3results about How to "Enable real-time estimation" patented technology

The invention relates to a method for identifying the steering curvature of a tracked vehicle based on machine learning, belongs to the field of vehicle driving control, and solves the problem of difficulty in real-time calculation of the steering curvature in the prior art. The method comprises the following specific steps: acquiring driving data of a tracked vehicle to form a feature vector set; a historical slip rate set is formed by calculating the theoretical slip rates of the two sides of the corresponding track; based on the feature vector set and the historical slip rate set, training an offline two-stage machine learning model to obtain a two-side slip rate estimation model of the tracked vehicle; by means of the online identification process, real-time estimation values of the slip rates of the two sides are obtained through the two-side slip rate estimation model according to vehicle driving data collected in real time; and the real-time vehicle speed and the yaw velocity of the tracked vehicle are calculated based on the real-time estimation value of the slip rate of the two sides, and then real-time estimation of the steering curvature of the tracked vehicle is achieved.

The invention discloses a controllable-pitch propeller system pressure estimation method, a database and equipment. The method comprises the following steps: acquiring real-time operation data of a controllable-pitch propeller at a given moment; inquiring a hydraulic oil physical property parameter database according to the pressure and temperature measured data of the hydraulic oil to obtain physical property parameters; a hydrodynamic rotating vane torque model is calculated, and hydrodynamic rotating vane torque and advance speed coefficient calculation values are obtained; calculating a centrifugal force rotating vane torque model to obtain a centrifugal force rotating vane torque calculation value; calculating a friction torque model to obtain a friction torque calculation value; calculating the rotating vane mechanism model to obtain a piston rod stroke and a stress calculation value; a propeller hub oil cylinder and oil distributor model is calculated, and hydraulic oil volume flow, pressure and leakage amount calculation values are obtained; and calculating the control system model and the proportional control valve model to obtain the pressure estimation value of the controllable-pitch propeller system. According to the method, independent estimation is provided for the pressure of the controllable-pitch propeller system, support is provided for the operation state and fault early warning of the controllable-pitch propeller, and the operation safety of the controllable-pitch propeller can be improved.

This invention discloses a nonlinear motion control method for a hydraulic robotic arm based on precise dynamic friction compensation. The method includes: establishing a system dynamic parameterization and improved dynamic friction model for the multi-joint hydraulic robotic arm under dynamic model constraints; designing an improved LuGre friction model compensation term; designing an adaptive robust controller, inputting the reference trajectory into the controller and the compensation term, the controller outputting a dynamic parameter estimation matrix into the compensation term, the compensation term outputting a friction force compensation term into the controller, the controller outputting the valve control voltage to the robotic arm for control, and the robotic arm providing feedback on its state, thereby achieving nonlinear motion control of the robotic arm. This invention enables real-time estimation of the low-speed dynamic friction force of a multi-joint hydraulic robotic arm, solving the problem of difficulty in describing the nonlinear dynamics of friction force in actual low-speed robotic arm operation. While ensuring the overall stability of the control system, it reduces the tracking error of the robotic arm's end effector and improves control performance.