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1. 发明申请

WO2018032415A1 SYSTEMS AND METHODS FOR OPERATING UNMANNED AERIAL VEHICLES 审中-公开
标题翻译：用于操作无人机的系统和方法
公开(公告)号：WO2018032415A1
公开(公告)日：2018-02-22
申请号：PCT/CN2016/095708
申请日：2016-08-17
申请人： SZ DJI TECHNOLOGY CO., LTD.
发明人： QU, Zongyao , WU, Tao
IPC分类号： B64C27/02 , G01M1/12
CPC分类号： G05D1/085 , B64C17/02 , B64C27/02 , B64C39/024 , B64C2201/027 , B64C2201/14 , B64C2201/141 , B64C2201/146 , G01M1/12 , G05D1/0011 , G05D1/0094
摘要： A controller for controlling of an unmanned aerial vehicle (UAV) (200) is provided. It includes an input for receiving a first signal indicating a change in a center of gravity (CG1, CG2, CG3, CG4) of the UAV (200), wherein the UAV (200) comprises a plurality of arms (204, 206, 208, 210), at least one of the plurality of arms (204, 206, 208, 210) extending from a central body (202), and a plurality of propulsion units (214, 216, 218, 220), at least one of the plurality of propulsion units (214, 216, 218, 220) being positioned on a corresponding arm at a distance from a reference point on the central body (202), and a processor configured to determine, in response to the change in the center of gravity (CG1, CG2, CG3, CG4), a change in a configuration of the corresponding arm of the UAV (200) to change the distance of the at least one of the plurality of propulsion units (214, 216, 218, 220) from the reference point to counter the change in the center of gravity (CG1, CG2, CG3, CG4). A method for controlling a UAV (200), a UAV (200) and a method for operating a UAV (200) are also provided.
摘要翻译：提供了一种用于控制无人飞行器（UAV）（200）的控制器。它包括用于接收指示UAV（200）的重心（CG1，CG2，CG3，CG4）的变化的第一信号的输入，其中UAV（200）包括多个臂（204,206,208 ，210），所述多个臂（204,206,208,210）中的至少一个从中央主体（202）延伸，以及多个推进单元（214,216,218,220），至少一个所述多个推进单元（214,216,218,220）定位在相对于所述中央主体（202）上的参考点一定距离处的臂上，以及处理器，所述处理器被配置成响应于所述中心的重力（CG1，CG2，CG3，CG4），改变所述UAV（200）的相应臂的配置以改变所述多个推进单元（214,216,218,220）中的所述至少一个）以对抗重心（CG1，CG2，CG3，CG4）的变化。还提供了用于控制UAV（200），UAV（200）和用于操作UAV（200）的方法。

2. 发明申请

WO02077727A9 DUAL INPUT SERVO COUPLED CONTROL STICKS 审中-公开
标题翻译：双输入服务器耦合控制卡
公开(公告)号：WO02077727A9
公开(公告)日：2004-04-08
申请号：PCT/US0208593
申请日：2002-03-20
申请人： MPC PRODUCTS CORP
发明人： SZULYK ZENON , DYRA BRIAN , MAKHLIN ALEX
IPC分类号： B64C13/12 , G05D1/08 , G05B5/01
CPC分类号： G05D1/085 , B64C13/12
摘要： The present invention provides an active control system (100) for coupling the movements of a pair of independently operated manual input devices (104, 108) such as dual flight control sticks operated b a pilot and co-pilot flying an aircraft. Each input device (104, 108) is configured to receive manual input data in the form of angular displacement of the device about one or more rational axes. The active control system (100) provides desired tactile feedback to an operator who displaces one of the manual input devices (104, 108) in the form of a restorative centering force. If an external system such as an auto-pilot system is engaged, the restorative force may be in a direction necessary to reconcile manual displacement of the input device with a position commanded by the external system, rather than directed toward the center position. The system also acts to reflect manual displacement of each input device as a force applied to the other. For example, when a pilot moves his or her control stick forward, the co-pilot will feel a like force tending to move the co-pilot's control stick forward.
摘要翻译：本发明提供了一种用于联接一对独立操作的手动输入装置（104,108）的运动的主动控制系统（100），例如飞行员和驾驶飞行员的飞行员和副驾驶员操作的双飞行控制杆。每个输入装置（104,108）被配置为以装置围绕一个或多个有效轴的角位移的形式接收手动输入数据。主动控制系统（100）向操作者提供期望的触觉反馈，操作者以恢复性定心力的形式移动手动输入装置（104,108）中的一个。如果诸如自动驾驶员系统的外部系统被接合，则修复力可以在必要的方向上将调节输入装置的手动位移与由外部系统命令的位置，而不是指向中心位置。该系统还用于反映每个输入装置的手动位移作为施加到另一个的力。例如，当一名飞行员向前移动控制杆时，副驾驶员将会感觉到一种倾向于将副驾驶的控制杆向前移动的力量。

3. 发明申请

WO2002077727A1 DUAL INPUT SERVO COUPLED CONTROL STICKS 审中-公开
标题翻译：双输入服务器耦合控制卡
公开(公告)号：WO2002077727A1
公开(公告)日：2002-10-03
申请号：PCT/US2002/008593
申请日：2002-03-20
申请人： MPC PRODUCTS CORPORATION
发明人： SZULYK, Zenon , DYRA, Brian , MAKHLIN, Alex
IPC分类号： G05B5/01
CPC分类号： G05D1/085 , B64C13/12
摘要： The present invention provides an active control system (100) for coupling the movements of a pair of independently operated manual input devices (104, 108) such as dual flight control sticks operated b a pilot and co-pilot flying an aircraft. Each input device (104, 108) is configured to receive manual input data in the form of angular displacement of the device about one or more rational axes. The active control system (100) provides desired tactile feedback to an operator who displaces one of the manual input devices (104, 108) in the form of a restorative centering force. If an external system such as an auto-pilot system is engaged, the restorative force may be in a direction necessary to reconcile manual displacement of the input device with a position commanded by the external system, rather than directed toward the center position. The system also acts to reflect manual displacement of each input device as a force applied to the other. For example, when a pilot moves his or her control stick forward, the co-pilot will feel a like force tending to move the co-pilot's control stick forward.
摘要翻译：本发明提供了一种用于联接一对独立操作的手动输入装置（104,108）的运动的主动控制系统（100），例如飞行员和驾驶飞行员的飞行员和副驾驶员操作的双飞行控制杆。每个输入装置（104,108）被配置为以装置围绕一个或多个有效轴的角位移的形式接收手动输入数据。主动控制系统（100）向操作者提供期望的触觉反馈，操作者以恢复性定心力的形式移动手动输入装置（104,108）中的一个。如果诸如自动驾驶员系统的外部系统被接合，则修复力可以在必要的方向上将调节输入装置的手动位移与由外部系统命令的位置，而不是指向中心位置。该系统还用于反映每个输入装置的手动位移作为施加到另一个的力。例如，当一名飞行员向前移动控制杆时，副驾驶员将会感觉到一种倾向于将副驾驶的控制杆向前移动的力量。

4. 发明申请

WO99050611A1 INTEGRATED FIRE AND FLIGHT CONTROL SYSTEM FOR CONTROLLING THE ANGLE OF ATTACK OF A ROTARY WING AIRCRAFT 审中-公开
标题翻译：用于控制旋转飞机的攻击角的综合火灾和飞行控制系统
公开(公告)号：WO99050611A1
公开(公告)日：1999-10-07
申请号：PCT/US1999/005113
申请日：1999-03-09
IPC分类号： F41G9/00 , G05D1/08
CPC分类号： G05D1/085 , F41G9/002 , G05D1/0858
摘要： An integrated fire and flight control system (10) of the type which controls (200) aircraft flight dynamics to referenced values defined by a weapon launch solution to provide optimum aircraft to target orientation, further optimizes the aircraft's angle of attack (AOA) (47) to the target by controlling the aircraft's vertical speed to modify the aircraft's rate of climb or descent as necessary to produce an actual pitch attitude that is within a range of AOA values corresponding to the range of permissive weapon launch vertical speeds recommended by the weapons manufacturer.
摘要翻译：一种综合的火力和飞行控制系统（10），其将（200）飞行器飞行动力学控制到由武器发射解决方案定义的参考值，以提供最佳飞机到目标方向，进一步优化飞行器的迎角（AOA）（47 ）通过控制飞机的垂直速度来修改飞机的爬升或下降速度，以产生在与武器制造商推荐的许可武器发射垂直速度的范围相对应的AOA值的范围内的实际俯仰姿态。

5. 发明申请

WO1995017641A1 HELICOPTER INTEGRATED FIRE AND FLIGHT CONTROL HAVING A PRE-LAUNCH AND POST-LAUNCH MANEUVER DIRECTOR 审中-公开
标题翻译：直升飞机综合火力和飞行控制有一个预警和后启动导演
公开(公告)号：WO1995017641A1
公开(公告)日：1995-06-29
申请号：PCT/US1994014392
申请日：1994-12-02
申请人： UNITED TECHNOLOGIES CORPORATION
发明人： UNITED TECHNOLOGIES CORPORATION , FOWLER, Donald, W. , LAPPOS, Nicolas, D. , EDWARDS, Joan, A.
IPC分类号： F41G09/00
CPC分类号： F41G7/007 , F41G5/18 , F41G9/002 , G05D1/085
摘要： An integrated fire and flight control (IFFC) system determines a ballistic firing solution based on the position of targets relative to a helicopter and also based on the type of weapons to be fired. An elevation command is determined based on the required change in helicopter attitude to achieve the ballistic firing solutin that, combined with the estimated time required to perform the aim and release of weapons, provides an estimate of deceleration and velocity loss that will occur. A forward acceleration and velocity profile is determined based on the desire to make a symmetrical maneuver sequence involving a nose down acceleration to achieve the acceleration and velocity profile that will be canceled by the subsequent deceleration and velocity loss during the pitch up maneuver to the ballistic firing solution. The forward acceleration and velocity profile is used to provide a pilot with a forward acceleration command that directs the pilot to fly a nose down attitude until the required forward acceleration and velocity profile is achieved. Alternatively, the acceleration profile is coupled to a flight control wherein a pre-launch maneuver feedforward command signal is summed with a side arm controller control command signal as the primary input to a rotor mixing function and a pre-launch commanded rate signal is summed with a side arm controller commanded rate signal to provide the primary input to an automatic flight control system, to thereby automatically control the aircraft to assume an attitude necessary to achieve the desired forward acceleration and velocity profile. A terminal phase maneuver is calculated to thereby return the aircraft to the previous attitude, velocity hold, hover hold or position hold condition prior to commencement of the pre-launch maneuver.
摘要翻译：一个综合的火力和飞行控制系统（IFFC）系统根据目标相对于直升机的位置，并根据要被射击的武器的类型确定弹道射击解决方案。根据直升机姿态所要求的改变来确定升高指令，以实现弹道射击解决方案，结合执行武器目标和释放所需的估计时间，提供将会发生的减速和速度损失的估计。根据期望制作一个涉及下降加速度的对称机动序列来达到加速度和速度分布的要求，确定前进加速度和速度分布，该加速度和速度分布将在随后的减速和速度损失期间消除，解。前进加速度和速度分布用于为驾驶员提供前进加速指令，其指导飞行员飞行下降姿态，直到达到所需的前进加速度和速度曲线。或者，加速度曲线被耦合到飞行控制，其中预发射机动前馈指令信号与侧臂控制器控制命令信号相加，作为转子混合功能的主要输入，并且预发射命令速率信号与侧臂控制器命令速率信号以向主动输入提供自动飞行控制系统，从而自动控制飞机采取所需的姿态以达到所需的正向加速度和速度曲线。计算终端阶段机动，从而使飞机返回到先前的姿态，速度保持，悬停保持或位置保持状态，然后再启动前的动作。

6. 发明申请

WO1993023716A1 HELICOPTER INTEGRATED FIRE AND FLIGHT CONTROL SYSTEM HAVING TURN COORDINATION CONTROL 审中-公开
标题翻译：具有协调控制的直升机综合火力和飞行控制系统
公开(公告)号：WO1993023716A1
公开(公告)日：1993-11-25
申请号：PCT/US1993004359
申请日：1993-05-06
申请人： UNITED TECHNOLOGIES CORPORATION.
发明人： UNITED TECHNOLOGIES CORPORATION. , FOWLER, Donald, W. , LAPPOS, Nicholas, D.
IPC分类号： F41G03/22
CPC分类号： F41G3/22 , G05D1/085 , G05D1/0858
摘要： During operation of a flight control system in a coupled aiming mode, wherein a fire control system (55) azimuth command and elevation command provide an aircraft attitude reference, a bank angle calculation function (1077) provides a bank angle signal to place the aircraft in a roll angle which results in a substantially coordinated turn. The bank angle signal is determined primarily as a function of an aiming line of sight heading rate for small azimuth commands, and is determined primarily as a function of aircraft heading rate for large azimuth commands. Additionally, the bank angle initially comprises a component as a function of aircraft lateral acceleration for driving aircraft lateral acceleration to zero, and after the aircraft assumes a roll attitude for turn coordination, the bank angle comprises a component as a function of aircraft side slip for driving aircraft side slip to zero. Automatic turn coordination is disabled if the pilot maneuvers the aircraft to avoid a coordinated turn, and is re-enabled if the pilot maneuvers the aircraft into a coordinated turn attitude. A rate feedback path (143) is provided during operation in the coupled aiming mode wherein aircraft yaw and pitch rate error signals are respectively replaced by the rate of change of the azimuth command and the elevation command. During operation in the coupled aiming mode, intended pilot commanded maneuvers maintain full authority at all times.
摘要翻译：在联合瞄准模式下的飞行控制系统的操作期间，其中消防控制系统（55）的方位指令和仰角命令提供飞机姿态参考，倾斜角计算功能（1077）提供倾斜角度信号以将飞机放置在滚动角度导致基本上协调的转弯。主角角信号主要根据小方位指令的目标航向速度的函数来确定，并且主要被确定为大方位指令的飞机航向速率的函数。另外，岸角最初包括作为飞行器侧向加速度的函数的一个部件，用于将飞机横向加速度推到零，并且在飞行器采用卷轴姿态进行转向协调之后，该倾斜角度包括作为飞行器侧滑的函数的分量驾驶飞机侧滑到零。如果飞行员操纵飞机避免协调转弯，则自动转向协调被禁用，如果飞行员操纵飞行员进行协调的转弯姿态，则重新启用。在耦合的对准模式中，在操作期间提供速率反馈路径（143），其中飞行器偏航和俯仰速率误差信号分别被方位指令和仰角指令的变化率所代替。在联合瞄准模式下运行期间，飞行员指挥的飞行任务始终保持着全面的权威。

7. 发明申请

WO1993005461A1 HIGH SPEED TURN COORDINATION FOR ROTARY WING AIRCRAFT 审中-公开
标题翻译：高速转向旋转飞行器协调
公开(公告)号：WO1993005461A1
公开(公告)日：1993-03-18
申请号：PCT/US1992006453
申请日：1992-07-31
申请人： UNITED TECHNOLOGIES CORPORATION
发明人： UNITED TECHNOLOGIES CORPORATION , SKONIECZNY, Joseph, P. , FOGLER, Donald, L., Jr. , GOLD, Philipp, J. , KELLER, James, F. , DRYFOOS, James, B.
IPC分类号： G05D01/08
CPC分类号： G05D1/085 , G05D1/0858
摘要： A helicopter flight control system (21) includes a model following control system architecture which automatically provides a coordinating yaw command signal to the helicopter tail rotor to coordinate helicopter flight during a banked turn. The control system processes information from a variety of helicopter sensors (31) in order to provide the coordinating yaw command signal on an output line (72) to the tail rotor (20) of the helicopter.

8. 发明申请

WO2010138236A3 TRAJECTORY TRACKING FLIGHT CONTROLLER 审中-公开
标题翻译： TRAJECTORY追踪飞行控制器
公开(公告)号：WO2010138236A3
公开(公告)日：2011-01-27
申请号：PCT/US2010028632
申请日：2010-03-25
申请人： UNIV OHIO , ZHU JIANCHAO , ADAMI TONY M
发明人： ZHU JIANCHAO , ADAMI TONY M
IPC分类号： G08G5/00
CPC分类号： G05D1/08 , G01C21/12 , G01C21/20 , G05D1/0808 , G05D1/0825 , G05D1/085 , G05D1/101
摘要： A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model (16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).
摘要翻译：提出了一种用于固定翼飞机（46）的六自由度轨迹线性化控制器（TLC）架构（30）。 TLC架构（30）通过非线性运动方程的动态反演来计算公称力矩。线性时变（LTV）跟踪误差调节器提供跟踪误差动力学和模型不确定性和误差鲁棒性的指数稳定性。基本控制回路包括闭环LTV稳定控制器（12），伪逆植物模型（14）和非线性植物模型（16）。四个基本控制回路（34,36,40,42）被嵌套以形成TLC体系结构（30）。

9. 发明申请

WO2010138236A2 TRAJECTORY TRACKING FLIGHT CONTROLLER 审中-公开
标题翻译： TRAJECTORY追踪飞行控制器
公开(公告)号：WO2010138236A2
公开(公告)日：2010-12-02
申请号：PCT/US2010/028632
申请日：2010-03-25
申请人： OHIO UNIVERSITY , ZHU, Jianchao , ADAMI, Tony, M.
发明人： ZHU, Jianchao , ADAMI, Tony, M.
IPC分类号： G06F19/00 , B64C5/10
CPC分类号： G05D1/08 , G01C21/12 , G01C21/20 , G05D1/0808 , G05D1/0825 , G05D1/085 , G05D1/101
摘要： A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model (16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).
摘要翻译：提出了一种用于固定翼飞机（46）的六自由度轨迹线性化控制器（TLC）架构（30）。 TLC架构（30）通过非线性运动方程的动态反演来计算公称力矩。线性时变（LTV）跟踪误差调节器提供跟踪误差动力学和模型不确定性和误差鲁棒性的指数稳定性。基本控制回路包括闭环LTV稳定控制器（12），伪逆植物模型（14）和非线性植物模型（16）。四个基本控制回路（34,36,40,42）被嵌套以形成TLC体系结构（30）。

10. 发明申请

WO1993023715A1 HELICOPTER INTEGRATED FIRE AND FLIGHT CONTROL HAVING AZIMUTH AND PITCH CONTROL 审中-公开
标题翻译：直升机综合火灾和飞行控制具有控制和控制
公开(公告)号：WO1993023715A1
公开(公告)日：1993-11-25
申请号：PCT/US1993004336
申请日：1993-05-07
申请人： UNITED TECHNOLOGIES CORPORATION
发明人： UNITED TECHNOLOGIES CORPORATION , FOWLER, Donald, W. , LAPPOS, Nicholas, D. , DRYFOOS, James, B. , KELLER, James, F.
IPC分类号： F41G03/22
CPC分类号： F41G3/22 , G05D1/085 , G05D1/0858
摘要： A fire control system (55) azimuth command and elevation command provides a flight control system attitude reference in response to operation of the flight control system in a coupled aiming mode. The coupled aiming mode is engaged in response to the continuous operation of a pilot switch (920), the azimuth command and elevation command being below respective threshold magnitudes (940, 941), and the operation of the fire control system (55). During operation in the coupled aiming mode, the azimuth command and elevation command replace the yaw attitude feedback error signal and pitch attitude error signal, respectively, as the aircraft attitude reference. During integration of the fire control system and the flight control system, the flight control system is made less sensitive to small pilot command stick inputs below a stick input threshold magnitude, so that small or inadvertent pilot commanded yaw and pitch maneuvers will not affect the yaw and pitch attitude reference commanded by the fire control system azimuth and elevation commands. However, intended pilot commanded yaw and pitch maneuvers (70) maintain full authority at all times.
摘要翻译：消防控制系统（55）方位指令和仰角命令提供飞行控制系统姿态参考，以响应飞行控制系统在耦合瞄准模式下的操作。响应于先导开关（920）的连续操作，方位指令和仰角指令低于相应的阈值大小（940,941）以及消防控制系统（55）的操作而被耦合的瞄准模式。在联合瞄准模式下，方位指令和仰角指令分别代替飞行姿态反馈误差信号和俯仰姿态误差信号作为飞机姿态参考。在消防控制系统和飞行控制系统的集成期间，使飞行控制系统对小型导向指令杆输入的敏感度低于杆输入阈值大小，从而小型或无意的飞行员指挥的偏航和俯仰机动不会影响偏航以及由消防控制系统方位角和仰角指令指示的俯仰姿态参考。然而，预期的飞行员指挥偏航和俯仰机动（70）始终保持完全的权威。

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