CN105527970B - The vehicle-mounted self-balance method of plant growth sensor and device - Google Patents
The vehicle-mounted self-balance method of plant growth sensor and device Download PDFInfo
- Publication number
- CN105527970B CN105527970B CN201511005093.8A CN201511005093A CN105527970B CN 105527970 B CN105527970 B CN 105527970B CN 201511005093 A CN201511005093 A CN 201511005093A CN 105527970 B CN105527970 B CN 105527970B
- Authority
- CN
- China
- Prior art keywords
- gear
- crop growth
- growth sensor
- single pendulum
- self
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000008635 plant growth Effects 0.000 title 1
- 238000013016 damping Methods 0.000 claims abstract description 22
- 230000005284 excitation Effects 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Catching Or Destruction (AREA)
Abstract
一种作物生长传感器自平衡装置，包括单摆齿轮阻尼系统、单摆非圆齿轮阻尼系统、单摆齿轮驱动系统和控制组件，所述作物生长传感器自平衡装置通过固定板7可将装置安装于拖拉机机架上，第一齿轮1、第二齿轮2、第三齿轮4与第四齿轮5构成单摆齿轮阻尼系统，非圆齿轮10与非圆齿轮11构成单摆非圆齿轮阻尼系统，用于抑制拖拉机倾斜的影响。一种作物生长传感器自平衡方法，对采用运动学和动力学分析，通过数值模拟、实验分析方法找出作物生长传感器自平衡装置在不同激励下的响应模型。本发明的作物生长传感器车载自平衡装置，可提高作物长势传感器监测信息的准确性，避免由于拖拉机倾斜引起的作物长势传感器监测效果差的问题。
A crop growth sensor self-balancing device, including a single pendulum gear damping system, a single pendulum non-circular gear damping system, a single pendulum gear drive system and a control assembly, the crop growth sensor self-balancing device can be installed on the On the tractor frame, the first gear 1, the second gear 2, the third gear 4 and the fourth gear 5 form a single pendulum gear damping system, and the non-circular gear 10 and the non-circular gear 11 form a single pendulum non-circular gear damping system. To suppress the influence of tractor tilting. A crop growth sensor self-balancing method adopts kinematics and dynamics analysis, and finds out the response model of the crop growth sensor self-balancing device under different excitations through numerical simulation and experimental analysis methods. The vehicle-mounted self-balancing device of the crop growth sensor of the present invention can improve the accuracy of the monitoring information of the crop growth sensor and avoid the problem of poor monitoring effect of the crop growth sensor caused by the inclination of the tractor.
Description
技术领域technical field
本发明涉及精准农业领域，具体涉及一种作物生长传感器车载自平衡方法及装置。The invention relates to the field of precision agriculture, in particular to a vehicle-mounted self-balancing method and device for a crop growth sensor.
背景技术Background technique
精准农业是当今世界农业发展的新潮流，其原理是按田间每一操作单元的具体条件，精细准确地调整各项土壤和作物管理措施，最大限度地优化各项农业投入，以获取最高产量和最大经济效益，同时保护农业生态环境，以保持农业资源的高效利用与农业产业的持续发展。Precision agriculture is a new trend in the development of agriculture in the world today. Its principle is to finely and accurately adjust various soil and crop management measures according to the specific conditions of each operating unit in the field, and optimize various agricultural inputs to obtain the highest yield and Maximum economic benefits, while protecting the agricultural ecological environment, in order to maintain the efficient use of agricultural resources and the sustainable development of the agricultural industry.
其中由于农田信息受自然条件影响大，时空变异性强，实时采集难度高，且直接进行田间大量信息采集和处理耗资费时，因而农田信息实时采集设备和技术的研究开发已成为精准农业领域的研究重点和难点。在精准农业领域，获取地面农作物生长信息时，用于测量的传感器与地面相对位置有严格的要求，搭载传感器的信息采集车常在田间比较狭窄、路面不平、环境复杂的情况下工作，会影响传感器的采集精度。因此为提高传感器信息采集的准确性，需减少并消除地面不平整等原因对传感器产生的影响。由于拖拉机在田间行走时，会发生倾斜现象，而当作物长势传感器要求垂直于作物表面，当产生倾斜时会影响到作物长势传感器的测量精度。Among them, because farmland information is greatly affected by natural conditions, has strong temporal and spatial variability, real-time collection is difficult, and it is time-consuming to directly collect and process a large amount of information in the field. Therefore, the research and development of real-time farmland information collection equipment and technology has become a research field in the field of precision agriculture. Key points and difficult points. In the field of precision agriculture, when obtaining the growth information of ground crops, the relative position of the sensor used for measurement and the ground has strict requirements. The information collection vehicle equipped with sensors often works in narrow fields, uneven roads, and complex environments, which will affect The acquisition accuracy of the sensor. Therefore, in order to improve the accuracy of sensor information collection, it is necessary to reduce and eliminate the influence of the ground unevenness on the sensor. When the tractor is walking in the field, there will be a tilt phenomenon, and when the crop growth sensor is required to be perpendicular to the crop surface, the measurement accuracy of the crop growth sensor will be affected when the tilt occurs.
发明内容Contents of the invention
本发明的目的在于：针对上述问题，提供一种作物生长传感器车载自平衡方法及装置，以减小拖拉机在田间行走时产生的倾斜对传感器的影响，提高作物传感器的实时信息采集精度。The object of the present invention is to solve the above problems and provide a vehicle-mounted self-balancing method and device for crop growth sensors, so as to reduce the influence of the inclination of the tractor on the sensor when walking in the field, and improve the real-time information collection accuracy of the crop sensor.
本发明的技术方案是：Technical scheme of the present invention is:
一种作物生长传感器自平衡装置，包括单摆齿轮阻尼系统、单摆非圆齿轮阻尼系统、单摆齿轮驱动系统和控制组件，所述作物生长传感器自平衡装置通过固定板可将装置安装于拖拉机机架上，第一齿轮、第二齿轮、第三齿轮与第四齿轮构成单摆齿轮阻尼系统，非圆齿轮与非圆齿轮构成单摆非圆齿轮阻尼系统，用于抑制拖拉机倾斜的影响，由第一齿轮、第二齿轮、第三齿轮与第四齿轮构成单摆齿轮阻尼系统安装在支架上，第三齿轮与第四齿轮均通过带轴承的轴销安装在固定板上，非圆齿轮与非圆齿轮构分别通过带轴承的第一轴销、带轴承的第二轴销安装在支架上，作物长势传感器安装在位置可调板上，陀螺仪检测作物长势传感器的姿态信息，按照预定的目标将控制信号作用于单摆齿轮副以及由第一无刷电机驱动器、第二无刷电机驱动器和第三无刷电机驱动器构成的单摆齿轮驱动系统，目标控制信号依据激励响应模型采用PID控制策略，从而实现作物长势传感器的平衡稳定状态的闭环控制，所述控制组件包括处理器和陀螺仪，所述陀螺仪检测作物长势传感器的姿态信息，所述处理器根据作物长势传感器姿态信息控制所述，所述无刷电机驱动器组件控制单摆齿轮传动系统驱动所述机架组件对作物长势传感器进行姿态调整以保证作物长势传感器始终与所监测的作物保持一定的角度范围。A crop growth sensor self-balancing device, comprising a single pendulum gear damping system, a single pendulum non-circular gear damping system, a single pendulum gear drive system and a control assembly, the crop growth sensor self-balancing device can be installed on a tractor through a fixing plate On the frame, the first gear, the second gear, the third gear and the fourth gear form a single pendulum gear damping system, and the non-circular gears and non-circular gears form a single pendulum non-circular gear damping system, which is used to suppress the influence of the tractor tilt. The single pendulum gear damping system composed of the first gear, the second gear, the third gear and the fourth gear is installed on the bracket. The third gear and the fourth gear are installed on the fixed plate through the shaft pin with bearings. The non-circular gear The non-circular gear mechanism is installed on the bracket through the first shaft pin with bearing and the second shaft pin with bearing respectively, and the crop growth sensor is installed on the position-adjustable plate. The gyroscope detects the attitude information of the crop growth sensor, and the The goal is to apply the control signal to the single pendulum gear pair and the single pendulum gear drive system composed of the first brushless motor driver, the second brushless motor driver and the third brushless motor driver. The target control signal is based on the excitation response model using PID Control strategy, thereby realizing the closed-loop control of the balanced and stable state of the crop growth sensor, the control component includes a processor and a gyroscope, the gyroscope detects the attitude information of the crop growth sensor, and the processor controls the crop growth condition sensor according to the attitude information Said, the brushless motor driver assembly controls the single pendulum gear transmission system to drive the frame assembly to adjust the attitude of the crop growth sensor to ensure that the crop growth sensor always maintains a certain angle range with the monitored crop.
采用单摆齿轮副系统作为作物生长传感器自平衡装置的阻尼系统以及传动系统。A single pendulum gear pair system is used as the damping system and transmission system of the crop growth sensor self-balancing device.
一种作物生长传感器自平衡方法，其特征在于包括以下步骤：A self-balancing method for crop growth sensors, characterized in that it comprises the following steps:
对采用运动学和动力学分析，通过数值模拟、实验分析方法找出作物生长传感器自平衡装置在不同激励下的响应模型。单摆齿轮齿轮啮合力Fn、啮合点与铰接点的长度L以及传感器重量m都与响应模型相关，其关系为：Kinematics and dynamics analysis are used to find out the response model of the crop growth sensor self-balancing device under different excitations through numerical simulation and experimental analysis. The meshing force F n of the single pendulum gear, the length L between the meshing point and the hinge point, and the sensor weight m are all related to the response model, and the relationship is as follows:
式中，A、为常数，决定于单摆齿轮的初始状态，f(t)为所加的激励。In the formula, A, is a constant, determined by the initial state of the simple pendulum gear, f(t) is the excitation added.
依据作物生长传感器自平衡装置激励响应模型设计PID控制算法，实现作物生长传感器的平衡稳定状态的闭环控制。According to the excitation response model of the self-balancing device of the crop growth sensor, the PID control algorithm is designed to realize the closed-loop control of the balanced and stable state of the crop growth sensor.
本发明具有有益效果：The present invention has beneficial effects:
本发明的作物生长传感器车载自平衡装置，可提高作物长势传感器监测信息的准确性，避免由于拖拉机倾斜引起的作物长势传感器监测效果差的问题。而本发明所提出的作物生长传感器车载自平衡方法则有利于找出作物长势传感器平稳定状态的闭环控制策略。所以本发明所提出的一种作物生长传感器车载自平衡方法及装置对抑制拖拉机倾斜对作物长势传感器的影响、提升作物长势传感器的监测信息有重要帮助。The vehicle-mounted self-balancing device of the crop growth sensor of the present invention can improve the accuracy of the monitoring information of the crop growth sensor and avoid the problem of poor monitoring effect of the crop growth sensor caused by the inclination of the tractor. The vehicle-mounted self-balancing method of the crop growth sensor proposed by the present invention is beneficial to find out the closed-loop control strategy of the stable state of the crop growth sensor. Therefore, a vehicle-mounted self-balancing method and device for a crop growth sensor proposed by the present invention is of great help in suppressing the impact of tractor tilt on the crop growth sensor and improving the monitoring information of the crop growth sensor.
附图说明Description of drawings
图1是本发明的结构示意图之一。Fig. 1 is one of structural representations of the present invention.
图2是本发明的结构示意图之二。Fig. 2 is the second structural diagram of the present invention.
图3是本发明的单摆阻尼系统原理图。Fig. 3 is a schematic diagram of the pendulum damping system of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述：The present invention will be further described below in conjunction with accompanying drawing:
本发明的优选实施例如图1、2、3所示：一种作物生长传感器自平衡装置，包括单摆齿轮阻尼系统、单摆非圆齿轮阻尼系统、单摆齿轮驱动系统和控制组件，所述作物生长传感器自平衡装置通过固定板7可将装置安装于拖拉机机架上，第一齿轮1、第二齿轮2、第三齿轮4与第四齿轮5构成单摆齿轮阻尼系统，非圆齿轮10与非圆齿轮11构成单摆非圆齿轮阻尼系统，用于抑制拖拉机倾斜的影响，由第一齿轮1、第二齿轮2、第三齿轮4与第四齿轮5构成单摆齿轮阻尼系统安装在支架6上，第三齿轮4与第四齿轮5均通过带轴承的轴销16安装在固定板7上，非圆齿轮10与非圆齿轮11构分别通过带轴承的第一轴销12、带轴承的第二轴销14安装在支架6上，作物长势传感器3安装在位置可调板13上，陀螺仪检测作物长势传感器3的姿态信息，按照预定的目标将控制信号作用于单摆齿轮副以及由第一无刷电机驱动器8、第二无刷电机驱动器9和第三无刷电机驱动器15构成的单摆齿轮驱动系统，目标控制信号依据激励响应模型采用PID控制策略，从而实现作物长势传感器的平衡稳定状态的闭环控制，所述控制组件包括处理器和陀螺仪，所述陀螺仪检测作物长势传感器的姿态信息，所述处理器根据作物长势传感器姿态信息控制所述，所述无刷电机驱动器组件控制单摆齿轮传动系统驱动所述机架组件对作物长势传感器进行姿态调整以保证作物长势传感器始终与所监测的作物保持一定的角度范围。A preferred embodiment of the present invention is shown in Figures 1, 2 and 3: a self-balancing device for crop growth sensors, including a single pendulum gear damping system, a single pendulum non-circular gear damping system, a single pendulum gear drive system and a control assembly, the The crop growth sensor self-balancing device can be installed on the tractor frame through the fixed plate 7. The first gear 1, the second gear 2, the third gear 4 and the fourth gear 5 form a single pendulum gear damping system, and the non-circular gear 10 It forms a single pendulum non-circular gear damping system with the non-circular gear 11, which is used to suppress the influence of tractor tilt. On the bracket 6, the third gear 4 and the fourth gear 5 are all installed on the fixed plate 7 through the shaft pin 16 with bearings, and the non-circular gear 10 and the non-circular gear 11 are respectively passed through the first shaft pin 12 with the bearing, the belt The second shaft pin 14 of the bearing is installed on the bracket 6, the crop growth sensor 3 is installed on the position adjustable plate 13, the gyroscope detects the attitude information of the crop growth sensor 3, and the control signal is applied to the single pendulum gear pair according to the predetermined target And a single pendulum gear drive system composed of the first brushless motor driver 8, the second brushless motor driver 9 and the third brushless motor driver 15, the target control signal adopts the PID control strategy according to the excitation response model, thereby realizing the crop growth sensor The closed-loop control of the balanced stable state, the control component includes a processor and a gyroscope, the gyroscope detects the attitude information of the crop growth sensor, and the processor controls the brushless motor according to the attitude information of the crop growth sensor The driver assembly controls the single pendulum gear transmission system to drive the frame assembly to adjust the attitude of the crop growth sensor to ensure that the crop growth sensor always maintains a certain angle range with the monitored crop.
采用单摆齿轮副系统作为作物生长传感器自平衡装置的阻尼系统以及传动系统。A single pendulum gear pair system is used as the damping system and transmission system of the crop growth sensor self-balancing device.
一种作物生长传感器自平衡方法，其特征在于包括以下步骤：A self-balancing method for crop growth sensors, characterized in that it comprises the following steps:
对采用运动学和动力学分析，通过数值模拟、实验分析方法找出作物生长传感器自平衡装置在不同激励下的响应模型。单摆齿轮齿轮啮合力Fn、啮合点与铰接点的长度L以及传感器重量m都与响应模型相关，其关系为：Kinematics and dynamics analysis are used to find out the response model of the crop growth sensor self-balancing device under different excitations through numerical simulation and experimental analysis. The meshing force F n of the single pendulum gear, the length L between the meshing point and the hinge point, and the sensor weight m are all related to the response model, and the relationship is as follows:
式中，A、为常数，决定于单摆齿轮的初始状态，f(t)为所加的激励。In the formula, A, is a constant, determined by the initial state of the simple pendulum gear, f(t) is the excitation added.
依据作物生长传感器自平衡装置激励响应模型设计PID控制算法，实现作物生长传感器的平衡稳定状态的闭环控制。According to the excitation response model of the self-balancing device of the crop growth sensor, the PID control algorithm is designed to realize the closed-loop control of the balanced and stable state of the crop growth sensor.
对采用运动学和动力学分析，通过数值模拟、实验分析方法找出作物生长传感器自平衡装置在不同激励下的响应模型。Kinematics and dynamics analysis are used to find out the response model of the crop growth sensor self-balancing device under different excitations through numerical simulation and experimental analysis.
上面所述的实施例仅仅是对本发明的优选实施方式进行描述，并非对本发明的构思和范围进行限定，在不脱离本发明设计构思前提下，本领域中普通工程技术人员对本发明的技术方案做出的各种变型和改进，均应落入本发明的保护范围，本发明请求保护的技术内容已经全部记载在权利要求书中。The above-mentioned embodiments are only described to the preferred implementation of the present invention, and are not intended to limit the concept and scope of the present invention. Under the premise of not departing from the design concept of the present invention, ordinary engineers and technicians in the field can make technical solutions of the present invention. The various modifications and improvements mentioned above should all fall within the protection scope of the present invention, and the technical content claimed in the present invention has been fully recorded in the claims.
Claims (3)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511005093.8A CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
| PCT/CN2016/112803 WO2017114438A1 (en) | 2015-12-28 | 2016-12-28 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| US16/066,802 US10539437B2 (en) | 2015-12-28 | 2016-12-28 | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511005093.8A CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105527970A CN105527970A (en) | 2016-04-27 |
| CN105527970B true CN105527970B (en) | 2018-07-13 |
Family
ID=55770253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511005093.8A Active CN105527970B (en) | 2015-12-28 | 2015-12-28 | The vehicle-mounted self-balance method of plant growth sensor and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105527970B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10539437B2 (en) | 2015-12-28 | 2020-01-21 | Nanjing Agricultural University | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations |
| WO2024221450A1 (en) * | 2023-04-28 | 2024-10-31 | 瀚寰(浙江)科技有限公司 | Balancing device for dynamic environment, and method for adjusting balance |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2500515Y (en) * | 2001-08-19 | 2002-07-17 | 高林 | Automatic control device for balance of car |
| US6540039B1 (en) * | 1999-08-19 | 2003-04-01 | Massachusetts Institute Of Technology | Omnidirectional vehicle with offset wheel pairs |
| CN102132645A (en) * | 2011-03-03 | 2011-07-27 | 浙江理工大学 | Wide/narrow row transplanting mechanism with helical planetary gear train for walking seedling planting machine |
| CN202331207U (en) * | 2011-11-25 | 2012-07-11 | 中国电子科技集团公司第三十八研究所 | Passive control stabilizing platform based on damping technology |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040232632A1 (en) * | 2003-02-21 | 2004-11-25 | Beck Michael S. | System and method for dynamically controlling the stability of an articulated vehicle |
-
2015
- 2015-12-28 CN CN201511005093.8A patent/CN105527970B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6540039B1 (en) * | 1999-08-19 | 2003-04-01 | Massachusetts Institute Of Technology | Omnidirectional vehicle with offset wheel pairs |
| CN2500515Y (en) * | 2001-08-19 | 2002-07-17 | 高林 | Automatic control device for balance of car |
| CN102132645A (en) * | 2011-03-03 | 2011-07-27 | 浙江理工大学 | Wide/narrow row transplanting mechanism with helical planetary gear train for walking seedling planting machine |
| CN202331207U (en) * | 2011-11-25 | 2012-07-11 | 中国电子科技集团公司第三十八研究所 | Passive control stabilizing platform based on damping technology |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105527970A (en) | 2016-04-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Chu et al. | Active disturbance rejection control applied to automated steering for lane keeping in autonomous vehicles | |
| CN204226986U (en) | Self adaption leveling platform | |
| CN102506860B (en) | Inertial stabilization device based on acceleration feedback and feedforward and control method thereof | |
| EP3364155A1 (en) | A method for initial alignment of an inertial navigation apparatus | |
| CN109305215A (en) | Tire Load Estimation Using Steering System Signals | |
| CN104111664B (en) | In the method that speed ring overcomes motor dead band raising radar tracking precision | |
| CN103085810B (en) | Lane tracking system | |
| CN103488081B (en) | Inertially-stabilizeplatform platform control method | |
| CN103425146A (en) | Inertially stabilized platform disturbance observer design method based on angular acceleration | |
| US20140107896A1 (en) | System and Method for Estimating Machine Pitch Angle | |
| CN102279564A (en) | Flight simulation rotating table control system and method applying intelligent PID (Proportion Integration Differentiation) controller | |
| CN105527970B (en) | The vehicle-mounted self-balance method of plant growth sensor and device | |
| CN104121886A (en) | Distance meter | |
| CN106325287A (en) | Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection | |
| CN102411302A (en) | Control method of MEMS (micro-electromechanical system) micro-gyroscope based on direct self-adaptive fuzzy control | |
| CN104199291B (en) | Dissipative structure theory based TORA (Translation oscillators with a rotating actuator) system self-adaption control method | |
| CN106289208A (en) | A kind of magnetic bearing system axes of inertia discrimination method based on nonlinear adaptive algorithm | |
| CN116026322B (en) | A shield tunneling posture measurement method and system | |
| DE112013006907T5 (en) | Driving assistance device and driving assistance method | |
| CN103336439B (en) | Be controlled at the body gesture analogy method of ring emulation for vehicle steadily | |
| CN201569429U (en) | Hall tilt angle sensor | |
| US10539437B2 (en) | Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations | |
| CN203870468U (en) | Mechanical failure debugging device used for rotorcraft | |
| BRPI1103254B1 (en) | PROCESS AND DEVICE FOR THE RECOGNITION AND COMPENSATION OF A CROSS-SLOPE OF THE ROLLING ROAD TRAVELED BY A VEHICLE | |
| CN106155141A (en) | Improve the rotating platform control system of turntable robustness and the adjustment method based on this system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |