| 摘要 |
<p>A control system includes a rate-damping loop that uses a motion parameter error (heading pitch, heading yaw, attitude pitch, attitude yaw, and attitude roll) to non-linearly scale a rate-feedback signal so that at lower motion parameter error values, an acceleration feedback term plays a greater role in pitch compensation, while at greater motion parameter error values, a rate-feedback term plays a greater role in the pitch compensation. In some embodiments, the control system controls a motion parameter of a moving body. A signal representing a motion parameter error is non-linearly combined with a signal representing a rate-of-change of a motion parameter (or body angle) to generate a non-linear rate-damping signal. The non-linear rate-damping signal is subtracted from the signal representing the motion parameter error to generate a signal to control one or more elements of the moving body.</p> |
