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    • 1. 发明授权
    • State-deviation-estimation circuit employing a phase-locked-loop phase
reference
    • 采用锁相环相位参考的状态偏差估计电路
    • US4791573A
    • 1988-12-13
    • US902815
    • 1986-09-02
    • Paul D. ZemanyKirby A. SmithJohn A. Smith
    • Paul D. ZemanyKirby A. SmithJohn A. Smith
    • G05D1/10G05D1/08B64G1/28B64G1/36
    • G05D1/108
    • A system (34) for determining deviations in the state of motion of a projectile (10) from its intended state includes a comparison module (38) that receives the outputs S of a sensor array (36). The comparison module (38) converts the sensor outputs to a measurement vector Z.sub.m and computes the deviation of this measurement vector from an intended measurement vector Z.sub.0 received from a control system. The comparison module (38) then determines the difference E.sub.Z between this measured deviation and the deviation predicted by a Kalman filter (44, 46). In generating the measurement vector Z.sub.m from the outputs of the sensor array (36), the comparison module (38) "de-spins" the array outputs in accordance with the output of a phase reference (42), whose purpose is to indicate the phase with respect to gravity of the spin of the projectile (10) about its longitudinal axis. The Kalman filter's state-deviation estimator (46) weights the vector output of the comparison module (36) and adds it to the output of the Kalman filter's state-deviation predictor (44) to provide an updated state-deviation estimation E.sub.X (t:t), which the state-deviation predictor (44) then uses as a basis for its next cycle. The output of the comparison module (38) constitutes a measure of the performance of the state-deviation predictor (44) and is used as a correction factor for the phase reference (42) so that the system acts as a phase-locked loop to lock the phase reference (42) onto the projectile spin without the need for an external sensor to determine the direction of gravity.
    • 用于确定弹丸(10)的运动状态与其预期状态的偏差的系统(34)包括:接收传感器阵列(36)的输出S的比较模块(38)。 比较模块(38)将传感器输出转换为测量矢量Zm,并计算该测量矢量与从控制系统接收到的预期测量矢量Z0的偏差。 比较模块(38)然后确定该测量的偏差与由卡尔曼滤波器(44,46)预测的偏差之间的差EZ。 在从传感器阵列(36)的输出生成测量矢量Zm时,比较模块(38)根据相位基准(42)的输出“去”旋转阵列输出,其目的是指示 相对于射弹(10)的旋转的重力围绕其纵向轴线。 卡尔曼滤波器的状态偏差估计器(46)对比较模块(36)的矢量输出进行加权,并将其加到卡尔曼滤波器的状态偏差预测器(44)的输出端,以提供更新的状态偏差估计EX(t: t),状态偏差预测器(44)然后用作其下一个周期的基础。 比较模块(38)的输出构成了状态偏差预测器(44)的性能的量度,并被用作相位参考(42)的校正因子,使得系统充当锁相环 将相位基准(42)锁定在抛射体旋转上,而不需要外部传感器来确定重力方向。
    • 5. 发明授权
    • Brake-control system for accelerating freely falling objects to a moving
craft's speed
    • 制动控制系统,用于加速自由落体到移动工艺的速度
    • US5014997A
    • 1991-05-14
    • US483107
    • 1990-02-22
    • John A. SmithMark A. Carlson
    • John A. SmithMark A. Carlson
    • B64D1/00F41J9/10
    • F41J9/10B64D1/00
    • In a moving craft connected by a towline to an ejected and freely falling object, a brake control system determines when to engage a brake that accelerates the object to the moving craft's speed by retarding the deployment of the towline without exceeding its rated working load. The control system continually monitors the velocity and the total deployed distance of the ejected object. When a point in a velocity-distance state-space plane corresponding to the monitored velocity and the monitored total deployed distance of the ejected object has reached a switching curve (48), the control system actuates a brake (74). The switching curve (48) is the locus of intersection points (38, 40, 42, and 44) of a plurality of pairs of curves, each pair consisting of a free-fall trajectory (23, 24, 26, and 28) and a brake trajectory (30, 32, 34, and 36) and being associated with a different craft velocity. The free-fall trajectory is the trajectory that the object follows after it has been ejected from the craft and is falling away from the craft under the influence of drag. The brake trajectory is the trajectory by which the brake system causes the object to stop at the desired deployment distance.
    • 在通过拖链连接到被弹出和自由落下的物体的移动工艺中,制动控制系统确定何时接合制动器,以通过延迟拖曳部分而不超过其额定工作负荷来加速物体与移动工艺的速度。 控制系统持续监控喷射物体的速度和总部署距离。 当对应于所监视的速度的速度距离状态空间平面中的点和被喷射物体的被监视的总部署距离达到切换曲线(48)时,控制系统致动制动器(74)。 切换曲线(48)是多对曲线的交点(38,40,42和44)的轨迹,每对曲线由自由落体轨迹(23,24,26和28)和 制动轨迹(30,32,34和36)并且与不同的飞行速度相关联。 自由落体的轨迹是物体在从工艺中弹出并在拖动的影响下从工艺上掉下来的轨迹。 制动轨迹是制动系统导致物体在所需部署距离处停止的轨迹。