WO2022141310A1 - Procédé de commande pour plateforme mobile, plateforme mobile et support de stockage - Google Patents

Procédé de commande pour plateforme mobile, plateforme mobile et support de stockage Download PDF

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Publication number
WO2022141310A1
WO2022141310A1 PCT/CN2020/141834 CN2020141834W WO2022141310A1 WO 2022141310 A1 WO2022141310 A1 WO 2022141310A1 CN 2020141834 W CN2020141834 W CN 2020141834W WO 2022141310 A1 WO2022141310 A1 WO 2022141310A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
frequency
filter
amplitude
current mode
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PCT/CN2020/141834
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English (en)
Chinese (zh)
Inventor
吕熙敏
李翔
商志猛
李罗川
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/141834 priority Critical patent/WO2022141310A1/fr
Publication of WO2022141310A1 publication Critical patent/WO2022141310A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators

Definitions

  • the present application relates to the technical field of motion control, and in particular, to a control method of a movable platform, a movable platform and a storage medium.
  • the present application provides a control method of a movable platform, a movable platform and a storage medium.
  • the present application provides a method for controlling a movable platform, the method comprising:
  • the mode being used to characterize the vibration characteristics of the movable platform
  • the parameters of the filter are determined according to the current mode, and the filter is used to eliminate abnormal vibration signals corresponding to the current mode of the movable platform;
  • the movable platform is controlled according to the signal processed by the filter.
  • the present application provides a movable platform, the movable platform includes: a memory and a processor;
  • the memory is used to store instructions
  • the processor invokes the instructions stored in the memory to implement the following operations:
  • the mode being used to characterize the vibration characteristics of the movable platform
  • the parameters of the filter are determined according to the current mode, and the filter is used to eliminate abnormal vibration signals corresponding to the current mode of the movable platform;
  • the movable platform is controlled according to the signal processed by the filter.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the above-mentioned mobile platform. Control Method.
  • Embodiments of the present application provide a method for controlling a movable platform, a movable platform, and a storage medium, to obtain a current mode of the movable platform, and the mode is used to characterize the vibration characteristics of the movable platform; according to The current mode determines the parameters of the filter, and the filter is used to eliminate the abnormal vibration signal corresponding to the current mode of the movable platform; control the filter to the abnormal vibration of the movable platform based on the parameters The signal is processed; the movable platform is controlled according to the signal processed by the filter.
  • the control filter processes the abnormal vibration signal of the movable platform based on the parameters; the movable platform is controlled according to the signal processed by the filter, that is, the movable platform is controlled according to the signal.
  • the filter with determined parameters is used to eliminate the abnormal vibration signal of the movable platform. Therefore, in this way, the influence of the abnormal vibration signal of the movable platform on the control system can be eliminated as much as possible in advance, which can avoid Self-excited dispersion, abnormal noise and other problems can ensure the stability of the controller as much as possible and avoid the occurrence of safety accidents on the movable platform.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a mobile platform of the present application
  • FIG. 2 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 3 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 4 is a schematic diagram of a frequency domain signal converted from a time domain signal in the control method of the mobile platform of the present application
  • FIG. 5 is a schematic structural diagram of an embodiment of a movable platform of the present application.
  • Embodiments of the present application provide a method for controlling a movable platform, a movable platform, and a storage medium, to obtain a current mode of the movable platform, and the mode is used to characterize the vibration characteristics of the movable platform; according to The current mode determines the parameters of the filter, and the filter is used to eliminate the abnormal vibration signal corresponding to the current mode of the movable platform; control the filter to the abnormal vibration of the movable platform based on the parameters The signal is processed; the movable platform is controlled according to the signal processed by the filter.
  • the control filter processes the abnormal vibration signal of the movable platform based on the parameters; the movable platform is controlled according to the signal processed by the filter, that is, the movable platform is controlled according to the signal.
  • the filter with determined parameters is used to eliminate the abnormal vibration signal of the movable platform. Therefore, in this way, the influence of the abnormal vibration signal of the movable platform on the control system can be eliminated as much as possible in advance, which can avoid Self-excited dispersion, abnormal noise and other problems can ensure the stability of the controller as much as possible and avoid the occurrence of safety accidents on the movable platform.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a movable platform of the present application.
  • the movable platform in this embodiment may refer to various platforms that can be automatically moved by their own power systems or moved under controlled conditions , such as: PTZ (eg: PTZ camera, etc.), drones, vehicles, unmanned vehicles, ground robots, unmanned ships, etc.
  • PTZ eg: PTZ camera, etc.
  • drones eg: PTZ camera, etc.
  • the movable platform is a drone.
  • the method may include:
  • S101 Acquire a current mode of the movable platform, where the mode is used to characterize the vibration characteristics of the movable platform.
  • S102 Determine parameters of a filter according to the current mode, where the filter is used to eliminate abnormal vibration signals corresponding to the current mode of the movable platform.
  • modes are used to characterize the vibration characteristics of the movable platform, and each mode has a specific natural frequency, damping ratio and mode shape.
  • the number of modes depends on the nodal degrees of freedom (DOF).
  • DOF nodal degrees of freedom
  • the low-frequency modes have the largest and most dangerous amplitudes
  • the high-frequency modes have small amplitudes and relatively little impact.
  • the frequency of the current mode of the movable platform is the frequency of the lower-order mode less than or equal to the preset frequency.
  • the low-order mode can be a frequency of 0-500Hz.
  • the preset frequency can be set according to the actual application.
  • the filter can be a filter circuit composed of capacitors, inductors and resistors.
  • the filter can effectively filter the frequency point of a specific frequency in the power line or the frequency other than the frequency point to obtain a power signal of a specific frequency, or eliminate the power signal of a specific frequency. Using this frequency selection function of the filter, interference noise can be filtered out or spectrum analysis can be performed.
  • the main parameters of the filter include but are not limited to: Center Frequency (Center Frequency), Cutoff Frequency (Cutoff Frequency), Pass Band Bandwidth, Insertion Loss (Insertion Loss), Ripple (Ripple), In-band fluctuation, In-band SWR (VSWR), Return Loss (Return Loss), Stop Band Rejection, Delay (Td), In-Band Phase Linearity, etc.
  • the filter comprises a band stop filter.
  • Bandstop filters may refer to filters that pass most frequency components but attenuate certain ranges of frequency components to very low levels.
  • the filter comprises a notch filter.
  • the notch filter is a kind of band-stop filter, its stop-band is very narrow and has a high quality factor Q value (Q Factor), so it is also called a point-stop filter. It is often used to remove fixed frequency components or where the stop band is very narrow, such as removing DC components and removing certain frequency components.
  • Vibration is an extremely common physical phenomenon.
  • the reciprocating motion of an object around an equilibrium position is called vibration.
  • three parameters of amplitude, frequency and phase are mostly used.
  • Amplitude represents the amplitude of a vibrating body or particle from its mean center.
  • Frequency refers to the number of times per second, the unit is times per second, expressed in Hz, and the frequency and the vibration period are reciprocal of each other.
  • Phase is a quantity that expresses the positional relationship of a vibrating part relative to other vibrating parts or other fixed parts; two different sources of vibration will have their own phase; the same phase may cause a harmonic resonance with serious consequences; if the phases are opposite , it may cause vibration cancellation and play a role in vibration reduction.
  • the abnormal vibration signal may refer to a vibration signal whose vibration quantity (ie, amplitude) and/or vibration waveform (including amplitude, frequency, phase, etc.) are changed compared with the normal vibration signal. For example: compared with the normal vibration signal, the vibration amount of a certain frequency point increases beyond the normal vibration amount; or compared with the normal vibration signal, a new vibration frequency appears; and so on. Under normal circumstances, if the amplitude is not large or small, this vibration will not cause danger or risk to the control of the movable platform. When the amplitude is large, it will cause danger or risk to the control of the movable platform. Therefore, abnormal vibration signals can also refer to signals whose amplitude exceeds a threshold at certain frequency points.
  • the vibration of the movable platform can be Characteristics will change.
  • the vibration signal is eliminated and processed; the movable platform is controlled according to the signal after the elimination of the filter, so that the abnormal vibration signal of the movable platform can be filtered out, and the abnormal vibration signal of these movable platforms can be avoided.
  • the control of the mobile platform has an impact.
  • An embodiment of the present application provides a method for controlling a movable platform.
  • the mode is used to characterize the vibration characteristics of the movable platform; filtering is determined according to the current mode. parameters of the device, the filter is used to eliminate the abnormal vibration signal corresponding to the current mode of the movable platform; control the filter to process the abnormal vibration signal of the movable platform based on the parameters; according to the The filter-processed signal controls the movable platform. Since the parameters of the filter are determined according to the acquired current mode, the control filter processes the abnormal vibration signal of the movable platform based on the parameters; the movable platform is controlled according to the signal processed by the filter, that is, the movable platform is controlled according to the signal.
  • the filter with determined parameters is used to eliminate the abnormal vibration signal of the movable platform. Therefore, in this way, the influence of the abnormal vibration signal of the movable platform on the control system can be eliminated as much as possible in advance, which can avoid Self-excited dispersion, abnormal noise and other problems can ensure the stability of the controller as much as possible and avoid the occurrence of safety accidents on the movable platform.
  • the current modality of the movable platform is acquired, and the current modality of the movable platform may be obtained in advance by modal analysis.
  • Modal analysis is to analyze the dynamic response of an object under excitation, which is a kind of dynamic analysis.
  • Modal analysis generally involves computer simulation analysis and physical testing. Physical testing generally uses displacement, acceleration or velocity sensors.
  • the acquiring the movable platform may include: acquiring the current mode of the movable platform during the movement of the movable platform. Accurate control of the movable platform is usually aimed at application scenarios where the movable platform is in motion.
  • the current mode of the movable platform is acquired during the movement of the movable platform, and the The current mode of the mobile platform is matched with the actual application scene of the mobile platform, and a more accurate and practical current mode of the mobile platform can be obtained, which provides technical support for the subsequent accurate control of the mobile platform.
  • the movable platform is usually provided with some measuring devices to monitor its own motion state, and the movable platform is controlled by the data measured by these measuring devices. In one embodiment, the time domain data obtained by these measurements are directly analyzed. Get the current modal of the movable platform. That is, S101, the acquiring the current mode of the movable platform during the movement of the movable platform may further include: S1011, S1012, S1013 and S1014, as shown in FIG. 2 .
  • S1011 Collect and acquire a time domain signal measured by a measuring device of the movable platform during the movement of the movable platform.
  • S1012 Convert the time domain signal of the movable platform into a frequency domain signal of the movable platform.
  • S1014 Use the abnormal mode of the abnormal vibration signal as the current mode of the movable platform.
  • the time and frequency domains are fundamental properties of physical signals that allow them to be analyzed in a number of ways, each offering a different perspective.
  • the time domain signal and the frequency domain signal are the two observation surfaces of the physical signal.
  • a time-domain signal can be a signal that describes the relationship between a physical signal and time. Usually, the relationship of a dynamic signal is represented by the time axis as a coordinate. For example, a time-domain waveform of a signal can express the change of the signal over time.
  • the frequency domain signal can be the signal of the relationship between the physical signal and the frequency, which is expressed by changing the signal to take the frequency axis as the coordinate.
  • time-domain signals are more vivid and intuitive, while the analysis of frequency-domain signals is more concise, and the analysis of problems is more profound and convenient.
  • the graph of the signal in the frequency domain (generally called the spectrum) can show which frequencies the signal is distributed in and its ratio, the magnitude of the amplitude at each frequency, the phase of each frequency, and so on.
  • the transformation of physical signals from time domain to frequency domain is mainly realized by Fourier series and Fourier transform. Periodic signals rely on Fourier series, and non-periodic signals rely on Fourier transform.
  • a minimum amplitude value of the abnormal vibration signal boundary is preset, and the abnormal mode of the abnormal vibration signal whose amplitude is greater than the preset minimum amplitude value is used as the current mode of the movable platform.
  • the current mode of the movable platform is obtained by analysis directly according to the time domain data measured by the measuring device provided on the movable platform, without additional special experiment, and neither time nor extra cost is wasted.
  • the time domain signal includes time domain data measured by an accelerometer and a gyroscope of the inertial measurement unit.
  • the time domain signal obtained by the measurement device of the movable platform is collected and obtained during the movement of the movable platform.
  • the time domain signal obtained by the measurement device of the movable platform is collected and obtained during the movement of the movable platform.
  • the real-time sliding window method may refer to collecting a certain number of time-domain signals in real time, so it is not only collecting and obtaining one or a few time-domain signals, nor collecting and obtaining the previous time-domain signals.
  • the current mode of the obtained movable platform is more accurate and representative, which can minimize the errors caused by the instrument measurement itself, minimize the errors caused by accidental factors, and avoid the collected time domain signals that cannot represent the current state. time domain signal.
  • the time domain signal acquired by the measurement device of the movable platform is collected and obtained by means of a real-time sliding window during the movement of the movable platform, and may further specifically include: during the movement of the movable platform The time domain signal measured by the measurement device of the movable platform is collected and obtained by means of a real-time sliding window and at a preset collection time interval and the same collection time length.
  • the collection time interval is further preset, and the collection time length is set to be the same. For example, if 10 time domain data needs to be collected, and the collection time is set to 20 seconds, then the collection time interval is that every 1 second (or one data is collected every 2 seconds), one time domain data needs to be collected. Another example: 20 time-domain data needs to be collected, and the collection time is set to 20 seconds, then the collection time interval is that every 0 seconds (or one data is collected every 1 second), one time-domain data needs to be collected.
  • this embodiment further pre-sets the acquisition time interval on the basis of the real-time sliding window method, and sets the acquisition time length to be the same, that is, The sampling frequency of the data remains the same.
  • the time-domain signals generated by accidental factors can be filtered out through time intervals; impact is minimized. Therefore, in this way, the accuracy of data analysis can be further ensured, and the accuracy of the current mode of the movable platform can be improved.
  • S102 the determining the parameters of the filter according to the current mode may include: S1021 and S1022, as shown in FIG. 3 .
  • S1021 Determine, according to the current mode of the movable platform, the amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than a preset minimum amplitude;
  • S1022 Determine the parameters of the filter according to the amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than the preset minimum amplitude.
  • the amplitude of the frequency at the peak can determine the center frequency of the filter and the maximum amplitude that needs to be eliminated or attenuated, and the frequency range with the amplitude greater than the preset minimum amplitude can determine the suppression bandwidth of the filter, that is, the filter needs to be Amplitudes in this frequency range are attenuated to extremely low levels.
  • the current mode of the movable platform may include a plurality of current modes, and at this time S1021, the frequency at the peak corresponding to the current mode is determined according to the current mode of the movable platform.
  • the amplitude and amplitude are greater than the frequency range of the preset minimum amplitude, and may further include: determining, according to the multiple current modes of the movable platform, multiple amplitudes and amplitudes of the frequencies at the peaks corresponding to the multiple current modes. Multiple frequency ranges with values greater than the preset minimum amplitude;
  • the determining the parameters of the filter according to the amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than the preset minimum amplitude value may further include: according to the multiple current modes The parameters of the multiple filters are determined by multiple amplitudes of frequencies at the peaks corresponding to the state and multiple frequency ranges whose amplitudes are greater than the preset minimum amplitude.
  • Fig. 4 is a frequency domain signal converted from a time domain signal of a movable platform, the amplitude corresponding to the dotted line in the figure is the preset minimum amplitude A0, and the amplitude is greater than the preset minimum amplitude A0 There are two abnormal modes of the abnormal vibration signal, and the two abnormal modes are used as the two current modes of the movable platform.
  • the amplitudes of the frequencies at the peaks corresponding to the two current modes are A1 and A2 respectively, and the frequency ranges whose amplitudes are greater than the preset minimum amplitude are f11-f12 and f21-f22 respectively; a filter is determined according to A1 and f11-f12 parameters that enable this filter to attenuate the amplitude of the frequency range f11-f12 below A0; determine the parameters of another filter according to A2 and f21-f22, so that the filter can attenuate the amplitude of the frequency range f21-f22 to A0 or less.
  • a phase margin ie, a preset phase margin
  • the phase margin is lost when the abnormal vibration signals of multiple filters are processed. It will affect the robustness of the control system.
  • the determining the parameters of the multiple filters according to multiple amplitudes of the frequencies at the peaks corresponding to the multiple current modes and multiple frequency ranges whose amplitudes are greater than the preset minimum amplitude includes: according to the The multiple amplitudes of the frequencies at the peaks corresponding to multiple current modes and multiple frequency ranges whose amplitudes are greater than the preset minimum amplitude value determine the parameters of multiple filters, so that the multiple filters satisfy the abnormal vibration signal after processing. Preset phase margin requirements for the control system of the movable platform.
  • the preset phase margin requirement can be the minimum phase margin requirement, which can not only ensure that each filter can play a role, but also ensure that the phase margin is sufficient.
  • FIG. 5 is a schematic structural diagram of an embodiment of a movable platform of the present application. It should be noted that the movable platform of this embodiment can perform the operations in the control method of the movable platform. Please refer to the above-mentioned related content of the control method of the movable platform, which will not be repeated here.
  • the movable platform 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.
  • the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the memory 1 is used to store instructions; the processor 2 invokes the instructions stored in the memory to implement the following operations:
  • the current mode of the movable platform which is used to characterize the vibration characteristics of the movable platform; determine the parameters of the filter according to the current mode, and the filter is used to eliminate the movable platform
  • the abnormal vibration signal corresponding to the current mode of the filter is controlled; the filter is controlled to process the abnormal vibration signal of the movable platform based on the parameter; the movable platform is controlled according to the signal processed by the filter.
  • the processor is specifically configured to: acquire the current mode of the movable platform during the movement of the movable platform.
  • the processor is specifically configured to: collect and acquire a time domain signal measured by a measuring device of the movable platform during the movement of the movable platform; convert the time domain signal of the movable platform into the movable platform The frequency domain signal of the mobile platform; according to the frequency domain signal of the movable platform and the preset minimum amplitude value of the abnormal vibration signal in the frequency domain, determine the abnormal mode of the abnormal vibration signal whose amplitude is greater than the preset minimum amplitude value ; Take the abnormal mode of the abnormal vibration signal as the current mode of the movable platform.
  • the processor is specifically configured to: collect and acquire a time domain signal measured by a measuring device of the movable platform by means of a real-time sliding window during the movement of the movable platform.
  • the processor is specifically configured to: collect and acquire the time measured by the measuring device of the movable platform by means of a real-time sliding window and at a preset collection time interval and the same collection time length during the movement of the movable platform domain signal.
  • the time domain signal includes time domain data measured by the accelerometer and gyroscope of the inertial measurement unit.
  • the processor is specifically configured to: determine, according to the current mode of the movable platform, the amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than the preset minimum amplitude; The amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than the preset minimum amplitude determine the parameters of the filter.
  • the processor is specifically configured to: determine, according to the multiple current modes of the movable platform, multiple amplitudes of the frequencies at the peaks corresponding to the multiple current modes and the amplitudes greater than the preset minimum amplitude a plurality of frequency ranges; the determining the parameters of the filter according to the amplitude of the frequency at the peak corresponding to the current mode and the frequency range in which the amplitude is greater than the preset minimum amplitude value includes: corresponding to the plurality of current modes A plurality of amplitudes of frequencies at the peak of the wave and a plurality of frequency ranges in which the amplitudes are greater than the preset minimum amplitude determine the parameters of the plurality of filters.
  • the processor is specifically configured to: determine the parameters of the multiple filters according to multiple amplitudes of frequencies at the peaks corresponding to the multiple current modes and multiple frequency ranges whose amplitudes are greater than a preset minimum amplitude, After the abnormal vibration signals are processed by the multiple filters, the preset phase margin requirements of the control system of the movable platform are satisfied.
  • the filter includes a band-stop filter.
  • the filter includes a notch filter.
  • the movable platform includes an unmanned aerial vehicle.
  • the frequency of the current mode of the movable platform is the frequency of the low-order mode less than or equal to the preset frequency.
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the above-mentioned mobile platform. Control Method.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned removable platform, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

L'invention se rapporte à un procédé de commande pour une plateforme mobile, la plateforme mobile et un support de stockage. Le procédé comprend les étapes consistant à : obtenir un mode actuel de la plateforme mobile, le mode étant utilisé pour représenter une caractéristique de vibration de la plateforme mobile (S101) ; déterminer un paramètre d'un filtre selon le mode actuel, le filtre étant configuré pour éliminer un signal de vibration anormal correspondant au mode actuel de la plateforme mobile (S102) ; commander le filtre pour traiter le signal de vibration anormal de la plateforme mobile sur la base du paramètre (S103) ; et commander la plateforme mobile en fonction du signal traité par le filtre (S104).
PCT/CN2020/141834 2020-12-30 2020-12-30 Procédé de commande pour plateforme mobile, plateforme mobile et support de stockage WO2022141310A1 (fr)

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PCT/CN2020/141834 WO2022141310A1 (fr) 2020-12-30 2020-12-30 Procédé de commande pour plateforme mobile, plateforme mobile et support de stockage

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Application Number Priority Date Filing Date Title
PCT/CN2020/141834 WO2022141310A1 (fr) 2020-12-30 2020-12-30 Procédé de commande pour plateforme mobile, plateforme mobile et support de stockage

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2316730A1 (fr) * 2009-10-28 2011-05-04 Eurocopter Mécanisme de filtration des vibrations subies par un équipement d'un appareil volant en mouvement, un giravion notamment
CN107272420A (zh) * 2017-08-07 2017-10-20 上海航天控制技术研究所 一种应用于电动舵机的高频噪声主动抑制方法
CN108871724A (zh) * 2018-05-03 2018-11-23 大连理工大学 一种振动模拟系统的随机振动模拟方法
CN111027012A (zh) * 2019-11-28 2020-04-17 上海航天控制技术研究所 基于调制滑动傅立叶变换的飞行器弹性振动在线辨识算法
CN111986238A (zh) * 2020-08-03 2020-11-24 长江勘测规划设计研究有限责任公司 一种基于无人机视频拍摄的混凝土拱坝模态振型识别方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2316730A1 (fr) * 2009-10-28 2011-05-04 Eurocopter Mécanisme de filtration des vibrations subies par un équipement d'un appareil volant en mouvement, un giravion notamment
CN107272420A (zh) * 2017-08-07 2017-10-20 上海航天控制技术研究所 一种应用于电动舵机的高频噪声主动抑制方法
CN108871724A (zh) * 2018-05-03 2018-11-23 大连理工大学 一种振动模拟系统的随机振动模拟方法
CN111027012A (zh) * 2019-11-28 2020-04-17 上海航天控制技术研究所 基于调制滑动傅立叶变换的飞行器弹性振动在线辨识算法
CN111986238A (zh) * 2020-08-03 2020-11-24 长江勘测规划设计研究有限责任公司 一种基于无人机视频拍摄的混凝土拱坝模态振型识别方法

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