초록 ▼

A hybrid stabilization system for isolating a pointing vector of a gimbal from the motion of a vehicle base is provided. The hybrid stabilization control system includes a rate feedback loop generating a rate feedback compensation value in response to a measured rate difference between a pointing ve

A hybrid stabilization system for isolating a pointing vector of a gimbal from the motion of a vehicle base is provided. The hybrid stabilization control system includes a rate feedback loop generating a rate feedback compensation value in response to a measured rate difference between a pointing vector rate of motion and a vehicle base rate of motion, a rate feedforward loop generating a rate feedforward compensation value in response to a measured inertial vehicle base rate of motion, a position feedback loop generating a position feedback compensation value in response to a measured position difference between a pointing vector angular position and a vehicle base angular position, a position feedforward loop generating a position feedforward compensation value in response to a measured inertial vehicle base angular position. A controller receives a pointing vector position command and generates a gimbal control signal in response to the rate feedback compensation value, rate feedforward compensation value, position feedback compensation value, and position feedforward compensation value.

대표청구항 ▼

A hybrid stabilization system for isolating a pointing vector of a gimbal from the motion of a vehicle base is provided. The hybrid stabilization control system includes a rate feedback loop generating a rate feedback compensation value in response to a measured rate difference between a pointing ve

A hybrid stabilization system for isolating a pointing vector of a gimbal from the motion of a vehicle base is provided. The hybrid stabilization control system includes a rate feedback loop generating a rate feedback compensation value in response to a measured rate difference between a pointing vector rate of motion and a vehicle base rate of motion, a rate feedforward loop generating a rate feedforward compensation value in response to a measured inertial vehicle base rate of motion, a position feedback loop generating a position feedback compensation value in response to a measured position difference between a pointing vector angular position and a vehicle base angular position, a position feedforward loop generating a position feedforward compensation value in response to a measured inertial vehicle base angular position. A controller receives a pointing vector position command and generates a gimbal control signal in response to the rate feedback compensation value, rate feedforward compensation value, position feedback compensation value, and position feedforward compensation value. ry ratio between the left and right brain waves based on the previous Fourier transformation. 3. A method as defined in claim 1, wherein the second step includes further steps of: performing the first step if the time taken for measuring said brain waves does not exceed said given time interval; and calculating asymmetry ratio versus time at each frequency of said measured brain waves if the time taken for measuring said brain waves exceeds a given time interval. 4. A method as defined in claim 2, wherein said electrodes are two respectively attached to the left and right sides of the scalp with the left side one positioned at F3 and the right side one at F4 according to 10-20 international electrode system. 5. A method as defined in one of the claims 1 to 4, wherein the third step includes further steps of: smoothing out said asymmetry ratio versus time; and calculating an increase and a decrease of the smoothed asymmetry ratio with time. 6. A method as defined in claim 5, wherein the step of smoothing out said asymmetry ratio is to reduce fluctuations for a short time little concerned with emotional response. 7. A method as defined in claim 5, wherein said an increase and a decrease is the slope of said asymmetry ratio with time or the positive or negative sign of said slope. 8. A computer storage medium for storing a computer program executed by a computer, wherein said computer program is composed of performing the functions of obtaining asymmetry ratio between the brain waves of the left and right cerebral hemisphere measured in a given unit time by means of electrodes attached to the left and right side of the scalp; calculating asymmetry ratio versus time at each frequency of said measured brain waves if the time taken for measuring said brain waves exceeds a given time interval; calculating an increase and a decrease of the asymmetry ratio of the previous step with time; and entering said an increase and a decrease into an artificial neural network to make a judgment on said emotional positivity or negativity. 387.