture detection unit 11 is arranged on the landing platform 13
Center, for measuring acceleration and angular velocity in pitch of the landing deck in tri- directions of X, Y, Z, the athletic posture collection
Unit 13 electrically connects microprocessor control unit 12, by acceleration of the landing deck collected in tri- directions of X, Y, Z
The microprocessor control unit 12 is sent to angular velocity in pitch.
In ships and light boats traveling process, when itself posture is continually changing when, the landing first of stabilized platform can be also driven
Plate produces corresponding attitudes vibration, and athletic posture detection unit 11 gathers acceleration of the landing deck in tri- directions of X, Y, Z
Degree and angular velocity in pitch, and send the data of acquisition to the microprocessor control unit, it can obtain landing by calculating
The angle on deck.It follows that athletic posture detection unit 11 is the important component of the present invention, therefore, the present invention is creatively
Athletic posture detection unit 11 is designed as the axle motion process component of conformability 6, it is integrated with 3 axle MEMS gyroscopes, 3 axle MEMS
Accelerometer and an expansible digital moving processor DMP (Digital Motion Processor), and can pass through
I2C interface connects a third-party digital sensor, such as magnetometer.Can passes through its I2C or SPI interface after expansion
Export the signal of 9 axles.Compared to existing multicompartment scheme, athletic posture detection unit 11 proposed by the present invention eliminates
The problem of between centers difference when combining gyroscope and accelerator, reduce substantial amounts of encapsulated space.This is also that the main of the present invention changes
Enter one of a little.
As a physical sensors, the operation principle of the athletic posture detection unit 11 is to utilize physical effect, all
Such as effects such as piezo-electric effect, magneto-striction phenomenon, ionization, polarization, thermoelectricity, photoelectricity, magnetoelectricities, by the minor variations of measured signal amount
It is converted into electric signal.Digital moving processor DMP engines can reduce the fusion calculation data of complexity, with the rotation of the axle of numeral output 6
Torque battle array, quaternary number (quaternion), the fusion calculation data of Eulerian angles form (Euler Angle forma), remove and add
Susceptibility between fast device and axis of gyroscope, reduce the drift for setting the influence given and sensor.User can utilize microprocessor
Control unit 12 obtains the quaternary number that the athletic posture detection unit 11 exports, and after carrying out fusion calculation, can be passed
The angle of sensor.
According to an embodiment of the invention, the microprocessor control unit 12 according to the landing deck of acquisition X, Y,
The acceleration and angular velocity in pitch in tri- directions of Z send control signal to the landing deck.The hoistable platform 13 is according to institute
Steering and rotating speed that control signal controls the DC speed-reducing 2 are stated, landing deck is reached the attitude angle of setting (generally
It is set to horizontal attitude), ensure security and stability during aircraft landing.
In above-described embodiment, microprocessor control unit 2 can use the microprocessor with Cotex M3 kernels
STM32.Microprocessor control unit STM32 family chips are specially set for the Embedded Application of high-performance, low cost, low-power consumption
The chip of meter, enhanced serial clock frequency reach 72MHz, are performance highest products in like product.
Present invention also offers a kind of method for being used to control ship as described above to carry the stable lifting gear of aircraft, such as
Shown in Fig. 5, it the described method comprises the following steps：
(1) system is initialized, and calibrates athletic posture detection unit.
Microprocesser initialization I2C COM1s and timer PWM output functions, microprocessor are initial by I2C ports
Change and athletic posture detection unit is set, calibrate athletic posture detection unit.
(2) in predetermined time interval, microprocessor control unit reads the landing that athletic posture detection unit detects
Acceleration and angular velocity in pitch data of the deck in tri- directions of X, Y, Z.
According to one embodiment of present invention, the predetermined time interval is 5ms, and 5ms time intervals reach, microprocessor
Device control unit just reads the acceleration in tri- directions of X, Y, Z that the accelerometer integrated in athletic posture detection unit is detected
Degrees of data and the angular velocity in pitch data of gyroscope detection.
Wherein, acceleration of the landing deck in tri- directions of X, Y, Z is designated as gn0(n0=x, y, z), angular velocity in pitch is designated as：
Angular velocity in roll φ ', angular velocity in pitch θ ', yawing angular speed ψ '.
(3) the landing deck that microprocessor control unit detects according to the athletic posture detection unit is in X, Y, Z tri-
The acceleration and angular velocity in pitch data in individual direction, calculate the current pitching attitude angle in landing deck.
The specific calculating process of wherein step (3) is as follows：
(a) microprocessor control unit is according to formulaAnd formulaCalculate
The roll angle φ estimated1With pitch angular θ1, wherein, Gx, Gy, GzRespectively described athletic posture detection unit detects
Landing deck tri- directions of X, Y, Z acceleration, it is necessary to explanation because yawing angle does not influence the control of platform,
So yawing angle ψ is not estimated herein.
(b) microprocessor control unit is by the measurement of the gyroscope received i.e. angular velocity in roll φ ', angular velocity in pitch
θ ', yawing angular speed ψ ' are integrated to obtain angle step V θ, V φ, V ψ.
(c) microprocessor control unit will pass through the roll angle φ of the estimation obtained by the calculating of step (a) and pitching
Angle, θ is merged with the angle step V θ obtained by the calculating by step (b), V φ, V ψ, obtains the pitching of landing platform
Attitude angle.
There is disturbing acceleration caused by a large amount of platforms concussions in the value measured due to accelerometer, so obtained estimation
Value includes noise, is inaccurate, it is necessary to which gyroscope is corrected.Because there is asking for temperature drift in gyroscope in itself
Topic, therefore its value measured can not directly reflect the truth of landing deck posture, it is necessary to mutual with the value of accelerometer
Fusion, can just obtain real attitude angle.Conventional amalgamation mode Kalman filtering, but Kalman filtering is computationally intensive, is
It establishes that reliable and stable renewal equation is relatively difficult, and the arithmetic speed and required precision to processor arrive very much, is not suitable for application
In experimental provision of the present invention.Present invention employs another posture fusion method --- and complementary filter algorithm, complementary filter are calculated
Method is simple and reliable, and the required precision to attitude transducer is relatively low, and it is using more and more extensive.Its calculation formula is gn=gn1*p+
gn2* (1-p) { p ∈ (0,1) }.
Wherein, gn(n=x, y, z)=[θ φ ψ] is the landing platform attitude angle that is finally calculated, gn1(n=x, y,
Z)=[θ1 φ10] obtained attitude angle, g are estimated for accelerometern2(n=x, y, z)=[V θ V φ V ψ] accumulates for gyroscope
The attitude angle increment got, wherein, p is complementary filter weight factor, typically takes 0.95.
(4) microprocessor control unit is calculated according to step (3) landing deck current pitching attitude angle and thing
The horizontal angle first set obtains output control amount as pid control computation.
Among PID control strategy, proportion adjustment is acted according to " size of deviation ", its output and input deviation
Size it is proportional, proportion adjustment is strong in time but difference of having a surplus.Integral adjustment is acted according to " deviation whether there is ", it
Output with deviation it is proportional to the integration of time, its act on be elimination more than it is poor.Differential regulation is according to " pace of change of deviation "
To act, its output and the pace of change of deviation are proportional, and its effect is to prevent all changes of controlled variable, there is advanced tune
Section acts on.
For PID control schematic diagram of the present invention as shown in fig. 6, wherein, r (t) is expected angle, y (t) is actual corners
Degree, e (t) are r (t) and y (t) angular error, and u (t) arrives reducing motor rotating speed for what is calculated：
Wherein, output control amount is calculated according to below equation：
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Prev_
error)。
Wherein, PWM_OUT is output control amount, and Kp, Ki and Kd are respectively the coefficient of ratio, integration and differential three, this
The actual parameter that three coefficients rely primarily on apparatus is adjusted.The initial value for setting a Kp coefficient first (can be by
According to the ratio of output control amount scope and input excursion, multiplied by with 1/10th, as initial reference), given by changing
Definite value adds a disturbance to system, observes response curve, coefficient value is constantly changed, until control system meets dynamic process quality
Untill it is required that, coefficient value at this moment is more appropriate parameter；Then proceed to according to process above to other two coefficient
Adjusted.Error in formula is control deviation, makes the difference to obtain with expected angle by current sensor angle, Last_error
It is respectively last time error and last time error with Prev_error, error, Last_error and Prev_error are in each control
Cycle end processed alternates what is obtained, i.e. Last_error is assigned to Prev_error, and error is assigned to Last_error.
(5) PID control amount being calculated is modulated into pwm signal and is output to landing platform by microprocessor control unit.
(6) landing platform makes DC speed-reducing adjustment turn to and rotating speed drive accordingly according to the pwm signal received
Landing deck rotates, and landing deck is reached level angle.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, there will be changes, this specification content should not be construed as to the present invention in specific embodiments and applications
Limitation.
Claims (9)
1. a kind of ship carries the stable lifting gear of aircraft, it is characterised in that the ship, which carries the stable lifting gear of aircraft, includes fortune
Dynamic posture detecting unit, microprocessor control unit and landing platform, the athletic posture detection unit and the landing platform
Electrically connected with the microprocessor control unit, the landing platform has included mounting bracket, landing deck, direct current deceleration electricity
Machine, installing plate and electric machine support, wherein, the installing plate is placed in the mounting bracket, and two are provided with the installing plate
Bearing block and the electric machine support, the DC speed-reducing is installed on the electric machine support, connected on described two bearing blocks
Then the motor shaft of rotary shaft, the rotary shaft and the DC speed-reducing is connected by two ring flange docking, described
Drop deck is fixed in the rotary shaft by two connectors；In addition,
The athletic posture detection unit is designed to the axle motion process component MPU6050 of conformability 6 and 3 axle electronic compass
HMC5883L, wherein 6 axle motion process component MPU6050 are integrated with 3 axle MEMS gyroscopes, 3 axle mems accelerometers and one
Expansible digital moving processor DMP (Digital Motion Processor), and pass through I2C interface connection one the
The digital sensor of tripartite；
The landing deck is made up of metal framework and punching aluminium sheet, and the pass on the punching aluminium sheet is that arc angle is rectangular
Shape.
2. ship according to claim 1 carries the stable lifting gear of aircraft, it is characterised in that the mounting bracket is by supporting
Arm, crossbeam and cantilever composition, the support arm lower end is provided with the mounting hole for mounting bracket to be connected to ships and light boats afterbody, described
Support arm is connected to ships and light boats by the cantilever.
3. ship according to claim 2 carries the stable lifting gear of aircraft, it is characterised in that the upper end of the mounting bracket
The bottom of the installing plate is installed to by ring flange.
4. ship according to claim 1 carries the stable lifting gear of aircraft, it is characterised in that described two bearing blocks and institute
State electric machine support horizontal distribution on the same axis.
5. ship according to claim 1 carries the stable lifting gear of aircraft, the third-party digital sensor is magnetic force
Meter.
6. a kind of stable lifting gear of ship load aircraft being used to control as described in any one in above-mentioned claim 1-5
Method, it the described method comprises the following steps：
(1) system is initialized, and calibrates athletic posture detection unit；
(2) in predetermined time interval, microprocessor control unit reads the landing deck that athletic posture detection unit detects
Acceleration and angular velocity in pitch data in tri- directions of X, Y, Z；
Wherein, acceleration of the landing deck in tri- directions of X, Y, Z is designated as gn0(n0=x, y, z), angular velocity in pitch is designated as：Rolling
Angular speed φ ', angular velocity in pitch θ ', yawing angular speed ψ '；
(3) microprocessor control unit according to the landing deck that the athletic posture detection unit detects in tri- sides of X, Y, Z
To acceleration and angular velocity in pitch data, calculate the current pitching attitude angle in landing deck；
(4) the current pitching attitude angle in microprocessor control unit is calculated according to step (3) landing deck and set in advance
Fixed horizontal angle obtains output control amount as pid control computation；
(5) PID control amount being calculated is modulated into pwm signal and is output to landing platform by microprocessor control unit；
(6) landing platform makes DC speed-reducing adjustment turn to and rotating speed drive landing accordingly according to the pwm signal received
Deck rotates, and landing deck is reached level angle.
7. according to the method for claim 6, wherein, the specific calculating process of step (3) is as follows：
(a) microprocessor control unit is according to formulaAnd formulaIt is calculated and estimates
The roll angle φ of meter1With pitch angular θ1, wherein, gx, gy, gzThe landing that respectively described athletic posture detection unit detects
Acceleration of the deck in tri- directions of X, Y, Z；
(b) microprocessor control unit is by the measurement of the gyroscope received i.e. cradle angle speed φ ', angular velocity in pitch θ ', yawing
Angular speed ψ ' is integrated to obtain angle step V θ, V φ, V ψ；
(c) microprocessor control unit will pass through the roll angle φ of the estimation obtained by the calculating of step (a)1And pitch angular
θ1Merged with the angle step V θ obtained by the calculating by step (b), V φ, V ψ, obtain the pitching posture of landing platform
Angle, its calculation formula are：Θn=Θn1*p+Θn2* (1-p) { p ∈ (0,1) } wherein, Θn(n=x, y, z)=[θ φ ψ] be
The landing platform attitude angle being finally calculated, Θn1(n=x, y, z)=[θ1 φ10] obtained appearance is estimated for accelerometer
State angle,The attitude angle increment for integrating to obtain for gyroscope, wherein, p is complementary filter
Weight factor.
8. according to the method for claim 6, wherein, p takes 0.95.
9. according to the method for claim 6, wherein, output control amount is calculated according to below equation：
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Prev_
Error),
Wherein, PWM_OUT is output control amount, and Kp, Ki and Kd are respectively the coefficient of ratio, integration and differential three, and error is
Control deviation, make the difference to obtain with expected angle by current sensor angle, Last_error and Prev_error are respectively last time
Error and last time error, error, Last_error and Prev_error alternate to obtain at each controlling cycle end,
That is Last_error is assigned to Prev_error, and error is assigned to Last_error.
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| CN203616935U (en) * | 2013-12-09 | 2014-05-28 | 河南师范大学 | Shipboard aircraft taking-off and landing simulation training platform |
| CN104811588A (en) * | 2015-04-10 | 2015-07-29 | 浙江工业大学 | Shipborne image stabilization control method based on gyroscope |
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| US3931747A (en) * | 1974-02-06 | 1976-01-13 | Sperry Rand Corporation | Gyroscopic stable reference device |
| CN202267481U (en) * | 2011-07-13 | 2012-06-06 | 浙江海洋学院 | Miniature horizontal stabilized platform |
| CN202420505U (en) * | 2011-12-02 | 2012-09-05 | 九江精密测试技术研究所 | Combined gesture measuring device of stable platform for self-correction ship |
| CN203616935U (en) * | 2013-12-09 | 2014-05-28 | 河南师范大学 | Shipboard aircraft taking-off and landing simulation training platform |
| CN104811588A (en) * | 2015-04-10 | 2015-07-29 | 浙江工业大学 | Shipborne image stabilization control method based on gyroscope |
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