CN108281061A - Compensating control method and device based on speed with the double synchronous decouplings of acceleration - Google Patents
Compensating control method and device based on speed with the double synchronous decouplings of acceleration Download PDFInfo
- Publication number
- CN108281061A CN108281061A CN201810191072.7A CN201810191072A CN108281061A CN 108281061 A CN108281061 A CN 108281061A CN 201810191072 A CN201810191072 A CN 201810191072A CN 108281061 A CN108281061 A CN 108281061A
- Authority
- CN
- China
- Prior art keywords
- signal
- steering engine
- compensation signal
- compensation
- actuating unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of compensating control method and device based on speed with the double synchronous decouplings of acceleration are provided, wherein compensating control method includes：Obtain steering engine angular displacement instruction and steering engine servo valve control signal；Steering engine angular displacement instruction input position is synchronized into decoupling feed forward element, to generate acceleration compensation signal；Steering engine servo valve control input speed signal is synchronized into decoupling feed forward element, with formation speed thermal compensation signal；And the actuating unit of load simulator is controlled based on acceleration compensation signal and velocity compensation signal.
Description
Technical field
This disclosure relates to a kind of load simulator field, and in particular to a kind of based on speed and the double synchronous decouplings of acceleration
Compensating control method and device.
Background technology
Load simulator is usually rigidly connected with steering engine.Due to this structure, the movement of steering engine position is inevitably led to
The Surplus Moment of load simulator.This becomes the bottleneck of design high precision load simulator.It is loaded with inherently particularly with some
The special steering engine of high frequency position interference inhibits the Surplus Moment as caused by steering engine movement and intrinsic interference joint to become more to be stranded
It is difficult.
With the needs of precision strike, some small-sized high maneuverability high-precision aircraft (lead by the absolutely empty of such as short range combat
Bullet, antitank missile and tactical drone etc.) new requirement is proposed to the limiting performance of steering engine ground simulation and test system.
Such small-sized high maneuverability high-precision aircraft, steering engine are much driven using pneumatic servo system.Due to pneumatic system
Control carries out PWM controls using high-speed switch valve so that the movement output of pneumatic servo is loaded with High-frequency Interference.When being loaded with this rudder
When the aircraft flight of machine, due to the filter action that the compressibility of air generates, the aerodynamic load suffered by rudder face is filtered
This small high-frequency jitter signal is fallen.The difficulty that this steering engine is brought to the HWIL simulation of load simulator ground is exactly：
This high frequency flutter Position disturbance is eliminated when accurate reproduction aerodynamic moment loading spectrum to bring loading moment systematic tracking accuracy
Influence, i.e., to realize that high frequency flutter disappears and disturb.
Loading system in order to it is accurate quickly, reappear loading spectrum in real time, load simulator frequency characteristic has extremely extreme
Demand, close to even more than 100Hz, so attempting using routine filtering algorithm to handle this high frequency components signal be to be difficult to reality
Existing.Conventional filters can seriously affect system bandwidth, and the dynamic characteristic of restraining moment control system tracks so as to cause system
The further increasing of error.
Although however it can be found that big position motion artifacts in the load test of the pneumatic servo in this PWM controls
It can obviously eliminate, but system robustness is not high, small magnitude flutter interference not compensated, by the redundant force caused by it to load
Lotus spectrum tracking accuracy brings very negative impact.
Invention content
In order to solve at least one above problem, in the first aspect of the disclosure, the disclosure provides a kind of based on speed
With the compensating control method of the double synchronous decouplings of acceleration comprising：
Obtain steering engine angular displacement instruction and steering engine servo valve control signal；
Steering engine angular displacement instruction input position is synchronized into decoupling feed forward element, to generate acceleration compensation signal；
Steering engine servo valve control input speed signal is synchronized into decoupling feed forward element, with formation speed thermal compensation signal；And
The actuating unit of load simulator is controlled based on acceleration compensation signal and velocity compensation signal.
According to some embodiments of the disclosure, compensating control method further includes：
The output signal of the actuating unit of load simulator is input to robust disturbance-observer unit, to generate interference compensation
Signal；And
The actuating unit of load simulator is controlled based on interference compensation signal.
According to some embodiments of the disclosure, speed sync decouples feed forward element and is based on PD control device to steering engine servo valve
It controls signal and carries out gain and phase adjustment.
According to some embodiments of the disclosure, robust disturbance-observer unit includes：
Return-to-zero factor module is configured to receive the output signal of the actuating unit of load simulator；And
Low pass filter blocks are configured to receive the output signal of Return-to-zero factor module, and export filtered zero
The input signal of factor module as interference compensation signal,
Wherein Return-to-zero factor module is additionally configured to receive the moving for load simulator superimposed with interference compensation signal
The control signal of force mechanisms.
According to some embodiments of the disclosure, Return-to-zero factor module is passed according to the open loop of the actuating unit of load simulator
The inverse of delivery function determines.
According to some embodiments of the disclosure, the amplitude versus frequency characte of low pass filter blocks is 1 or 0dB, and phase-frequency characteristic is
0deg。
In the second aspect of the disclosure, the disclosure additionally provides a kind of benefit based on speed with the double synchronous decouplings of acceleration
Repay control device comprising：
Synchronization decoupling feed forward element in position is configured to steering engine angular displacement instruction and generates acceleration compensation signal and will add
Velocity compensation signal is input to the actuating unit of load simulator；And
Speed sync decouples feed forward element, is configured to steering engine servo valve control signal formation speed thermal compensation signal and incites somebody to action
Velocity compensation signal is input to the actuating unit of load simulator.
According to some embodiments of the disclosure, compensation control device further includes：Robust disturbance-observer unit, robust interference
Observing unit for generating interference compensation signal, the output signal of the actuating unit of load simulator and with interference compensation signal phase
The control signal of the actuating unit for load simulator of superposition is used as the input signal of robust disturbance-observer unit.
According to some embodiments of the disclosure, speed sync decouples feed forward element and is based on PD control device to steering engine servo valve
It controls signal and carries out gain and phase adjustment.
According to some embodiments of the disclosure, robust disturbance-observer unit includes：
Return-to-zero factor module is configured to receive the output signal of the actuating unit of load simulator；And
Low pass filter blocks are configured to receive the output signal of Return-to-zero factor module, and export filtered zero
The input signal of factor module as interference compensation signal,
Wherein Return-to-zero factor module is additionally configured to receive the moving for load simulator superimposed with interference compensation signal
The control signal of force mechanisms, and Return-to-zero factor module is according to the inverse of the open-loop transfer function of the actuating unit of load simulator
To determine.
Description of the drawings
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 shows that according at least one embodiment of the disclosure include based on speed and the double synchronous decouplings of acceleration
Compensate the dynamical system of control device.
Fig. 2 shows the principle schematics according to the robust disturbance-observer unit of at least one embodiment of the disclosure.
Fig. 3 shows the structural schematic diagram of the electrohydraulic load simulator according at least one embodiment of the disclosure.
Fig. 4 shows the compensation based on speed with the double synchronous decouplings of acceleration according at least one embodiment of the disclosure
The flow chart of control method.
Specific implementation mode
The disclosure is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place
The specific implementation mode of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, illustrated only and the relevant part of the disclosure in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
Fig. 1 shows that according at least one embodiment of the disclosure include based on speed and the double synchronous decouplings of acceleration
Compensate the dynamical system of control device.As shown in Figure 1, dynamical system includes controller 101 and load actuator 102.Controller
101 for generating the control signal for controlling load actuator 102.
The dynamical system further includes the compensation control device based on speed with the double synchronous decouplings of acceleration.Compensation control dress
Set further includes that position synchronizes decoupling feed forward element 107 and speed sync decoupling feed forward element 108.
Position synchronizes decoupling feed forward element 107 using steering engine angular displacement instruction as input to generate acceleration compensation signal UPO
It is connected to system channel, to compensate the redundant force caused by the other factors outside angular speed factor.
Speed sync decouples feed forward element 108 so that steering engine servo valve control signal is input to generate velocity compensation signal.
In fig. 1, speed sync decouple feed forward element 108 using the control signal for actuator 106 that controller 105 exports as
Input.Speed sync decouples feed forward element 108 and is based on PD control device to the progress gain of steering engine servo valve control signal and phase tune
It is whole.
The compensation control device may also include robust disturbance-observer unit.The robust disturbance-observer unit may include zero because
Submodule 104 and low pass filter blocks 103.Return-to-zero factor module 104 is configured to make with the output signal of load actuator 102
To input, and interference compensation signal U of the Return-to-zero factor module 104 also to be exported by low pass filter blocks 103ROWith control
The superposed signal for the control signal that device 101 is exported is as input signal.Low pass filter blocks 103 and Return-to-zero factor module
104 are connected and using the input signal of Return-to-zero factor module 104 as input signal.Return-to-zero factor module 104 is according to load
The inverse of the open-loop transfer function of actuator 102 determines.Low pass filter blocks 103 have certain order, to ensure to be
System canonical, and low pass filter blocks 103 have enough bandwidth.In addition, the amplitude versus frequency characte of low pass filter blocks 103 is
1 or 0dB, phase-frequency characteristic 0deg, to meet systematic steady state characteristic.
By the compensation control device according to disclosure embodiment, the redundant force generated by steering engine movement had both been inhibited
Square, and the influence of intrinsic High-frequency Interference is reduced, to realize that high precision load is simulated.
Fig. 2 shows the principle schematics according to the robust disturbance-observer unit of at least one embodiment of the disclosure.
In Fig. 2, u (s) and input as compensation y (s) are calculated the compensation rate Δ u needed for generating by Return-to-zero factor module 104.It will
System input is added in this compensation rate, is superimposed with the output of controller 101, so that equivalent interference is zeroed, to eliminate uncertain factor
Influence to system quality.
In the application of load simulator, it is difficult to the high frequency steering engine vibrating signal of perception be it is a kind of be difficult to measure not really
Determine factor, and it brings small disturbance to system.Therefore by robust disturbance-observer unit application to load simulator, suppression
The flutter of high frequency steering engine processed is interfered.
The open-loop transfer function of load simulator executing agency object is：
System has when being ideal linearity：
D(s)y*(s)-N(s)u*(s)=0 (2)
When there is non-linear factor or when having the uncertain factors such as interference, it is believed that they be equivalent to one it is equivalent dry
It disturbs, and has thereby resulted in model inaccuracy.Show in controlled quentity controlled variable and output quantity have：
y*→ y=y*+Δy (3)
u*→ u=u*+Δu (4)
At this point,
D(s)y(s)-N(s)u(s)≠0 (5)
Assuming that equivalent interference：
By introducing a necessary compensation rate Δ u1(s) superimposed with system output.The target of control is, in following formula institute
Under the input signal effect shown：
U (s)=u*(s)+Δu1(s) (7)
So that the stringent zero of interference, i.e. Δ y=0, output is interference-free to be influenced, y (s)=y*(s)。(8)
So, it is noted that formula (6) can be reduced to：
That is,
Q (s)=- N (s) Δs u1(s) (10)
Transmission function it is desirable to the equivalent interference observer of ideal robust built is：
That is the output of robust disturbance-observer unit is：
Wherein：
Return-to-zero factor module 104 plays the role of K (s).Robust disturbance-observer unit by observation system input u (s),
Y (s) is exported, by Return-to-zero factor module 104, is then generating compensation controlled quentity controlled variable Δ u by low pass filter blocks 1031
(s), you can compensation is changed by the output that interference or uncertain factor are brought.
Fig. 3 shows the structural schematic diagram of the load simulator according at least one embodiment of the disclosure.
Load flow equation is
Wherein：DLTo load motor displacement,To load motor angular displacement, V is load motor oil inlet cavity volume and oil outlet chamber
The sum of volume, βcFor fluid elasticity modulus, PLFor load pressure, CtCoefficient is let out for load motor Inner.
Charge valve flow equation is
Wherein：CVFor charge valve discharge coefficient, xvFor charge valve spool displacement,For charge valve window area gradient, ρ is
Fluid density.
After linearisation the load flow equation of servo valve is
QL=KqXv-KpPL (15)
Wherein：KqFor charge valve factor for enlarged flow, KpFor charge valve flow pressure coefficient.
Loading axis torque equilibrium equation is
Wherein：JLTurn amount, B for load motor rotorLFor loading system damped coefficient, T is loading moment.
The expression formula of loading moment is
T=GS(θL-θR) (17)
Wherein：GsFor torque sensor rigidity, θRFor steering engine angular displacement
Laplace transformation is carried out to formula (13) and formula (15), is obtained
Laplace transformation is carried out to formula (16), is obtained in conjunction with formula (18)
Wherein：Kt=Ct+Kp。
Laplace transformation is carried out to formula (17),
(20) are brought into (19),
Wherein：
By formula (21) it can be seen that distracter B (s) the s θ of loading system output torqueR(s) and the speed of steering engine, acceleration
And the variation of acceleration is related, design feedforward link compensation rate, wherein velocity compensation is by USYIt is responsible for, its based on acceleration
His compensation rate is by UPOIt is responsible for.As Fig. 1 reaches elimination since steering engine movement causes under the co- controlling effect of two kinds of compensation rates
Redundant force.
Fig. 4 shows the compensation based on speed with the double synchronous decouplings of acceleration according at least one embodiment of the disclosure
The flow chart of control method.
As shown in figure 4, according to the benefit based on speed with the double synchronous decouplings of acceleration of at least one embodiment of the disclosure
It repays control method 400 and may include following steps：
S401 obtains steering engine angular displacement instruction and steering engine servo valve control signal；
Steering engine angular displacement instruction input position is synchronized decoupling feed forward element, to generate acceleration compensation signal by S402；
Steering engine servo valve control input speed signal is synchronized decoupling feed forward element, with formation speed thermal compensation signal by S403；
And
S404 controls the actuating unit of load simulator based on acceleration compensation signal and velocity compensation signal.
According in some of disclosure embodiments, compensating control method 400 may also include：By the dynamic of load simulator
The output signal of force mechanisms is input to robust disturbance-observer unit, to generate interference compensation signal；And believed based on interference compensation
Number the actuating unit of load simulator is controlled.
By the compensating control method according to disclosure embodiment, the redundant force generated by steering engine movement had both been inhibited
Square, and the influence of intrinsic High-frequency Interference is reduced, to realize that high precision load is simulated.
It will be understood by those of skill in the art that the above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of compensating control method based on speed with the double synchronous decouplings of acceleration, which is characterized in that the compensation controlling party
Method includes：
Obtain steering engine angular displacement instruction and steering engine servo valve control signal；
The steering engine angular displacement instruction input position is synchronized into decoupling feed forward element, to generate acceleration compensation signal；
The steering engine servo valve control input speed signal is synchronized into decoupling feed forward element, with formation speed thermal compensation signal；And
The actuating unit of load simulator is controlled based on the acceleration compensation signal and the velocity compensation signal.
2. compensating control method according to claim 1, which is characterized in that the compensating control method further includes：
The output signal of the actuating unit of the load simulator is input to robust disturbance-observer unit, to generate interference compensation
Signal；And
The actuating unit of the load simulator is controlled based on the interference compensation signal.
3. compensating control method according to claim 1, which is characterized in that the speed sync decoupling feed forward element is based on
PD control device carries out gain and phase adjustment to the steering engine servo valve control signal.
4. compensating control method according to claim 2, which is characterized in that the robust disturbance-observer unit includes：
Return-to-zero factor module is configured to receive the output signal of the actuating unit of the load simulator；And
Low pass filter blocks are configured to receive the output signal of the Return-to-zero factor module, and export filtered described
The input signal of Return-to-zero factor module as the interference compensation signal,
The wherein described Return-to-zero factor module is additionally configured to receive and what the interference compensation signal was superimposed is used for the load mould
The control signal of the actuating unit of quasi- device.
5. compensating control method according to claim 4, which is characterized in that the Return-to-zero factor module is according to the load
The inverse of the open-loop transfer function of the actuating unit of simulator determines.
6. compensating control method according to claim 1, which is characterized in that the amplitude versus frequency characte of the low pass filter blocks
For 1 or 0dB, phase-frequency characteristic 0deg.
7. a kind of compensation control device based on speed with the double synchronous decouplings of acceleration, which is characterized in that the compensation control dress
Set including：
Position, which synchronizes, decouples feed forward element, is configured to steering engine angular displacement instruction and generates acceleration compensation signal and described will add
Velocity compensation signal is input to the actuating unit of the load simulator；And
Speed sync decouples feed forward element, is configured to steering engine servo valve control signal formation speed thermal compensation signal and will be described
Velocity compensation signal is input to the actuating unit of load simulator.
8. compensation control device according to claim 7, which is characterized in that the compensation control device further includes：Robust
Disturbance-observer unit, the robust disturbance-observer unit is for generating interference compensation signal, the engine of the load simulator
The control of the output signal of structure and the actuating unit for the load simulator superimposed with the interference compensation signal is believed
Number be used as the robust disturbance-observer unit input signal.
9. compensation control device according to claim 7, which is characterized in that the speed sync decoupling feed forward element is based on
PD control device carries out gain and phase adjustment to the steering engine servo valve control signal.
10. compensation control device according to claim 7, which is characterized in that the robust disturbance-observer unit includes：
Return-to-zero factor module is configured to receive the output signal of the actuating unit of the load simulator；And
Low pass filter blocks are configured to receive the output signal of the Return-to-zero factor module, and export filtered described
The input signal of Return-to-zero factor module as the interference compensation signal,
The wherein described Return-to-zero factor module is additionally configured to receive and what the interference compensation signal was superimposed is used for the load mould
The control signal of the actuating unit of quasi- device, and the Return-to-zero factor module opening according to the actuating unit of the load simulator
The inverse of ring transmission function determines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191072.7A CN108281061A (en) | 2018-03-08 | 2018-03-08 | Compensating control method and device based on speed with the double synchronous decouplings of acceleration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191072.7A CN108281061A (en) | 2018-03-08 | 2018-03-08 | Compensating control method and device based on speed with the double synchronous decouplings of acceleration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108281061A true CN108281061A (en) | 2018-07-13 |
Family
ID=62809262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810191072.7A Pending CN108281061A (en) | 2018-03-08 | 2018-03-08 | Compensating control method and device based on speed with the double synchronous decouplings of acceleration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108281061A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110895418A (en) * | 2019-12-30 | 2020-03-20 | 北京理工大学 | Low-speed rotating aircraft control method and system for compensating dynamic lag of steering engine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1452065A (en) * | 2002-04-12 | 2003-10-29 | 北京航空航天大学 | Speed synchronously controlled electrohydraulic load simulator |
| CN103577244A (en) * | 2013-10-10 | 2014-02-12 | 北京航空航天大学 | Speed synchronous control method and system for load simulator |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN106055753A (en) * | 2016-05-24 | 2016-10-26 | 北京航空航天大学 | Steering engine instruction dynamic compensation control method of electro-hydraulic load simulator redundant force |
-
2018
- 2018-03-08 CN CN201810191072.7A patent/CN108281061A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1452065A (en) * | 2002-04-12 | 2003-10-29 | 北京航空航天大学 | Speed synchronously controlled electrohydraulic load simulator |
| CN103577244A (en) * | 2013-10-10 | 2014-02-12 | 北京航空航天大学 | Speed synchronous control method and system for load simulator |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN106055753A (en) * | 2016-05-24 | 2016-10-26 | 北京航空航天大学 | Steering engine instruction dynamic compensation control method of electro-hydraulic load simulator redundant force |
Non-Patent Citations (5)
| Title |
|---|
| 孙野: "基于二次调节的采煤机截割部模拟加载系统研究", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 * |
| 杨智: "电液舵机负载模拟器多余力矩消除的研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 汪成文等: "基于改进的速度同步控制的电液负载模拟器", 《航空学报》 * |
| 汪明霞: "静夜二次调节传动系统控制策略的研究", 《中国优秀博硕士学位论文全文数据库（硕工程科技Ⅱ辑）》 * |
| 焦宗夏、华清等: "电液负载模拟器的复合控制", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110895418A (en) * | 2019-12-30 | 2020-03-20 | 北京理工大学 | Low-speed rotating aircraft control method and system for compensating dynamic lag of steering engine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111324142B (en) | Disturbance compensation control method for missile pilot | |
| CN110543123B (en) | Disturbance measurement feedforward suppression method based on virtual multi-closed-loop | |
| CN109541945A (en) | Disturbance suppression method based on composite disturbance observer | |
| Theodoulis et al. | Robust gain-scheduled autopilot design for spin-stabilized projectiles with a course-correction fuze | |
| CN107844052B (en) | Method for suppressing harmonic current of magnetic bearing system based on parallel finite dimension repeated control | |
| GB2059117A (en) | Control system for gas turbine engine | |
| Buschek | Full envelope missile autopilot design using gain scheduled robust control | |
| Sève et al. | Pitch/yaw channels control design for a 155mm projectile with rotating canards, using a H∞ loop-shaping design procedure | |
| CN111897223B (en) | Speed tracking guidance method considering dynamic characteristics of automatic pilot | |
| CN108281061A (en) | Compensating control method and device based on speed with the double synchronous decouplings of acceleration | |
| CN109426150A (en) | Load simulator backstepping control method based on extended state observer | |
| JP2016173044A (en) | Wind turbine generator system and control method of the wind turbine generator system | |
| Shkolnikov et al. | Robust missile autopilot design via high-order sliding mode control | |
| Nesline et al. | Robust instrumentation configurations for homing missile flight control | |
| US2938435A (en) | Control apparatus | |
| CN111443738A (en) | Disturbance suppression method based on combination of MEMS accelerometer and acceleration disturbance observer | |
| Bigley et al. | Wideband linear quadratic control of a gyro-stabilized electro-optical sight system | |
| CN112445235B (en) | Roll stability control method and system applied to high-dynamic aircraft | |
| US4256015A (en) | Fluidic stabilization control | |
| RU2593931C1 (en) | Armament stabilizer for combat module | |
| RU2007144481A (en) | METHOD FOR MANAGING A TWO ENGINE PLANE AND SYSTEM FOR ITS IMPLEMENTATION | |
| CN109976371A (en) | The suppressing method, device and equipment of posture limit cycle when aircraft cruise section | |
| DeMore et al. | Improvements in flight table dynamic transparency for hardware-in-the-loop facilities | |
| CN114815625A (en) | Intelligent learning control method for composite control aircraft | |
| CN114735199A (en) | Tandem rotor unmanned aerial vehicle and attitude adjustment control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180713 |