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1.发明授权Integrated control of brake and steer by wire system using optimal control allocation methods 失效采用最优控制分配方法，通过线系综合控制制动和转向公开(公告)号：US07734406B1
公开(公告)日：2010-06-08
申请号：US11489811
申请日：2006-07-10
IPC分类号： G06F19/00
CPC分类号： B60T8/885 , B60T2260/02 , B60T2260/08 , B60T2270/402 , B60W50/029 , B62D6/003
摘要： A method, computer usable medium including a program, and a system for braking a vehicle during brake failure. The method and computer usable medium include the steps of determining a brake force lost corresponding to a failed brake, and determining a brake force reserve corresponding to at least one non-failed brake. At least one commanded brake force is determined based on the brake force lost and the brake force reserve. Then at least one command brake force is applied to the at least one non-failed brake wherein at least one of an undesired yaw moment and a yaw moment rate of change are limited to predetermined values. The system includes a plurality of brake assemblies wherein a commanded brake force is applied to at least one non-failed brake.
摘要翻译： 一种包括程序的计算机可用介质和在制动器故障期间制动车辆的系统的方法。 该方法和计算机可用介质包括以下步骤：确定对应于故障制动器的制动力损失，以及确定对应于至少一个非故障制动器的制动力储备。 根据制动力损失和制动力储备确定至少一个指令制动力。 然后至少一个指令制动力被施加到至少一个非故障制动器，其中不期望的横摆力矩和横摆力矩变化率中的至少一个被限制到预定值。 该系统包括多个制动器组件，其中指令的制动力被施加到至少一个非故障制动器。
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2.发明授权Method for shaping wing velocity profiles for control of flapping wing micro air vehicles 有权用于控制飞翼微型飞行器的翼速度分布形状的方法公开(公告)号：US08700233B1
公开(公告)日：2014-04-15
申请号：US12883317
申请日：2010-09-16
IPC分类号： B64C33/00
CPC分类号： B64C33/02 , B64C39/028 , B64C2201/025 , B64C2201/042
摘要： A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.
摘要翻译： 一种控制翼状空中飞行器的机翼位置和速度的方法为飞行器提供六自由度的运动，通过采用翼偏置法的分段式周期恒定频率调制方式，可以产生时变上升和下行翼位置 机翼平面图的命令产生非谐波翼扑动轨迹，其生成非零的循环平均翼阻力并改变相对于飞行器的重心的循环平均中心压力的位置以引起水平平移力， 飞机的滚动时刻和投球时刻。
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