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    • 2. 发明公开
    • NON-ORTHOGONAL SIX-ROD SATELLITE COMMUNICATION IN MOTION SERVO SYSTEM AND CONTROL METHOD
    • 在维也纳公司的EINEM BEWEGUNGSSERVOSYSTEM中的NICHTORTHOGONALE SIX-ROD-SATELLITENKOMMUNIKATION
    • EP3088981A1
    • 2016-11-02
    • EP14892970.6
    • 2014-06-30
    • Beijing Aerospace Wanda Hi-Tech Ltd.
    • SHI, JunliangZHAO, ShulunMEN, JizhuoXIN, YiCHEN, YuanhangFENG, RuixinXU, Yi
    • G05B19/418
    • G05B19/0426B64G1/244G05B15/02G05B19/0415G05B19/418G05B2219/33218G05B2219/40242H04B7/18504
    • A non-orthogonal six-rod satellite communication in motion servo system and a control method. The system comprises a measurement feedback unit, a control unit, a drive unit and a servo antenna, wherein the measurement feedback unit further comprises an azimuth angle encoder, a pitch position encoder, a roll position encoder, a polarization angle encoder and a data collection card; the control unit further comprises an ACU, a strapdown inertial measurement unit and a six-axis movement control and drive module; and the drive unit further comprises a linear motor, an azimuth turbine worm, a polarization turbine worm and an electric push rod, wherein the linear motor further comprises a first linear motor and a second linear motor; and the electric push rod further comprises a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod. The present invention has a simple mechanical structure and a high integration degree of a servo control system, and can achieve four-axis linkage, and miniaturization and weight reduction.
    • 运动伺服系统中的非正交六杆卫星通信和控制方法。 该系统包括测量反馈单元,控制单元,驱动单元和伺服天线,其中测量反馈单元还包括方位角编码器,俯仰位置编码器,滚动位置编码器,偏振角编码器和数据采集 卡; 所述控制单元还包括ACU,捷联惯性测量单元和六轴运动控制和驱动模块; 所述驱动单元还包括线性马达,方位涡轮蜗杆,偏振涡轮蜗杆和电推杆,其中所述线性马达还包括第一线性马达和第二线性马达; 所述电动推杆还包括第一电动推杆,第二电动推杆,第三电动推杆和第四电动推杆。 本发明具有机械结构简单,集成程度高的伺服控制系统,可实现四轴联动,小型化,轻量化。
    • 9. 发明公开
    • VEHICLE ATTITUDE CONTROL
    • FAHRZEUGAUSRICHTUNGSSTEUERUNG
    • EP3106954A3
    • 2017-03-15
    • EP16174610.2
    • 2016-06-15
    • The Boeing Company
    • BECKER, Gregory S.CHEN, ShanshinNAKASONE, Dennis Y.HAMMONS, Erin M.
    • G05D1/08
    • B64G1/244B64G1/283B64G1/285
    • A dual stage vehicle attitude control system includes a first attitude control module having at least two momentum wheels arranged to provide zero momentum vehicle attitude control, each momentum wheel comprises a limited travel two axis gimbal that pivots the momentum wheel along two of the three axes of the vehicle, a second attitude control module having reaction wheels arranged in a pyramid configuration to provide vehicle attitude control along at least one control axis that is common with a control axis of the at least two momentum wheels, and a controller connected to the first attitude control module and the second attitude control module, the controller being configured to coordinate actuation of the first attitude control module and the second attitude control module to rotate the vehicle in at least one of three axes of a vehicle.
      A method for controlling an attitude of a vehicle comprises controlling actuation of a first attitude control module and a second attitude control module to rotate the vehicle in at least one of three axes of the vehicle.
    • 双级车辆姿态控制系统包括具有布置成提供零动量车辆姿态控制的至少两个动量轮的第一姿态控制模块,每个动量轮包括有限行程双轴万向架,其将动量轮沿着三个轴的两个轴线 所述车辆具有第二姿态控制模块,所述第二姿态控制模块具有以锥体结构布置的反作用轮,以沿着与所述至少两个动量轮的控制轴共同的至少一个控制轴提供车辆姿态控制;以及控制器,其连接到所述第一姿态 控制模块和第二姿势控制模块,所述控制器被配置为协调所述第一姿势控制模块和所述第二姿态控制模块的致动,以使车辆在车辆的三个轴线中的至少一个轴线中旋转。 一种用于控制车辆姿态的方法包括控制第一姿态控制模块和第二姿势控制模块的致动,以使车辆在车辆的三个轴线中的至少一个轴线上旋转。