Attitude control data creating method, and attitude control...

Details Attitude control data creating method, and attitude control... Attitude control data creating method, and attitude control...

B - Operations, Transporting

64

G

B64G 1/24 (2006.01) G05D 1/08 (2006.01)

Patent

CA 2651814

In order to control the attitude of a movable object having a soft substance (50) by a attitude maneuver, a sampling function not having a frequency component of a specific frequency or higher is acquired on the basis of the vibrations of the soft substance, for example, at the attitude maneuvering time. By using this sampling function, a control target quantity is created as a previous frequency forming type feed forward control rule. On the basis of this control target quantity, attitude control data is created. This attitude control data can be utilized for the attitude maneuver of the movable object.

Selon l'invention, afin de commander l'assiette d'un objet mobile présentant une substance molle (50) par une manAEuvre d'assiette, une fonction d'échantillonnage ne présentant pas de composante de fréquence égale ou supérieure à une fréquence spécifique est acquise sur la base des vibrations de la substance molle, par exemple, lors de la manAEuvre d'assiette. En utilisant cette fonction d'échantillonnage, on crée une quantité cible de commande comme règle de commande d'avance de type formation de fréquence précédente. Sur la base de cette quantité cible de commande, on crée des données de commande d'assiette. Les données de commande d'assiette peuvent servir à la manAEuvre d'assiette de l'objet mobile.

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