CN102621982B - Two-dimensional rotating actuating translational oscillating device - Google Patents
Two-dimensional rotating actuating translational oscillating device Download PDFInfo
- Publication number
- CN102621982B CN102621982B CN201210087171.3A CN201210087171A CN102621982B CN 102621982 B CN102621982 B CN 102621982B CN 201210087171 A CN201210087171 A CN 201210087171A CN 102621982 B CN102621982 B CN 102621982B
- Authority
- CN
- China
- Prior art keywords
- guide rail
- longitudinal
- vibration piece
- piece
- cross slide
- 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.)
- Expired - Fee Related
Links
- 230000010355 oscillation Effects 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000013519 translation Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 abstract description 4
- 230000005284 excitation Effects 0.000 description 14
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000009183 running Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Landscapes
- Toys (AREA)
Abstract
The invention discloses a two-dimensional rotating actuating translational oscillating device. The upper surface of a base is square, and a first transverse guide rail, a second transverse guide rail, a first longitudinal guide rail and a second longitudinal guide rail are fixed on four edges of the base. An oscillating block can conduct two-degree-of-freedom oscillation transversely and longitudinally on a transverse oscillating guide rail and a longitudinal oscillating guide rail. A rotating shaft drives a mass block to rotate in a horizontal plane through a connecting rod above the oscillating block, and the rotating plane is parallel with the upper surface of the oscillating block. The mass block is driven by a motor to rotate when the oscillating block oscillates along the transverse oscillating guide rail and the longitudinal oscillating guide rail back and forth, so that the oscillation of the oscillating block can be stopped rapidly. The device provides an effective model and an experimental platform for the active control of oscillation and the control design of an underactuated system. The two-dimensional rotating actuating translational oscillating device has the advantages of being simple in structure, energy-saving, efficient and the like.
Description
Technical field
The present invention relates to a kind of translation oscillation device, particularly Two Dimensional Rotating excitation translation oscillation device.
Background technology
Owe the type systematic that number that drive system refers to control inputs is less than degree of freedom in system, bat system, reversible pendulum system and helicopter etc. are all typically to owe drive system.In practical application, many systems are all designed in order to owe drive system (spacecraft, helicopter, submarine navigation device, satellite, flexible robot etc.).Owe drive system and can be divided into following four classes according to the reason of its generation: what by the dynamics of system itself, determined owes drive system (such as aircraft, spaceship, helicopter, undersea ship with without wheel locomotive etc.); For reduce expenses or some other practical purpose and design owe drive system (for example two angle of rake satellite and flexible link robot); Owing to driving unsuccessfully from full drive system change form owe drive system (for example: surface vessel, aircraft); In order to further investigate high-order, owe the control of drive system and the comparatively complicated low order nonlinear system (for example two rank inverted pendulums, bat system and rotation pendulum) of artificial creation.
Although owe drive characteristic, in system, manufacture, bring great convenience, it also makes the Internal dynamics characteristic of system more complicated, progressively develops in recent years a study hotspot of control theory circle for the research of this type systematic.In vibration control field, owe to drive Vibration Suppression System can be widely used equally.Because object is conventionally can vibrate at multiple degrees of freedom in vibration simultaneously, the control of two-freedom vibration needs the control excitation output of two-freedom to realize conventionally, and this detection and realization for vibration has increased cost.If adopt, owe drive system, can only by the excitation output of one degree of freedom, can control two, so the vibration of a plurality of degree of freedom.Simplified so greatly system architecture, provided cost savings.
The invention provides a typical model of owing drive system, the translation of can the excitation output by one degree of freedom controlling two degree of freedom is vibrated.The present invention can be applied to the ACTIVE CONTROL of vibration, and for to owe to drive the design of control algolithm to supply a model and experiment porch.
Summary of the invention
The object of this invention is to provide the model of owing drive system, the translation that only output of the rotation excitation by one degree of freedom can suppress two degree of freedom is vibrated, its simple in structure, efficient energy-saving, for vibration control and owe to drive the design of control algolithm to supply a model and experiment porch.
Technical scheme of the present invention is as follows: a kind of Two Dimensional Rotating excitation translation rocking equipment, comprising:
Comprise vibration piece 1, pedestal 2, the first cross slide way 3, the second cross slide waies 4, the first longitudinal rail 5, the second longitudinal rails 6, swaying guide rail 7, lengthwise oscillations guide rail 8, crossed strip 9, longitudinal spring 10, matter piece 11, connecting rod 12, motor 13, rotating shaft 14, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19, accelerometer 20;
The upper surface of pedestal 2 is a square, and the first cross slide way 3, the second cross slide way 4, the first longitudinal rail 5, second are led longitudinal rail and be fixed on four limits of pedestal 2.
Lengthwise oscillations guide rail 8 is across on the first cross slide way 3 and the second cross slide way 4, and swaying guide rail 7 is across on the first longitudinal rail 5 and the second longitudinal rail 6; Swaying guide rail 7 and lengthwise oscillations guide rail 8 respectively aperture and the aperture on the longitudinal axis from vibration piece 1 transverse axis run through the piece 1 that vibrates; Crossed strip 9 is positioned on swaying guide rail 7, and its two ends are fixedly linked with one end of vibration piece 1 and swaying guide rail 7 respectively; Longitudinal spring 10 is positioned on lengthwise oscillations guide rail 8, and its two ends are fixedly linked with one end of vibration piece 1 and lengthwise oscillations guide rail 8 respectively; Above vibration piece 1, rotating shaft 14 is fixedly linked with one end of connecting rod 12, and the other end of connecting rod 12 is connected soon with matter; Rotating shaft 14 is positioned on the center line of vibration piece 1, and under the drive of rotating shaft 14, matter piece 11 can be around the shaft 14 rotates in surface level, and Plane of rotation is parallel with the upper surface of the piece 1 that vibrates.
Lengthwise oscillations guide rail 8 two ends are slidably connected with the first cross slide way 3 and the second cross slide way 4 respectively, and are slidably connected and keep vertical with the first cross slide way 3 and the second cross slide way 4; Swaying guide rail 7 two ends are slidably connected with the first longitudinal rail 5 and the second longitudinal rail 6 respectively, and are slidably connected and keep vertical with the first longitudinal rail 5 and the second longitudinal rail 6; Lengthwise oscillations guide rail 8 is a little more than swaying guide rail 7, thereby two guide rails are not spatially coincided; Crossed strip 9 and longitudinal spring 10 are when equilibrium position, and vibration piece 1 is positioned at whole pedestal 2 center line tops.
The inside of vibration piece 1 comprises motor 13, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19 and accelerometer 20; Motor 13 is fixed on the middle part of vibration piece 1, by speed reduction unit 16, is connected with rotating shaft 14, can drive rotating shaft 14 to rotate; Code-disc 15 is positioned at the below of motor 13, for measuring the rotational angle theta of matter piece 11; Accelerometer 20 is fixedly linked with vibration piece 1, for measuring the transverse acceleration a of vibration piece 1
xwith longitudinal acceleration a
y; Electric battery 17, controller 18, driver 19 are all fixedly linked with vibration piece 1; Electric battery 17 all has wire to be connected with motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20, for electric power being provided to motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20; Between controller 18 and code-disc 15, accelerometer 20, driver 19, all there is wire to be connected.
Two Dimensional Rotating excitation translation oscillation device of the present invention can rotate by driving a matter piece to be rotated in surface level, thereby suppresses the vibration of horizontal and vertical two degree of freedom.Although system of the present invention need to be controlled the lateral attitude of vibration piece
x, lengthwise position
ycorner with matter piece
θthe amount of three degree of freedom, but it still can only pass through a control inputs
τand the control of realization to all state variables.This is owing to existing Non-linear coupling between the driving amount of system and non-driving amount.In other words, for apparatus of the present invention, the corner of matter piece
θplanimetric position with vibration piece
xwith
yexist Non-linear coupling, thereby make to be applied to the torque on matter piece
τnot only can control the corner of matter piece
θ, and can control vibration piece position
xwith
y.Yet matter piece can not drop on transverse axis and y direction at the corner of equilibrium position, and the coefficient of stiffiness of crossed strip and longitudinal spring
k x with
k y need to meet
k x ≠ k y (swaying cycle and lengthwise oscillations cycle not etc.), otherwise the corner of matter piece
θposition with vibration piece
xwith
ybetween Non-linear coupling will disappear, control inputs
τcan not control the position of vibration piece on transverse axis and the longitudinal axis
xwith
y.
Beneficial effect of the present invention is as follows.
1, the translation that only the rotation excitation output by one degree of freedom can suppress two degree of freedom of Two Dimensional Rotating of the present invention excitation translation oscillation device is vibrated, and has the features such as simple in structure, efficient energy-saving.
2, device of the present invention is also one and typically owes drive system experiment porch, can verify the quality of nonlinear control algorithm by this device, and this device can be widely used in scientific research and teaching occasions.
Accompanying drawing explanation
Fig. 1 is the vertical view of Two Dimensional Rotating excitation translation oscillation device of the present invention.
Fig. 2 is the oblique view of Two Dimensional Rotating excitation translation oscillation device of the present invention.
Fig. 3 is the cut-away view of vibration piece of the present invention.
Fig. 4 is control structure figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail.
A kind of Two Dimensional Rotating excitation translation oscillation device.Comprise vibration piece 1, pedestal 2, the first cross slide way 3, the second cross slide waies 4, the first longitudinal rail 5, the second longitudinal rails 6, swaying guide rail 7, lengthwise oscillations guide rail 8, crossed strip 9, longitudinal spring 10, matter piece 11, connecting rod 12, motor 13, rotating shaft 14, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19, accelerometer 20 etc.
Shown in Fig. 1 and Fig. 2 is respectively apparatus of the present invention vertical view and oblique view.The upper surface of pedestal 2 is a square, and the first cross slide way 3 and the second cross slide way 4 are laterally fixed on pedestal 2 both sides; The first longitudinal rail 5 and second is led the other both sides that longitudinal rail is vertically fixed in pedestal 2, and four guide rails are fixed on four limits of pedestal 2.Lengthwise oscillations guide rail 8 is across on the first cross slide way 3 and the second cross slide way 4, and its two ends are slidably connected with the first cross slide way 3 and the second cross slide way 4 respectively, and is slidably connected and keeps vertical with the first cross slide way 3 and the second cross slide way 4; Swaying guide rail 7 is across on the first longitudinal rail 5 and the second longitudinal rail 6, and its two ends are slidably connected with the first longitudinal rail 5 and the second longitudinal rail 6 respectively, and is slidably connected and keeps vertical with the first longitudinal rail 5 and the second longitudinal rail 6.Lengthwise oscillations guide rail 8 horizontal strokes can be along being laterally free to slide on the first cross slide way 3 and the second cross slide way 4; Swaying guide rail 7 horizontal strokes can longitudinally be free to slide on the first longitudinal rail 5 and the second longitudinal rail 6.
Lengthwise oscillations guide rail 8 is a little more than swaying guide rail 7, thereby two guide rails are not spatially coincided.Vibration piece 1 is a square, respectively has an aperture on its transverse axis and the longitudinal axis.Swaying guide rail 7 and lengthwise oscillations guide rail 8 respectively aperture and the aperture on the longitudinal axis from vibration piece 1 transverse axis run through the piece 1 that vibrates.Crossed strip 9 is positioned on swaying guide rail 7, and its two ends are fixedly linked with one end of vibration piece 1 and swaying guide rail 7 respectively; Longitudinal spring 10 is positioned on lengthwise oscillations guide rail 8, and its two ends are fixedly linked with one end of vibration piece 1 and lengthwise oscillations guide rail 8 respectively.Crossed strip 9 and longitudinal spring 10 are when equilibrium position, and vibration piece 1 is positioned at whole pedestal 2 center line tops.Suppose to ignore the friction between vibration piece 1 and each guide rail, the piece 1 that vibrates can be respectively on swaying guide rail 7 and lengthwise oscillations guide rail 8 along the horizontal and vertical vibration of making two-freedom.
Above vibration piece 1, one end of rotating shaft 14 and a connecting rod 12 is fixedly linked, and the other end of connecting rod 12 is connected soon with matter.Rotating shaft 14 is positioned on the center line of vibration piece 1, and under the drive of rotating shaft 14, matter piece 11 can be around the shaft 14 turns at a plane internal rotation, and Plane of rotation is parallel with the upper surface of the piece 1 that vibrates.
Shown in Fig. 3 is the cut-away view of vibration piece 1 of the present invention.Inside at vibration piece 1 comprises motor 13, code-disc 15, speed reduction unit 16, electric battery 17, controller 18, driver 19 and accelerometer 20.Motor 13 is fixed on the middle part of vibration piece 1, by speed reduction unit 16, is connected with rotating shaft 14, can drive rotating shaft 14 to rotate.Code-disc 15 is positioned at the below of motor 13, for measuring the corner of matter piece 11
θ(suppose that matter piece 11 is rotated counterclockwise and depart from the negative half axial angle of the longitudinal axis and be designated as
θ).Accelerometer 20 is fixedly linked with vibration piece 1, for measuring the transverse acceleration of vibration piece 1
a x and longitudinal acceleration
a y .Electric battery 17, controller 18, driver 19 is all fixedly linked with vibration piece 1.Electric battery 17 and motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20 all have wire to be connected, for giving motor 13, controller 18, driver 19, code-disc 15 and accelerometer 20 provide electric power.Between controller 18 and code-disc 15, accelerometer 20, driver 19, all there is wire to be connected, the signal that controller 18 gathers for receiving code-disc 15 and accelerometer 20, and control signal is passed to driver 19.Driver 19, for driving signal is provided, makes motor 13 runnings.
The object that realizes whole device is: when vibration piece 1 vibrates back and forth along swaying guide rail 7 and lengthwise oscillations guide rail 8, by 11 rotations of driven by motor matter piece, thereby its vibration can be stopped rapidly.
Specific implementation process is: initial time vibration piece 1 is done without friction vibration back and forth along swaying guide rail 7 and lengthwise oscillations guide rail 8 under the effect of crossed strip 9 and longitudinal spring 10.Accelerometer 20 is measured the transverse acceleration of vibration piece 1
a x and longitudinal acceleration
a y ; Code-disc 15 is measured the corner of matter piece 11
θ.Control the signal gathering by receiving code-disc 15 and accelerometer 20
a x ,
a y with
θ, by integral operation, do not try to achieve vibration piece 1 in horizontal and vertical position
xwith
y(suppose when equilibrium position
x=y=0), adopt certain algorithm, according to
x,
ywith
θ, produce control signal
τ, and control motor 13 generation torques by driving circuit, band kinoplaszm piece 11 rotates.The rotation of matter piece 11, under certain rule, can produce damping, and the vibrations of the piece 1 that makes to vibrate reduce gradually and stop, thereby reaches the object of rejector vibration.
Vibration piece 1 of the present invention can be realized the rectilinear motion of two orthogonal degree of freedom along level vibration guide rail and the guide rail that vertically vibrates respectively in the horizontal direction with vertical direction, the vibration period of two degree of freedom can be by selecting crossed strip 9 and the longitudinal spring 10 of the different coefficients of stiffiness to regulate.
In Two Dimensional Rotating excitation translation oscillation device of the present invention, for making to vibrate piece 1 in horizontal and vertical position
xwith
ycompletely controlled, the coefficient of stiffiness of crossed strip 9 and longitudinal spring 10
k x with
k y need to meet
k x ≠ k y ; And the corner of matter piece when equilibrium position can not drop on transverse axis and y direction.
Claims (3)
1. Two Dimensional Rotating encourages a translation rocking equipment, it is characterized in that comprising:
Vibration piece (1), pedestal (2), the first cross slide way (3), the second cross slide way (4), the first longitudinal rail (5), the second longitudinal rail (6), swaying guide rail (7), lengthwise oscillations guide rail (8), crossed strip (9), longitudinal spring (10), matter piece (11), connecting rod (12), motor (13), rotating shaft (14), code-disc (15), speed reduction unit (16), electric battery (17), controller (18), driver (19), accelerometer (20);
The upper surface of pedestal (2) is a square, and the first cross slide way (3), the second cross slide way (4), the first longitudinal rail (5), second are led longitudinal rail and be fixed on four limits of pedestal (2);
Lengthwise oscillations guide rail (8) is across upper at the first cross slide way (3) and the second cross slide way (4), and swaying guide rail (7) is across on the first longitudinal rail (5) and the second longitudinal rail (6);
Swaying guide rail (7) and lengthwise oscillations guide rail (8) respectively aperture and the aperture on the longitudinal axis from vibration piece (1) transverse axis run through the piece (1) that vibrates;
It is upper that crossed strip (9) is positioned at swaying guide rail (7), and its two ends are fixedly linked with one end of vibration piece (1) and swaying guide rail (7) respectively;
It is upper that longitudinal spring (10) is positioned at lengthwise oscillations guide rail (8), and its two ends are fixedly linked with one end of vibration piece (1) and lengthwise oscillations guide rail (8) respectively;
In the top of vibration piece (1), rotating shaft (14) is fixedly linked with one end of connecting rod (12), and the other end of connecting rod (12) is connected with matter piece;
Rotating shaft (14) is positioned on the center line of vibration piece (1), and under the drive of rotating shaft (14), matter piece (11) around the shaft (14) rotates in surface level, and Plane of rotation is parallel with the upper surface of vibration piece (1);
In the inside of described vibration piece (1), comprise motor (13), code-disc (15), speed reduction unit (16), electric battery (17), controller (18), driver (19) and accelerometer (20);
Motor (13) is fixed on the middle part of vibration piece (1), by speed reduction unit (16), is connected with rotating shaft (14), can drive rotating shaft (14) to rotate;
Code-disc (15) is positioned at the below of motor (13), for measuring the rotational angle theta of matter piece (11);
Accelerometer (20) is fixedly linked with vibration piece (1), for measuring the transverse acceleration a of vibration piece (1)
xwith longitudinal acceleration a
y;
Electric battery (17), controller (18), driver (19) are all fixedly linked with vibration piece (1);
Electric battery (17) all has wire to be connected with motor (13), controller (18), driver (19), code-disc (15) and accelerometer (20), for electric power being provided to motor (13), controller (18), driver (19), code-disc (15) and accelerometer (20);
Between controller (18) and code-disc (15), accelerometer (20), driver (19), all there is wire to be connected.
2. Two Dimensional Rotating according to claim 1 encourages translation rocking equipment, it is characterized in that:
Described lengthwise oscillations guide rail (8) two ends are slidably connected with the first cross slide way (3) and the second cross slide way (4) respectively, and are slidably connected and keep vertical with the first cross slide way (3) and the second cross slide way (4);
Swaying guide rail (7) two ends are slidably connected with the first longitudinal rail (5) and the second longitudinal rail (6) respectively, and are slidably connected and keep vertical with the first longitudinal rail (5) and the second longitudinal rail (6);
Lengthwise oscillations guide rail (8) is a little more than swaying guide rail (7), thereby two guide rails are not spatially coincided;
Crossed strip (9) and longitudinal spring (10) are when equilibrium position, and vibration piece (1) is positioned at whole pedestal (2) center line top.
3. Two Dimensional Rotating according to claim 1 encourages translation rocking equipment, it is characterized in that: described controller (18) can adopt dsp chip to realize, and the control algolithm that controller (18) adopts can be Passive Control Algorithm, FUZZY ALGORITHMS FOR CONTROL or Sliding mode variable structure control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210087171.3A CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210087171.3A CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102621982A CN102621982A (en) | 2012-08-01 |
| CN102621982B true CN102621982B (en) | 2014-01-29 |
Family
ID=46561947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210087171.3A Expired - Fee Related CN102621982B (en) | 2012-03-29 | 2012-03-29 | Two-dimensional rotating actuating translational oscillating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102621982B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511265B (en) * | 2016-01-06 | 2018-02-27 | 东南大学 | A kind of cycle dynamicses method for controlling trajectory of the translation oscillation device with rotation excitation |
| CN106094826B (en) * | 2016-07-03 | 2018-11-20 | 柳州惠林科技有限责任公司 | A kind of track based on electric unicycle sways one's hips formula balance puppet |
| CN113029519B (en) * | 2021-03-31 | 2023-12-12 | 安徽工业大学 | Rectangular storage tank longitudinal or transverse asymmetric sloshing system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4995272A (en) * | 1989-05-26 | 1991-02-26 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Torsional suspension system for testing space structures |
| US5203199A (en) * | 1990-10-12 | 1993-04-20 | Teledyne Industries, Inc. | Controlled acceleration platform |
| CN101697080A (en) * | 2009-10-13 | 2010-04-21 | 浙江大学宁波理工学院 | Action control method of under-actuated biped robot |
| CN101833338A (en) * | 2010-05-17 | 2010-09-15 | 哈尔滨工程大学 | Autonomous underwater vehicle vertical plane under-actuated motion control method |
| CN102156479A (en) * | 2011-02-24 | 2011-08-17 | 浙江大学宁波理工学院 | Method for controlling side direction of level moving of underactuated biped walking robot |
| CN102360217A (en) * | 2011-07-29 | 2012-02-22 | 中国科学院长春光学精密机械与物理研究所 | Overall input decoupling device for multi-rotor unmanned aerial vehicle and control system with device |
-
2012
- 2012-03-29 CN CN201210087171.3A patent/CN102621982B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4995272A (en) * | 1989-05-26 | 1991-02-26 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Torsional suspension system for testing space structures |
| US5203199A (en) * | 1990-10-12 | 1993-04-20 | Teledyne Industries, Inc. | Controlled acceleration platform |
| CN101697080A (en) * | 2009-10-13 | 2010-04-21 | 浙江大学宁波理工学院 | Action control method of under-actuated biped robot |
| CN101833338A (en) * | 2010-05-17 | 2010-09-15 | 哈尔滨工程大学 | Autonomous underwater vehicle vertical plane under-actuated motion control method |
| CN102156479A (en) * | 2011-02-24 | 2011-08-17 | 浙江大学宁波理工学院 | Method for controlling side direction of level moving of underactuated biped walking robot |
| CN102360217A (en) * | 2011-07-29 | 2012-02-22 | 中国科学院长春光学精密机械与物理研究所 | Overall input decoupling device for multi-rotor unmanned aerial vehicle and control system with device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102621982A (en) | 2012-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hines et al. | Liftoff of a motor-driven, flapping-wing microaerial vehicle capable of resonance | |
| CN104571124B (en) | Three-degree-of-freedom attitude simulation device for underwater vehicle | |
| CN203318676U (en) | Coaxial double-wing aircraft with moving centre-of-gravity ball | |
| CN106933104A (en) | A kind of quadrotor attitude based on DIC PID and the mixing control method of position | |
| CN102621982B (en) | Two-dimensional rotating actuating translational oscillating device | |
| CN108583182A (en) | A kind of amphibious ball shape robot in sky land | |
| CN105563467A (en) | Four-degree-of-freedom posture leveling mechanism | |
| CN204623835U (en) | Multi-axis aircraft | |
| CN104723341A (en) | Positioning control method for flexibility joint mechanical arm based on connection and damping configuration | |
| CN105676885B (en) | Large torque tandem tilter and drive method of servo-controlling | |
| CN105563466A (en) | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches | |
| CN107600463B (en) | A kind of agility small satellite attitude fast reserve control method | |
| CN204347614U (en) | A kind of for submarine navigation device Three Degree Of Freedom attitude-simulating device | |
| CN104843177A (en) | Aircraft | |
| CN103760914A (en) | Three-axis rotary table multi-dimension swinging system | |
| CN102360217B (en) | Overall input decoupling device for multi-rotor unmanned aerial vehicle and control system with device | |
| CN107363852A (en) | A kind of omni-directional mobile robots and control method for carrying planar inverted pendulum | |
| CN103286772A (en) | Series-parallel combined mechanism for guiding object to rotate around virtual center | |
| WO2020155640A1 (en) | Rotation control system employing variable electromagnetic damping | |
| CN204623834U (en) | Aircraft | |
| CN108732941A (en) | Control system and simulation method of multi-dimensional magnetic suspension vibration isolation platform | |
| CN102941571A (en) | Low-space dual-rod guide type three-degree of freedom moving platform | |
| CN206307269U (en) | A kind of Highway Survey unmanned plane | |
| CN102623358A (en) | A two-degree-of-freedom leveling mechanism with rotational decoupling | |
| CN106909162A (en) | A kind of vehicle-mounted Autonomous landing device of universal unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140129 Termination date: 20160329 |