CN109991990A - The balancing device and control method of how parallel control-moment gyro with rotary head - Google Patents
The balancing device and control method of how parallel control-moment gyro with rotary head Download PDFInfo
- Publication number
- CN109991990A CN109991990A CN201811617084.8A CN201811617084A CN109991990A CN 109991990 A CN109991990 A CN 109991990A CN 201811617084 A CN201811617084 A CN 201811617084A CN 109991990 A CN109991990 A CN 109991990A
- Authority
- CN
- China
- Prior art keywords
- control
- rotary head
- moment gyro
- motor
- balancing device
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005611 electricity Effects 0.000 claims 1
- 238000005457 optimization Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The balancing device and control method of the invention discloses a kind of how parallel control-moment gyro with rotary head, including ontology, rotary head and at least one power plant module, each power plant module includes two control-moment gyros, and the flywheel of two control-moment gyros is in the plane of the rotary head；The ontology is equipped with controller, the drive module for driving the control-moment gyro and the attitude transducer for obtaining the ontology posture；The rotary head is installed on the body, and the power plant module is mounted on the rotary head；The rotary head is connect with the drive module, and the drive module drives the rotary head to rotate on the body.The present invention is by improving the mostly balancing device of control-moment gyros, and the control method of the optimization balancing device in parallel, to increase torque output.
Description
Technical field
The present invention relates to momentum exchange device technical fields, more particularly, to the how parallel control moment with rotary head
The balancing device and control method of gyro.
Background technique
In recent years, it is dynamic to use for reference aerospace use by the experts and scholars of ectoskeleton research and humanoid robot research field
Switch (MEDs) is measured to solve biped robot's equilibrium problem.So-called momentum exchange device includes momenttum wheel, control moment
Gyro, reaction wheel；As one kind of momentum exchange device, control-moment gyro (CMG), i.e. gyro driver, by using
Precession power that rotary gyroscope generates and be used as actuator, rather than sensor.When torque is applied to perpendicular to spin shaft
When on axis, gyro driver can generate gyroscopic precession, also, generate top around the torque axis third axis orthogonal with spin axis
Spiral shell torque.Gyro driver is widely used in the fields such as ship, space flight, Vehicle Engineering because of its gyroscopic inertia and stability.So
And gyro driver applications are exposed into its limitation when the robot field, main reason is that small-scale structure is difficult to realize
High-torque output.
Summary of the invention
The balancing device and control method of the present invention provides a kind of how parallel control-moment gyro with rotary head,
The technical issues of solved is that the torque output of existing gyro driver is insufficient, and the present invention is by improving how parallel control force
The balancing device of square gyro, and the control method of the optimization balancing device, to increase torque output.
In order to solve the above-mentioned technical problem, the how parallel control force with rotary head that the embodiment of the invention provides a kind of
The balancing device of square gyro, including ontology, rotary head and at least one power plant module, each power plant module include
Two control-moment gyros, and the flywheel of two control-moment gyros is in the plane of the rotary head；
The ontology is equipped with controller, the drive module for driving the control-moment gyro and for obtaining
The attitude transducer of the ontology posture；
The rotary head is installed on the body, and the power plant module is mounted on the rotary head；It is described
Rotary head is connect with the drive module, and the drive module drives the rotary head to rotate on the body.
Preferably, the rotary head is the rotating mechanism rotated around the axis of rotation, and the axis of rotation is fixed on this
On body.
Preferably, each control-moment gyro includes that universal wheel deflection outline border is deflected with the universal wheel is mounted on
Flywheel in outline border.
Preferably, the drive module includes first motor, the second motor, third motor and the 4th motor, and described
One motor, second motor, the third motor quantity be at least two；
The flywheel of each control-moment gyro is controlled rotation by a corresponding first motor；
Using the universal wheel outline border of two control-moment gyros of each power plant module as:
The left universal wheel deflected by second motor control deflects outline border,
The right universal wheel deflected by a third motor control deflects outline border；
The rotary head is rotated by the 4th motor control.
Preferably, the drive module includes first motor, the second motor and third motor, the first motor
Quantity is at least two；
Each flywheel is controlled rotation by a corresponding first motor；
The universal wheel deflection outline border of two control-moment gyros connects commonly through universal wheel deflection outline border link mechanism
It connects on the driving end of same second motor；
The rotary head is rotated by the third motor control.
Preferably, the balancing device of the how parallel control-moment gyro with rotary head further include:
The first angle sensor and the first encoder being mounted on the rotary head；
The first angle sensor is connect with the first angle data input pin of the controller, described for detecting
The angle of rotary head；
First encoder is connect, for detecting the rotation with the first angular velocity data input terminal of the controller
Turn the angular speed of holder.
Preferably, the balancing device of the how parallel control-moment gyro with rotary head further include:
The second angle sensor and second encoder being mounted on the universal wheel deflection outline border；
The second angle sensor is connect with the second angle data input pin of the controller, described for detecting
The angle of universal wheel deflection outline border；
The second encoder is connect, for detecting described ten thousand with the second angular velocity data input terminal of the controller
To the angular speed of wheel deflection outline border.
The present invention provides a kind of balance dress for the how parallel control-moment gyro as described above with rotary head
The control method set, which is characterized in that the method is executed by controller, is at least included the following steps:
In balancing device operation, the flywheel of each control-moment gyro is driven by the drive module
At the uniform velocity rotation；
Meanwhile rotary head at the uniform velocity rotation is driven by the drive module；
The dump angle data and angular speed in ontology front, rear, left and right direction are acquired by attitude transducer in real time
Data, and the torque that ontology restores balance is calculated according to the dump angle data and angular velocity data；
Control instruction is sent to the drive module according to the torque that the ontology restores balance, to drive the control
The universal wheel deflection outline border of moment gyro drives corresponding flywheel to deflect and generates integrated compensation torque.
Preferably, described in balancing device operation, each control moment is controlled by the drive module
The at the uniform velocity rotation of the flywheel of gyro, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control moment top
Spiral shell is as right control-moment gyro；
In balancing device operation, the left control force of each power plant module is controlled by the drive module
The flywheel of square gyro at the uniform velocity rotation, universal wheel deflect outline border uniform rotation clockwise, and the flywheel of right control-moment gyro is at the uniform velocity certainly
Turn, universal wheel deflects outline border uniform rotation counterclockwise.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
The balancing device of the embodiment of the invention provides a kind of how parallel control-moment gyro with rotary head and control
Method, the balancing device include ontology, rotary head and control-moment gyro, and the rotary head by the uniform velocity changing the line of production certainly
Raw torque, the torque generated with control-moment gyro synthesizes bigger torque, so that the torque for increasing the balancing device is defeated
Out；When the attitude transducer of the ontology detects ontology left and right directions, in the front-back direction dump angle and the angular speed
Afterwards, corresponding position is deflected into universal wheel deflection outline border is controlled in the torque section that control-moment gyro synthesizes in rotary head
It sets, the ontology is enabled to be restored to equilbrium position, and then increase the stability that torque exports and improves balancing device.
Detailed description of the invention
Fig. 1 is the first of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The structure chart of angle；
Fig. 2 is the second of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The structure chart of angle；
Fig. 3 is the third of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The structure chart of angle；
Fig. 4 is the control of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The step flow chart of method；
Fig. 4 is the control of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The control flow chart of method；
Fig. 5 is the control of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The falling-resistant control flow chart of method；
Fig. 6 is the control of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
The falling-resistant control flow chart of method；
Fig. 7 is the control method of the balancing device of the how parallel control-moment gyro with rotary head in the embodiment of the present invention
Feedback regulation schematic diagram；
Wherein, 1, flywheel；2, universal wheel deflects outline border；3, rotary head；4, ontology.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Referring to Figure 1 to Fig. 3, the embodiment of the invention provides a kind of how parallel control-moment gyros with rotary head 3
Balancing device, including ontology 4, rotary head 3 and at least one power plant module, each power plant module includes two
Control-moment gyro, and the flywheel 1 of two control-moment gyros is in the plane of the rotary head 3；
The ontology 4 is equipped with controller, the drive module for driving the control-moment gyro and for obtaining
The attitude transducer of 4 posture of ontology；
The rotary head 3 is mounted on the ontology 4, and the power plant module is mounted on the rotary head 3；
The rotary head 3 is connect with the drive module, and the drive module drives the rotary head 3 to turn on the ontology 4
It is dynamic.
As a preferred embodiment, the rotary head 3 is the rotating mechanism rotated around the axis of rotation, and the rotation
Axis is fixed on ontology 4.
As a preferred embodiment, each control-moment gyro includes universal wheel deflection outline border 2 and is mounted on described ten thousand
Flywheel 1 into wheel deflection outline border 2.
As a preferred embodiment, the balancing device of the how parallel control-moment gyro with rotary head 3 further include:
The first angle sensor and the first encoder being mounted on the rotary head 3；
The first angle sensor is connect with the first angle data input pin of the controller, described for detecting
The angle of rotary head 3；
First encoder is connect, for detecting the rotation with the first angular velocity data input terminal of the controller
Turn the angular speed of holder 3.
As a preferred embodiment, the balancing device of the how parallel control-moment gyro with rotary head 3 further include:
The second angle sensor and second encoder being mounted on the universal wheel deflection outline border 2；
The second angle sensor is connect with the second angle data input pin of the controller, described for detecting
The angle of universal wheel deflection outline border 2；
The second encoder is connect, for detecting described ten thousand with the second angular velocity data input terminal of the controller
To the angular speed of wheel deflection outline border 2.
As first preferred embodiment, the drive module includes first motor, the second motor, third motor and
Four motors, the first motor, second motor, the third motor quantity be at least two；
The flywheel 1 of each control-moment gyro is controlled rotation by a corresponding first motor；
Using the universal wheel outline border of two control-moment gyros of each power plant module as:
The left universal wheel deflected by second motor control deflects outline border 2,
The right universal wheel deflected by a third motor control deflects outline border 2；
The rotary head 3 is rotated by the 4th motor control.
As the second preferred embodiment, the drive module includes first motor, the second motor and third motor, institute
The quantity for stating first motor is at least two；
Each flywheel 1 is controlled rotation by a corresponding first motor；
The universal wheel deflection outline border 2 of two control-moment gyros deflects 2 link mechanism of outline border commonly through universal wheel
It is connected on the driving end of same second motor；
The rotary head 3 is rotated by the third motor control.
Fig. 4 to Fig. 7 is referred to, the present invention provides a kind of for as described above with the how parallel control of rotary head 3
The control method of the balancing device of moment gyro, which is characterized in that the method is executed by controller, includes at least following step
It is rapid:
S101, the balancing device operation when, each control-moment gyro is driven by the drive module
The at the uniform velocity rotation of flywheel 1；
S102, simultaneously passes through the drive module and drives the at the uniform velocity rotation of rotary head 3；
S103, in real time by attitude transducer acquire the 4 front, rear, left and right direction of ontology dump angle data and
Angular velocity data, and the torque that ontology 4 restores balance is calculated according to the dump angle data and angular velocity data；
S104, control instruction is sent to the drive module according to the torque that the ontology 4 restores balance, to drive
The universal wheel deflection outline border 2 for stating control-moment gyro drives corresponding flywheel 1 to deflect and generates integrated compensation torque.
Wherein, the flip angle degree for acquiring the 4 front, rear, left and right direction of ontology by attitude transducer in real time
According to and angular velocity data, and the power that ontology 4 restores balance is calculated according to the dump angle data and angular velocity data
Square, specifically:
According to 4 dump angle of ontology and angular speed, the deflection angle and angular speed of universal wheel deflection outline border 2, root are calculated
According to 4 dump angle of ontology, i.e. formula 1, calculates and need much average righting moments；It is inclined that corresponding outline border is calculated according to formula 4
Rotary speed goes to corresponding target angle.
Formula 1:
Wherein, miFor the quality of each component, liFor its corresponding length, θ is flip angle of the ontology 4 in some direction
Degree.
Formula 2:
Wherein, k is the integral constant of a synthesis cycle, is takenM, r is respectively the matter of single gyro driver
Amount and radius, ωAFor the at the uniform velocity spin velocity of flywheel 1,It is averaged yaw rate for deflection outline border.
Formula 3:
Formula 4:
As a preferred embodiment, described in balancing device operation, it is controlled by the drive module each described
The at the uniform velocity rotation of flywheel 1 of control-moment gyro, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control moment top
Spiral shell is as right control-moment gyro；
In balancing device operation, the left control force of each power plant module is controlled by the drive module
The flywheel 1 of square gyro at the uniform velocity rotation, universal wheel deflect the uniform rotation clockwise of outline border 2, and the flywheel 1 of right control-moment gyro is even
Fast rotation, universal wheel deflect the uniform rotation counterclockwise of outline border 2.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
The embodiment of the invention provides a kind of balancing device of how parallel control-moment gyro with rotary head 3 and controls
Method processed, the balancing device include ontology 4, rotary head 3 and control-moment gyro, and the rotary head 3 passes through at the uniform velocity certainly
It changes the line of production raw torque, the torque generated with control-moment gyro synthesizes bigger torque, to increase the torque of the balancing device
Output；When the attitude transducer of the ontology 4 detects 4 left and right directions of ontology, in the front-back direction dump angle and angle speed
After degree, rotary head 3 in the torque section that control-moment gyro synthesizes control universal wheel deflection outline border 2 deflect into it is corresponding
Position, enable the ontology 4 be restored to equilbrium position, and then increase the stability that torque exports and improves balancing device.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also regard
For protection scope of the present invention.
Claims (9)
1. a kind of balancing device of the how parallel control-moment gyro with rotary head, which is characterized in that including ontology, rotation cloud
Platform and at least one power plant module, each power plant module include two control-moment gyros, and two control forces
The flywheel of square gyro is in the plane of the rotary head；
The ontology is equipped with controller, the drive module for driving the control-moment gyro and for obtaining described
The attitude transducer of body posture；
The rotary head is installed on the body, and the power plant module is mounted on the rotary head；The rotation
Holder is connect with the drive module, and the drive module drives the rotary head to rotate on the body.
2. the balancing device of the how parallel control-moment gyro with rotary head as described in claim 1, which is characterized in that institute
Stating rotary head is the rotating mechanism rotated around the axis of rotation, and the axis of rotation is fixed on the body.
3. the balancing device of the how parallel control-moment gyro with rotary head as described in claim 1, which is characterized in that every
One control-moment gyro includes the flywheel that universal wheel deflects outline border and is mounted in the universal wheel deflection outline border.
4. the balancing device of the how parallel control-moment gyro with rotary head as described in claim 1, which is characterized in that institute
Stating drive module includes first motor, the second motor, third motor and the 4th motor, the first motor, second electricity
Machine, the third motor quantity be at least two；
The flywheel of each control-moment gyro is controlled rotation by a corresponding first motor；
Using the universal wheel outline border of two control-moment gyros of each power plant module as:
The left universal wheel deflected by second motor control deflects outline border,
The right universal wheel deflected by a third motor control deflects outline border；
The rotary head is rotated by the 4th motor control.
5. the balancing device of the how parallel control-moment gyro with rotary head as described in claim 1, which is characterized in that institute
Stating drive module includes first motor, the second motor and third motor, and the quantity of the first motor is at least two；
Each flywheel is controlled rotation by a corresponding first motor；
The universal wheel deflection outline border of two control-moment gyros is connected to commonly through universal wheel deflection outline border link mechanism
On the driving end of same second motor；
The rotary head is rotated by the third motor control.
6. the balancing device of the how parallel control-moment gyro with rotary head as described in claim 1, which is characterized in that institute
State the balancing device of the how parallel control-moment gyro with rotary head further include:
The first angle sensor and the first encoder being mounted on the rotary head；
The first angle sensor is connect, for detecting the rotation with the first angle data input pin of the controller
The angle of holder；
First encoder is connect, for detecting the rotation cloud with the first angular velocity data input terminal of the controller
The angular speed of platform.
7. the balancing device of the how parallel control-moment gyro as described in claim 1 or 6 with rotary head, feature exist
In the balancing device of the how parallel control-moment gyro with rotary head further include:
The second angle sensor and second encoder being mounted on the universal wheel deflection outline border；
The second angle sensor is connect with the second angle data input pin of the controller, described universal for detecting
The angle of wheel deflection outline border；
The second encoder is connect, for detecting the universal wheel with the second angular velocity data input terminal of the controller
Deflect the angular speed of outline border.
8. a kind of control for the balancing device to the how parallel control-moment gyro as described in claim 1 with rotary head
Method processed, which is characterized in that the method is executed by controller, is at least included the following steps:
In balancing device operation, the flywheel of each control-moment gyro is driven at the uniform velocity certainly by the drive module
Turn；
Meanwhile rotary head at the uniform velocity rotation is driven by the drive module；
The dump angle data and angular velocity data in ontology front, rear, left and right direction are acquired by attitude transducer in real time,
And the torque that ontology restores balance is calculated according to the dump angle data and angular velocity data；
Control instruction is sent to the drive module according to the torque that the ontology restores balance, to drive the control moment top
The universal wheel deflection outline border of spiral shell drives corresponding flywheel to deflect and generates integrated compensation torque.
9. the control method of the balancing device of the how parallel control-moment gyro with rotary head as claimed in claim 8,
It is characterized in that, it is described in balancing device operation, each control-moment gyro is controlled by the drive module
Flywheel at the uniform velocity rotation, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control-moment gyro conduct
Right control-moment gyro；
In balancing device operation, the left control-moment gyro of each power plant module is controlled by the drive module
Flywheel at the uniform velocity rotation, universal wheel deflect outline border uniform rotation clockwise, the at the uniform velocity rotation, universal of the flywheel of right control-moment gyro
Wheel deflection outline border uniform rotation counterclockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811617084.8A CN109991990B (en) | 2018-12-27 | 2018-12-27 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811617084.8A CN109991990B (en) | 2018-12-27 | 2018-12-27 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109991990A true CN109991990A (en) | 2019-07-09 |
| CN109991990B CN109991990B (en) | 2022-04-26 |
Family
ID=67129772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811617084.8A Active CN109991990B (en) | 2018-12-27 | 2018-12-27 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109991990B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888444A (en) * | 2019-12-04 | 2020-03-17 | 腾讯科技（深圳）有限公司 | Self-balancing running device and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| US20160158932A1 (en) * | 2006-09-25 | 2016-06-09 | Board Of Trustees Of Leland Stanford Junior University | Electromechanically counterbalanced humanoid robotic system |
| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
-
2018
- 2018-12-27 CN CN201811617084.8A patent/CN109991990B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160158932A1 (en) * | 2006-09-25 | 2016-06-09 | Board Of Trustees Of Leland Stanford Junior University | Electromechanically counterbalanced humanoid robotic system |
| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888444A (en) * | 2019-12-04 | 2020-03-17 | 腾讯科技（深圳）有限公司 | Self-balancing running device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109991990B (en) | 2022-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107728635B (en) | Automatic balancing device and method for motorcycle type robot | |
| US11453492B2 (en) | Transformable hovering rotorcraft | |
| CN204623835U (en) | Multi-axis aircraft | |
| CN105857595A (en) | Small-size aircraft system based on cradle head | |
| CN109445451A (en) | A method of for controlling the balancing device of more parallel control-moment gyros | |
| CN104843177B (en) | Aircraft | |
| CN110254703B (en) | Tilting double-rotor wing automatic hovering T-shaped unmanned aerial vehicle system | |
| JP6536043B2 (en) | Flying body | |
| CN110015415B (en) | Double-shaft tilting four-rotor aircraft | |
| CN110329497A (en) | The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle | |
| CN107363852A (en) | A kind of omni-directional mobile robots and control method for carrying planar inverted pendulum | |
| CN106272380A (en) | A kind of arrest the attitude stabilization method of mechanical arm assembly after high speed rotating target | |
| US20100307290A1 (en) | Apparatus, system and method for gyroscopic propulsion and/or steering | |
| CN111459188A (en) | Multi-rotor nonlinear flight control method based on quaternion | |
| CN109991990A (en) | The balancing device and control method of how parallel control-moment gyro with rotary head | |
| CN110032208B (en) | Unmanned aerial vehicle for underwater investigation and photography and control method thereof | |
| Qin et al. | Gemini ii: Design, modeling, and control of a compact yet efficient servoless bi-copter | |
| CN103921949A (en) | Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA | |
| CN116643578B (en) | Multimode unified control method for microminiature tailstock unmanned aerial vehicle | |
| US20080183341A1 (en) | Method and apparatus for torque control for machinery using counter-rotating drives | |
| CN110379285B (en) | Rectangular pyramid three-dimensional inverted pendulum device and control method | |
| CN111572762A (en) | Rotor aircraft and conversion method of propeller moment thereof | |
| CN105302142B (en) | The wheelbarrow device of omnibearing movable decoupling can be achieved | |
| JP6867634B1 (en) | Attitude control device and attitude control method | |
| Zioud et al. | Dynamic/CFD Modeling, Control and Energy-Consumption Comparative Analysis of a Quad-Tilting Rotor VTOL UAS |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |