37results about How to "Solve constraint problems" patented technology

The invention discloses a reentry aircraft robust optimal guidance method based on a model predictive control theory. The reentry guidance problem is described as the optimal control problem, an idea of predicted correction is combined with the advantages of processing constraint and optimization in the model predictive control theory, and a guidance method capable of satisfying reentry optimality and robustness is formed. The reentry aircraft robust optimal guidance method can fully utilize the advantages of model predictive control in the aspects of route tracking and constraint processing so that the process constraint, tail end constraint and control constraint can be effectively solved in the guidance design process, and can satisfy the optimal performance index; the reentry aircraft robust optimal guidance method introduces the idea of predicted correction into the guidance strategy so as to increase the robustness of designed trajectory and guidance, predicts the future through applying the current state, compares the predicted value with an expected value, corrects a guidance command, and ensures the robustness of the reentry process; and the model predictive control theory and the idea of predicted correction are combined so that the robustness and optimality of reentry guidance can be well satisfied.

The invention provides a geotechnical engineering triaxial compression test micro-friction load force transfer plate which comprises a circular bearing plate, wherein a sliding stop rod is arranged in the center of the circular bearing plate; six first rectangular grooves are uniformly distributed in the circular bearing plate along the circumferential direction in a radial shape; a third rectangular groove is formed between two adjacent first rectangular grooves; a second rectangular groove is formed between the first rectangular groove and the adjacent third rectangular groove; the first rectangular grooves, the second rectangular grooves and the third rectangular grooves are respectively and correspondingly embedded into first guide rails, second guide rails and third guide rails; two arc-shaped grooves are formed in each of the guide rails; steel balls are arranged in the arc-shaped grooves; multiple circles of slide blocks are sequentially arranged on the guide rails along the radial direction of the circular bearing plate; the slide blocks can freely slide on the guide rails along the radial direction through the steel balls. An axial load is applied to a sample through the multiple circles of automatic slide blocks, the frictional resistance between the slide blocks and the circular bearing plate is reduced through the steel balls, and the problem that the end of the sample is constrained can be well solved.

The invention discloses a mounting connecting part of a micro-vibration active vibration isolating device and a mounting method of the mounting connecting part. The mounting connecting part of the micro-vibration active vibration isolating device comprises an upper adhesive filling groove, an active vibration isolating device and a lower adhesive filling groove which are arranged from top to bottom in sequence, wherein the upper adhesive filling groove and the lower adhesive filling groove are filled with structural adhesive and are correspondingly fixedly welded to an upper embedded board and a lower embedded board through first regulating bolts; an upper bottom board and a lower bottom board of the active vibration isolating device are correspondingly fixedly welded to a low connecting plate of the upper adhesive filling groove and an upper connecting plate of the lower adhesive filling groove through second regulating bolts. According to the mounting connecting part of the micro-vibration active vibration isolating device, an upper embedded part and a lower embedded part are arranged, and the construction is carried out in manners of mounting, regulating, fixing and adhesive filling from bottom to top, so that the active vibration isolating device of any model in the micro-vibration active control system can be mounted and connected, and as a result, various problems caused by precision property in the mounting process of various active vibration isolating devices can be effectively solved.

The invention discloses a multi-UAV cooperative task scheduling method based on an improved discrete particle swarm algorithm, which solves the problem of UAV cooperative multi-target strike task scheduling according to the position of an enemy target and the basic information of the UAV. The invention integrates the constraint condition of task scheduling into the update of particles, improves the iterative mode of particles by using cross mutation, and avoids the algorithm from falling into local extreme value by using mutation operation. The invention uses the improved discrete particle swarm algorithm to conduct comparative research on the scheduling scheme according to the voyage cost of the drone to complete the task and the maximum exposure time of the drone, and obtains the best task scheduling scheme through multiple iterations.