92results about How to "Improve real-time control" patented technology

The invention discloses a ground station of a universalized configurable unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicle control. The ground station comprises a task planning module, a HOTAS (Hands on the Throttle and Stick) and pedal manipulation data acquisition module, a voice identifying and alarming module, an electronic flying information module and a multi-point touch module which are deployed on a computer A, and a flying information communication module, a training communication module, an aircraft adapting module, a databank module, a voice and video acquisition module and a 3D (Three-dimensional) view display module which are deployed on a computer B. On the basis that the psychological and physiological characteristics of a unmanned aerial vehicle manipulator are considered, the comprehensive problems of flying control and task control, and the problems of three-dimensional information sensation and fatigue caused by long-time operation are solved well; the universalization of the ground station of the unmanned aerial vehicle is realized; and the repeated construction is reduced.

The invention discloses a Chinese massage robot, relating to the field of Chinese massage mechanical and automatic devices. The Chinese massage robot is characterized by comprising a bed body (16), a spatial six degrees of freedom main body mechanism and a massage hand (15) and can realize a palm-rubbing technique, a scrubbing method, a pushing manipulation, a wiping manipulation, a pressing manipulation, a pointing method, a finger-nail pressing method, a clapping method, a striking method, a rebounding method, a rolling method, a palm-kneading method, a finger-kneading method, a tremble manipulation, a shaking manipulation, a holding method, a kneading method, a plucking method, a pushing method, a twisting method, a pulling and turning method, a stretching method and other general single-hand and dual-hand massage methods. The invention has the advantages of simple structure, high rigidity, small size, light weight, low cost, large motion space, sensitive and quick action, favorable decoupling, real-time and dynamic response characteristics of system control, and the like.

An apparatus for planarizing is disclosed. A method of planarizing is disclosed. Methods of planarizing using frictional planarizing, chemical planarizing, tribochemical planarizing, CVD planarizing, and electrochemical planarizing and combinations thereof are disclosed. A planarizing chamber can be used. New methods of control are planarizing disclosed. The new planarizing methods and apparatus, can help improve yield and lower the cost of manufacture for planarizing of workpieces having extremely close tolerances such as semiconductor wafers. Cost of manufacture parameters are used for control. Methods to determine preferred changes to process control parameters are disclosed. Cost of manufacture models can be used and are disclosed. Process models can be used and are disclosed. A method to use business calculations combined with physical measurements to improve control is discussed. Use of business calculations to change the cost of finishing semiconductor wafers is discussed. The method can help cost of manufacture forecasting for pre-ramp-up, ramp-up, and commercial manufacture. Activity based accounting can be preferred for some applications. Planarizing fluids are preferred. Reactive planarizing aids are preferred. Electro-planarizing for adding and removing material is disclosed. New methods and new apparatus for non-steady state planarizing control are disclosed.

The invention provides a method for controlling an electronic throttle control (ETC) of an engine by a combined pulse spectrum, belonging to the vehicle gasoline engine control field, comprising a basic throttle opening pulse spectrum parameter and a dynamic throttle opening pulse spectrum parameter, wherein, the basic pulse throttle opening spectrum parameter is standardized by a jack horse or optimized and standardized by the jack horse and a road parameter, the dynamic throttle opening pulse spectrum parameter is generated by the self-standardization of the self-study on line of a control system and the self-optimization, the basic throttle opening pulse spectrum parameter and the dynamic throttle opening pulse spectrum parameter form a combined pulse spectrum parameter, and the adaptively control of the opening of the ETC of the gasoline engine is controlled by the control system according to a throttle opening control strategy. The combined pulse spectrum control way synthesized by the self-adapting study method is adopted; therefore, the influence of the change in a controlled system and the unknown change on the engine is corrected, thereby improving the control accuracy of the open-loop control and increasing the speed and improving the timeliness of the control.

Disclosed is a rail vehicle traction inverter system for integrated energy storage device charging and discharging control. The rail vehicle traction inverter system comprises precharging units, a circuit filter unit, a current and voltage detection unit, two sets of traction inverter units and a traction control unit. Current and voltage signals are collected by the current and voltage detection unit, signal conversion is conducted, and the current and voltage signals are sent to the traction control unit. Direct current wire sides are connected to the input end of the set of circuit filter unit through the two sets of precharging units. Each set of traction inverter unit comprises a wave chopping module and an inverter module which are integrated, wherein the wave chopping module comprises a braking wave chopping unit and a DCDC wave chopping unit. The braking wave chopping units are connected with the output end of the circuit filter unit, a braking resistor and the DCDC wave chopping units correspondingly. The DCDC wave chopping units are connected with an energy storage device and an inverter unit correspondingly. The traction inverter units of the rail vehicle traction inverter system are of an integrated structure, so that integration of the DCDC wave chopping units is achieved, a hardware circuit is simplified, and the cost is reduced.

The invention relates to the field of lead screw detection, in particular to a lead screw lead accuracy detection device. The lead screw lead accuracy detection device comprises a mechanical portion, a movement control portion, a data collection portion and a computer. The mechanical portion comprises an instrument main frame, a detection rail, a linear grating ruler, a circular grating pair and a detection head device. The movement control portion comprises a motor, a motor driver and a movement control card. The data collection portion comprises a data collection card and a signal transferring board. Detection software is arranged on the computer, the computer is connected with the movement control card and the data collection card through a data bus, and the computer controls the motor in real time, conducts data collection of grating signals of the circular grating pair and grating signals of the linear grating ruler in real time, and displays a result and an error curve after conducting processing through the algorithm in the detection software. The lead screw lead accuracy detection device is used for detecting the accuracy of the lead of a lead screw.

The invention discloses a triaxial rotation mechanism control apparatus with a real-time fault monitoring capability. A triaxial rotation mechanism is under the control of three orthogonally installed DC brushless motors. The apparatus mainly comprises a master control unit taking a DSP as a core, a signal acquisition module taking a CPLD as a core, and an optical coupler isolation module. The DSP receives external motor rotation instructions and synchronization signals and is connected with the signal acquisition module, a bus transmission module, a level conversion module and a communication module. The signal acquisition module is used for acquiring a rotation mechanism angle measuring apparatus signal, a temperature sensor signal, a vibration sensor signal, and a fault detection signal of a motor driving module and sends the acquired signals to the DSP. The DSP, according to the four received signals, determines whether the apparatus is currently at a normal working state so as to realize real-time monitoring of the control apparatus. In terms of a control algorithm, by use of an active control strategy, smooth transition of uniform-speed forwarding and reversing of the rotation mechanism are guaranteed, and the control precision of a system is ensured.

The invention relates to a stage light following control system, and particularly to a stage intelligent light following control system and a stage intelligent light following control method based on image pattern recognition. The stage intelligent light following control system and the stage intelligent light following control method settle the problems of difficult arrangement, complicated wiring, application range limitation, high application cost, low controlling real-time performance, and low accuracy. The stage intelligent light following control system based on image pattern recognition comprises the components of a high-resolution camera, an upper PC, stereo audio equipment, a first RS485 communication machine, a second RS485 communication machine, a third RS485 communication machine, a microprocessor, a pan / tilt spotlight system and an adjustable light system, wherein the output end of the high-resolution camera is connected with the input end of the upper PC through an audio line. The output end of the upper PC is connected with the input end of the stereo audio set through an audio line. The upper PC is bidirectionally connected with the first RS485 communication machine. The stage light following control system is suitable for stage light following control.

The invention relates to an outdoor equipment monitoring system based on NB-IOT, and the system comprises an optical cable cross-connecting box monitoring unit, a mobile phone terminal unit and a network management platform management unit. The optical cable cross-connecting box monitoring unit comprises an access control terminal, an electronic lock and a Bluetooth key, and the access control terminal comprises an optical cable cross-connecting box state detection module, a battery, an electric quantity detection module, a lock driving module, an access control state detection module, an NB-IOT module and a Bluetooth module, which are connected with a central processing module. The central processing module communicates with the network management platform management unit and the mobile phone terminal unit through the NB-IOT communication module and the Bluetooth module, and the central processing module outputs a door opening signal and provides a power supply for the electronic lock. The electronic lock has corresponding lock cylinder information, and the Bluetooth key is used for receiving the unlocking authorization information of the network management platform management unit or the mobile phone terminal unit and is inserted into the electronic lock to supply power to the electronic lock. The system is low in power consumption, can further improve the management efficiency, and reduces the maintenance cost.

The invention discloses a receiving control circuit synchronized with absolute time of a photoelectric tracer. When receiving control software arranged on a control computer of the photoelectric tracer receives a second pulse and an absolute time code of a big dipper or a GPS (Global Positioning System) time service device, the receiving control software immediately transmits an effective enabling signal to the control circuit so as to control a counter to count microsecond impulse signals output by the time service device at next second pulse signal; and the receiving control software is used for calculating absolute time data corresponding to a second pulse and synthesizing the time data with a counting signal to obtain an absolute chronology of the photoelectric tracer. According to the receiving control circuit disclosed by the invention, the problem that various parts of the photoelectric tracer and the absolute chronology synchronously work is solved, thereby data acquired by ofthe photoelectric tracer during a live ammunition practice test can be compared with theoretical ballistic data, and missile launching can be monitored in real time and safely controlled. The receiving control circuit is simple and high in precision and stability and easy to realize; and the time for taking the control computer to acquire data is short.

The invention discloses a vehicle semiactive suspension based on double controllable dampers, which is applied to decoupling control of a vehicle semiactive suspension system which is provided with two groups of suspension subsystems. The vehicle semiactive suspension comprises the following decoupling control steps that 1, an unsprung type controllable damper is arranged between a lower control arm and a connecting rod, and the damping force outputted by the unsprung type controllable damper is adjusted through the feedback control of variations of vehicle body pitch angles and accelerations, so as to realize the complete structure decoupling of two 'quarter' vehicle suspension subsystems of the vehicle semiactive suspension system, and improve the properties of the vehicle suspension in the pitch movement; 2, the unsprung controllable damper is arranged on the position of the traditional passive suspension damper, and the decoupled suspension system can directly adopt a relatively matured semiactive control strategy of the 'quarter' vehicle suspension subsystems, so as to ideally improve the properties of the vehicle suspension in the vertical movement.

The invention discloses a method for clarifying cane juice by combining air floatation purification and thermal floatation purification. The method comprises the following steps of: preheating mixed juice to 45-55 DEG C, conveying into a reactor, and adding lime for adjusting the pH value to 5.6-6.6, wherein the adding amount of the lime is 0.02-0.05 percent of the weight of the mixed juice; and charging fine uniform air bubbles by using a bubble maker, adding a flocculating agent, mixing uniformly, adding into a thermal tubular purifier, performing air floatation purification in the thermal tubular purifier to obtain primary clear juice, extracting the primary clear juice into a stirrer, adding a clarifying agent and a flocculating agent simultaneously, and feeding into the thermal tubular purifier through a circulating pump for performing thermal floatation purification to separate secondary clear juice and floating slag out. An air floatation purification technology and a thermal floatation purification technology are combined, so that the clarifying efficiency and effect of the clarifying agent are increased, the quality of a white sugar product is improved simultaneously, and environmental pollution caused by lime sludge is lowered.

The present invention discloses an electric vehicle integrated control system which comprises a battery management system, a motor controller and a whole vehicle controller; the whole vehicle controller is connected with the battery management system and the motor controller via a data bus; and the whole vehicle controller comprises a signal acquisition module, a communication detection module, a whole vehicle fault alarm module, a whole vehicle system monitoring module and a whole vehicle coordination control module. The present invention also discloses a corresponding electric vehicle integrated control method. The battery management system, the motor controller and the whole vehicle controller are integrated in one controller, so that all data interaction is in the system, data interaction capability and control timeliness are largely improved, installation convenience and space utilization rate are increased, system design flexibility is enhanced, and hardware cost required for implementing the same function can also be reduced.

The invention relates to a master-slave mode snake-like robot system and a position control method thereof. Master manipulator information of a master robot is obtained and subjected to master-slave mapping change to obtain master-slave mapping position information. Actual displacement variation of a slave robot is obtained, and slave manipulator position error is obtained through calculation according to the actual displacement variation of the slave robot. According to the master-slave mapping position information and the slave manipulator position error, slave manipulator angle variation is obtained by processing with a neural network correlation pruning algorithm and output to the slave robot so as to control the slave robot to move following with the master robot. Through the neural network correlation pruning algorithm, precise position control over the slave robot and the master robot is achieved, reverse kinematics does not need to be conducted on the slave robot, solution multiplicity is avoided, the number of degrees of freedom of the slave robot is not limited, and control real-time performance is improved.

The invention relates to the field of intelligent ship navigation control, in particular to an intelligent ship course and speed comprehensive control method, which comprises the following steps of: firstly, acquiring external navigation data and internal data of a ship, forming comprehensive cognition on the ship and a navigation environment through analysis, and judging whether a navigation condition is met or not based on the comprehensive cognition; when the navigation condition is not met, entering an exception handling process; when the navigation condition is met, judging whether a shore-based control instruction is input or not; when a shore-based control instruction is input, executing the shore-based control instruction; when no shore-based control instruction is input, judging whether the navigation plan meets the current navigation condition or not is judged; when the navigation plan does not meet the current navigation condition, carrying out autonomous navigation by the ship; and when the navigation plan meets the current navigation condition, comprehensively controlling the ship based on the course control law and the navigation speed control law. According to the method, the course and the navigational speed are cooperatively scheduled, and the control parameters are adjusted in real time, so that the control efficiency is greatly improved.

The invention relates to an intelligent embedded type electric upsetter control device used for engine air valve blank production, which comprises an embedded main control module, a touch LCD screen module, a D / A module, an electromagnetic valve driving module, a hydraulic proportional valve module, a pneumatic proportional valve module, a controlled silicon driving module, a current detection module, a temperature detection module, a displacement detection module and a mechanical hand control electromagnetic valve module, wherein the current detection module, the temperature detection module and the displacement detection module are connected at an input interface of the embedded main control module, the hydraulic proportional valve, the pneumatic proportional valve module and the controlled silicon driving module are respectively connected at the output end of the D / A module and are driven to realize the automatic continuous closed loop control, the work is stable, and the invention can adapt to production processing of various air valve upsets coarse process. A system device adopts an embedded operation system and the pattern user interface design, realizes the file system storage of the process parameters, and has the advantages of simple operation, friendly interface and good performance.

The invention provides a concentrated air conditioner system controller. A control unit of the concentrated air conditioner system controller comprises a first single chip microcomputer and a second single chip microcomputer. The first single chip microcomputer and the second single chip microcomputer conduct two-machine communication through a double-port RAM. Both the first single chip microcomputer and the second single chip microcomputer are connected with attachment units comprising clock circuits, watchdog circuits, storages and reference source circuits respectively. An Ethernet unit, an isolation 485 unit, a USB unit and an SD card are connected with the first single chip microcomputer, and a CAN isolation circuit, an RS 485 isolation circuit, an output control unit, an input control unit, an isolation input unit and an isolation output unit are connected with the second single chip microcomputer. The input control unit comprises an A / D conversion module and a signal processing circuit. The output control unit comprises a D / A conversion module and a voltage-current conversion circuit. The isolation input unit is connected with a wiring port. The isolation output unit is connected with a drive circuit. The controller is comprehensive in function, remarkable in energy saving effect, stable to operate, low in cost and high in operation accuracy and efficiency.

The invention provides a multifunctional intelligent patch board and a control method thereof. The patch board comprises patch board units, a main control circuit, a network communication module and aBluetooth module; the main control circuit receives a socket panel switch control instruction sent from a cloud server through the network communication module, or the main control circuit receives asocket panel switch control instruction sent from a monitoring terminal by a user through the Bluetooth module; and the main control circuit controls a socket power supply circuit of the corresponding socket panel to be closed according to the socket panel switch control instruction. By adoption of integrated design of multiple patch board units, multiple socket connection positions can be provided, and the adjacent patch board units can slide and move relatively, so that the problem of space conflict in connection of multiple electric appliance plugs on the patch board integrated with multiple sockets can be solved effectively; and by detecting the plug connecting states of the patch board through infrared induction modules, potential safety hazard can be lowered effectively.

The invention discloses a big data logistics management platform, and relates to the field of logistics management. The logistics management platform comprises a control center, a data collection system, a data sharing system, a data supervision system, a warehouse security and protection system, a data statistics system and a user side. The control center is a processing regulation and control center of the core of the big data logistics management platform, is associated with other parts, and can perform information interaction with the other parts; A network recommendation system derived onthe basis of a network evaluation system is uniquely arranged, so that the real-time control of logistics information by a user and the autonomous selection of participants in logistics behaviors areimproved; through the acquisition of network data, the development of the logistics industry can be predicted through summary.

The invention relates to the field of manufacture of a range-increasing type electric vehicle and particularly relates to an electronic throttle valve of an engine of the range-increasing type electric vehicle. The electronic throttle valve comprises an air intake pipe, a valve plate, a throttle valve shaft, an electric-injection ECU (Electronic Control Unit) and a worm gear box body, wherein a worm gear seat is sheathed and fixed on the throttle valve shaft in the worm gear box body; a worm gear is arranged on the worm gear seat in a sheathing and sliding manner; vertical to the throttle valve shaft, a worm is arranged on the worm gear box body at one side of the worm gear, and a driving motor is arranged at the top end of the worm; and a displacement sensor is arranged at the end part of the worm gear box body, a displacement sensor connector is arranged at the periphery of the throttle valve shaft between a sealing end cover and the worm gear, and the side part of the displacement sensor connector is fixedly inserted with the side part of the worm gear. The electronic throttle valve has the advantages that the opening angle of the valve plate can be fed back to a central controller by the displacement sensor, and the central controller sends an instruction immediately to control rotation of a driving motor, so that the accurate real-time control of the throttle valve can be finally realized.

The invention discloses a transformer station inspection robot control system and method based on an Android platform. The transformer station inspection robot control system includes an Android platform client, a transformer station PC server, a transformer station inspection robot, a first wireless communication module and a second wireless communication module. The Android platform client is arranged on a mobile terminal, the mobile terminal is communicated with the transformer station inspection robot via the first wireless communication module, the transformer station PC server is disposed on a transformer station monitoring server, and the transformer station monitoring server is communicated with the transformer station inspection robot via the second wireless communication module. According to the invention, a tablet computer or a mobile phone can be used as the control terminal of the transformer station inspection robot, and another devices based on the Android platform also can be used as the control terminal; and compared with the remote control of a conventional computer, the control system provided is more convenient and improves the intelligent and portable level of the control of the transformer station inspection robot.

The invention provides an embedded processing circuit of an electric control combination of a carrying section, wherein the circuit is applied on the electric control combination to carry out detector function control and detection of relevant feedback signals. According to the electric control combination, functional requirements and characteristics of input and output signals are realized. The embedded processing circuit provided by the invention analyzes circuit design through modularization and mainly comprises an analog signal detection circuit, a state signal detection circuit, an embedded control processing circuit and a secondary electric power supply conversion circuit. The electric control combination of the carrying section converts and conditions digital control commands sent by the ground or a carrier into an analog quantity by an internal embedded DSP chip and then sends the analog quantity to each detector; main functional parameters and internal self-inspection parameters of the detector are collected; and the parameters are sent to a ground detection launch control system by RS-422 balance communications for decoding and analysis.

The invention provides a time-controllable earphone and a method for controlling the use time of the earphone. The earphone comprises an audio processing module, a central processing module, and a control module. The audio processing module is used for recording audio playing starting time and playing end time by starting with audio playing by an earphone, identifying the type of each audio unit played by the earphone, and acquiring actual playing time corresponding to each audio type. The central processing module is configured to acquire an audio playing time limit corresponding to each audio type. The control module is used for controlling the earphone to stop audio signal receiving and stop audio playing when the actual playing time corresponding to each audio type reaches the corresponding audio playing limit. Therefore, the hearing damage caused by the long-term wearing of the earphone for listening audio units are avoided; the hearing health of the user is protected; and listening needs of different audios by the users are met.

The invention discloses a master-slave control-based hand function reconstruction device and an implementation method thereof and belongs to the field of electronic science and a rehabilitation robot.The hand function reconstruction device includes an electromyographic signal collection module, a microprocessor module, an action decoding module, a stimulation pulse encoding module, a stimulationwaveform generation module, a memory module, a press key module and an array stimulation electrode. A hand function reconstruction method includes the following steps of: utilizing an electromyographic signal of an uninjured side forearm surface of a patient as a control source for function reconstruction; and controlling an electrostimulation system to stimulate affected side forearm muscle according to an accurate stimulation sequence, stimulation intensity, stimulation pulse width and stimulation channel to make muscle contract to achieve a function reconstruction purpose. The master-slavecontrol-based hand function reconstruction device and the implementation method thereof have the advantages of high degree of hand function reconstruction, intellectualization, strong practicality, and the like; the patient can independently perform various hand movement training at home; and the application value is high.

The invention discloses a fuzzy wavelet neural control method of an MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost, and relates to the technical field of automatic control of MEMS gyroscope. Firstly, an MEMS gyroscope dimensionless strict feedback dynamics model containing lumped interference is established; then a one-sided no-overshoot fast-convergence guaranteed-cost mechanism which is based on hyperbolic cosecant characteristics and does not rely on exact initial values of tracking errors is designed, and a gyroscope displacement tracking error conversion model is constructed; then a minimal learning parameter (MLP) method is used to design an FWNN (fuzzy wavelet neural networks) approximator with low computational complexity and high generalization performance to identify lumped interference in a gyroscope system online; and finally, a fuzzy wavelet neural control law of the MEMS (micro electro mechanical system) gyroscope with no overshootand the guaranteed cost is given on the basis of the unilateral no-overshoot guaranteed-cost displacement tracking error conversion model and FWNN lumped interference estimation. The method solves thedifficult problem of MEMS gyroscope error tracking transient performance no-overshoot guaranteed-cost control and closed-loop stability and robustness deterioration under the multi-source interference.

The invention discloses a machine vision and motion controller and servo driver integrated control system. The machine vision and motion controller and servo driver integrated control system comprises a CCD camera module, an image acquisition card and a motor power module, wherein the CCD camera module is connected with the image acquisition card; the machine vision and motion controller and servo driver integrated control system further comprises an image processing module which reads image data from the image acquisition card, a motion control module which reads image coordinates and converts the image coordinates into motion trajectory coordinate information, then transmits the motion trajectory coordinate information to each driving control module, and the driving control modules used for current sampling and encoder sampling of a plurality of servo motors, converting received motion trajectory coordinate information into motion signals, and transmitting acquired signals and motion signals to the power module; the motion control module is connected with the driving control modules through a CPLD / FPGA module; and the input end of the image processing module is connected with the image acquisition card, and the output end of the image processing module is connected with the CPLD / FPGA module. The machine vision and motion controller and servo driver integrated control system of the invention has the advantages of improved control precision and real-time response performance.

The invention discloses a closed-loop control method of cold-rolled sheet shape based on lag compensation. The closed-loop control method comprises the specific steps of manufacturing a structure of a sheet shape closed-loop control system based on a multivariate optimization model; designing the multivariate optimization model of the sheet shape closed-loop control system; manufacturing PID control models of all sheet shape regulating mechanisms; manufacturing PID+Smith predictor control models of all the sheet shape regulating mechanisms; determining process models of control circuits of all the sheet shape regulating mechanisms, and setting corresponding PID parameters; and establishing control modes of the sheet shape closed-loop control system. The closed-loop control method has the advantages that the influence of measurement lag to the stability of the sheet shape closed-loop control system during sheet shape control process can be removed through switching the sheet shape closed-loop control modes according to the rolling speed change, the structure is simple, the calculation efficiency is high, the control real time performance is relatively high, the stability of the sheet shape closed-loop control system is not influenced by measurement lag, and relatively high homeostatic control accuracy is achieved.

The embodiment of the invention provides a mechanical arm control method and device, and relates to the technical field of data processing.The method comprises the steps that a forward kinematics model of a mechanical arm is established under a base coordinate system corresponding to a base of the mechanical arm; determining a first relationship between the pose data of the tail end of the mechanical arm under the base coordinate system and the rotation angle of each joint in the mechanical arm according to the forward kinematics model; expected pose data of the tail end of the mechanical arm under the base coordinate system are obtained; according to the forward kinematics model, the first relation and the expected pose data, target angles for rotating all joints in the mechanical arm are calculated; and all the joints are controlled to rotate according to the corresponding target angles, so that the pose data of the tail end of the mechanical arm under the base coordinate system are expected pose data. By applying the scheme provided by the embodiment of the invention to control the mechanical arm, the efficiency of controlling the mechanical arm can be improved.

A double star formation integrated modeling method includes a first step of utilizing a finite element method and an integral method to calculate the dual momentum of a flexible attachment with respect to the centroid of a flexible body satellite under dynamic conditions; a second step of using the finite element method and the integral method to calculate the dual momentum of a first center rigidbody with respect to the centroid of the flexible body satellite under dynamic conditions; a third step of calculating the dual momentum of the flexible body satellite relative to the centroid of theflexible body satellite under dynamic conditions; acquiring an attitude track integrated kinetic equation of the flexible body satellite; a fourth step of using the finite element method and the integral method to calculate the dual momentum of a rigid body satellite relative to the rigid body satellite centroid under dynamic conditions; acquiring an attitude track integrated kinetic equation ofthe rigid body satellite; and a fifth step of acquiring a double star formation attitude track integrated kinetic equation according to the attitude track integrated kinetic equation of the flexible body satellite in the third step and the attitude track integrated kinetic equation of the rigid body satellite in the fourth step.