Abstract: The present invention discloses an unmanned aerial vehicle and a method for controlling a gimbal thereof. The method for controlling a gimbal includes: generating, by a flight control system, a yaw angular speed instruction of the unmanned aerial vehicle; and controlling, by a gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle. In the present invention, the yaw axis motor of the gimbal is jointly controlled by the flight control system and the gimbal control system, so that advantages of high-precision control and quick response of the gimbal control system are maximized. The advantages are used for compensating for deficiencies of the flight control system in yaw control, thereby improving the stability of a yaw channel of the gimbal, and completely resolving frame freezing of an aerial video when the unmanned aerial vehicle yaws at a low speed.

Abstract: The present invention relates to a blind area tracking method and apparatus for a directional antenna and a motion tracking system. The method includes: acquiring a position and a velocity of a tracking target relative to the directional antenna; determining, according to the position and the velocity, whether the tracking target is located in a tracking blind area of the directional antenna; and driving, in a preset blind area guidance mode and when the tracking target is located in the tracking blind area, the directional antenna to rotate. The method may help switch to a corresponding blind area guidance mode when an unmanned aerial vehicle enters a tracking blind area, to implement all-the-way tracking of a tracking target without temporarily losing the tracking target within the tracking blind area. In this way, a better tracking effect is ensured.

Abstract: Embodiments of the present invention relate to the field of aerial photography technologies and disclose an aircraft control method and an aircraft. The aircraft control method is applicable to the aircraft, and the aircraft includes a flight control system (FCS) configured to control the aircraft and a gimbal control system (GCS) configured to control a gimbal. The GCS can obtain a yaw control instruction to be inputted into the aircraft and attitude angle information outputted by the gimbal and then control yawing of the gimbal according to the yaw control instruction to be inputted into the aircraft and the attitude angle information outputted by the gimbal, so as to implement high-precision control of aerial photography of the aircraft, thereby ensuring high quality of an aerial video and resolving video freezing during aerial photography at a low rotation speed.

Abstract: The present invention discloses an unmanned aerial vehicle and a method for controlling a gimbal thereof. The method for controlling a gimbal includes: generating, by a flight control system, a yaw angular speed instruction of the unmanned aerial vehicle; and controlling, by a gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle. In the present invention, the yaw axis motor of the gimbal is jointly controlled by the flight control system and the gimbal control system, so that advantages of high-precision control and quick response of the gimbal control system are maximized. The advantages are used for compensating for deficiencies of the flight control system in yaw control, thereby improving the stability of a yaw channel of the gimbal, and completely resolving frame freezing of an aerial video when the unmanned aerial vehicle yaws at a low speed.

Abstract: The present invention relates to a blind area tracking method and apparatus for a directional antenna and a motion tracking system. The method includes: acquiring a position and a velocity of a tracking target relative to the directional antenna; determining, according to the position and the velocity, whether the tracking target is located in a tracking blind area of the directional antenna; and driving, in a preset blind area guidance mode and when the tracking target is located in the tracking blind area, the directional antenna to rotate. The method may help switch to a corresponding blind area guidance mode when an unmanned aerial vehicle enters a tracking blind area, to implement all-the-way tracking of a tracking target without temporarily losing the tracking target within the tracking blind area. In this way, a better tracking effect is ensured.

Abstract: The present invention discloses a controllable rectification comprising an inverter (10), a control panel (20) and a drive panel (30). The inverter (10) may comprise three switch element groups connected in parallel. Each switch element group may comprise at least two switch elements connected in parallel. Each switch element may comprise an upper bridge-arm switch and a lower bridge-arm. The control panel (20) may generate a PWM waveform. The drive panel (30) may generate a drive voltage according to the PWM waveform to drive the upper bridge-arm switch and the lower bridge-arm switch of each switch element to conduct or break respectively, and to make the upper bridge-arms of the same switch element group to conduct or break simultaneously, and to make the lower bridge-arms of the same switch element group to conduct or break simultaneously. The present invention further discloses an electric motor comprising the same.

Abstract: The present invention provides a clutch engaging control method in a hybrid power output device, wherein the device comprises an engine, a first motor, a clutch and a second motor that are connected in sequence, a battery, and a speed reducing mechanism and a drive shaft that are connected to the output end of the second motor; the method comprises: (a) detecting the rotation speed ?2 of the second motor and setting the rotation speed ?2 as the target rotation speed ?0 of the first motor, when the vehicle is driven by the second motor and the engine is required to be started to provide assistance to the second motor; (b) starting the first motor to drive the engine, and controlling the actual rotation speed ?1 of the first motor to be close to the target rotation speed ?0; (c) switching the state of the first motor from a driving motor to a power generator when the actual rotation speed ?1 of the first motor is approximately equal to the target rotation speed ?0; and (d) engaging the clutch.

Abstract: A method of controlling an accelerator of a four-wheel drive electric vehicle comprises the steps of controlling power output of the vehicle by a sum of an output torque of a main drive motor and an output torque an auxiliary drive motor with the output torque of the main drive motor being determined by a position of the accelerator pedal. The output torque T0 of the auxiliary drive motor is determined by: obtaining a torque calculation factor GainAccSum that a cumulative value of the acceleration GainAcc of the accelerator pedal; determining a maximum output torque T of the auxiliary drive motor at a current speed of the vehicle; and calculating the output torque T0 of the auxiliary drive motor varying between 0 and T based on the torque calculation factor GainAccSum and the maximum output torque T of the auxiliary drive motor at the current speed of the vehicle.

Abstract: The present invention discloses a controllable rectification comprising an inverter (10), a control panel (20) and a drive panel (30). The inverter (10) may comprise three switch element groups connected in parallel. Each switch element group may comprise at least two switch elements connected in parallel. Each switch element may comprise an upper bridge-arm switch and a lower bridge-arm. The control panel (20) may generate a PWM waveform. The drive panel (30) may generate a drive voltage according to the PWM waveform to drive the upper bridge-arm switch and the lower bridge-arm switch of each switch element to conduct or break respectively, and to make the upper bridge-arms of the same switch element group to conduct or break simultaneously, and to make the lower bridge-arms of the same switch element group to conduct or break simultaneously. The present invention further discloses an electric motor comprising the same.

Abstract: A method of controlling an accelerator of a four-wheel drive electric vehicle comprises the steps of controlling power output of the vehicle by a sum of an output torque of a main drive motor and an output torque an auxiliary drive motor with the output torque of the main drive motor being determined by a position of the accelerator pedal. The output torque T0 of the auxiliary drive motor is determined by: obtaining a torque calculation factor GainAccSum that a cumulative value of the acceleration GainAcc of the accelerator pedal; determining a maximum output torque T of the auxiliary drive motor at a current speed of the vehicle; and calculating the output torque T0 of the auxiliary drive motor varying between 0 and T based on the torque calculation factor GainAccSum and the maximum output torque T of the auxiliary drive motor at the current speed of the vehicle.

Abstract: The present invention provides a clutch engaging control method in a hybrid power output device, wherein the device comprises an engine, a first motor, a clutch and a second motor that are connected in sequence, a battery, and a speed reducing mechanism and a drive shaft that are connected to the output end of the second motor; the method comprises: (a) detecting the rotation speed ?2 of the second motor and setting the rotation speed ?2 as the target rotation speed ?0 of the first motor, when the vehicle is driven by the second motor and the engine is required to be started to provide assistance to the second motor; (b) starting the first motor to drive the engine, and controlling the actual rotation speed ?1 of the first motor to be close to the target rotation speed ?0; (c) switching the state of the first motor from a driving motor to a power generator when the actual rotation speed ?1 of the first motor is approximately equal to the target rotation speed ?0; and (d) engaging the clutch.

Abstract: This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position ?0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position ?0 is used as a base to determine the corrected current rotor position angle ?1?. Then the correcting value is used to control the electric motor.

Abstract: This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position ?0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position ?0 is used as a base to determine the corrected current rotor position angle ?1?. Then the correcting value is used to control the electric motor.