284 results about "Angular acceleration" patented technology

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention belongs to the technical field of mixing equipment, and particularly relates to a non-intrusive homogenizer operation process abnormity monitoring method and system, and the method comprises the steps: calculating the mechanical angular acceleration according to the real-time rotating speed of a motor shaft end; on the basis of a pre-constructed inverse dynamic model, according to the motor orthogonal axis current, the motor shaft end real-time rotating speed and the mechanical angular acceleration, a rheological resistance characteristic index is calculated; processing the rheological resistance characteristic index by using a singular spectrum analysis algorithm, and extracting a trend line of the rheological resistance characteristic index through construction of a trajectory matrix, singular value decomposition and diagonal averaging operation; the information entropy of the first-order difference sequence of the trend line is calculated to serve as the mixing stability entropy, and the mixing end point of the operation process of the homogenizer is judged according to the convergence condition of the mixing stability entropy relative to the reference entropy, so that anomaly monitoring of the operation process of the non-intrusive homogenizer is achieved. According to the invention, abnormity monitoring and end point determination of the mixing process of the homogenizer are realized.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention belongs to the technical field of robot intelligent control, provides a robot double-source joint information impedance control method and system, a medium and a robot, and aims at motion control of a 3R-configuration robot. Joint motion information including a filtering angle, a filtering angular velocity and a filtering angular acceleration is obtained, the pose and / or velocity information of the end effector is mapped to a joint space based on a kinematic model of the robot, and joint motion information including a mapping angle and a mapping angular velocity is obtained; fusing the angle and the angular velocity to obtain a fused angle and a fused angular velocity; and generating a control torque by combining the fusion angle, the fusion angular velocity and the filtering angular acceleration with a preset target impedance parameter and an expected trajectory. The angular velocity and the angular acceleration can be obtained without adding velocity and acceleration sensors on the motor, and the increase of the size, the complexity and the cost of the joint control motor is avoided.

Disclosed are systems, apparatuses, and methods for and related to dynamic control of torque and or lateral thrust applied to a load suspended load on a suspension cable to thereby achieve a target orientation or position or to otherwise move through use of a hyperparameter, wherein the hyperparameter comprises a normalized moment of inertia, wherein the hyperparameter comprises a ratio of a force command to a thruster and an angular acceleration.

The invention relates to a constraint-driven five-axis machining singular area tool path local deformation optimization method. In order to solve the problem that the machining quality is reduced due to the fact that a cutter shaft vector enters a singular area to cause abrupt change of rotation shaft motion, the method comprises the steps that based on an A-C double-turntable five-axis machine tool kinematics model, a singular phenomenon mechanism is revealed through a differential motion relation, and the singular area is defined as a conical area meeting the condition that a cutter shaft vector component Tk is larger than or equal to epsilon k (epsilon k = cos5 degree is approximately equal to 0.9962); identifying a cutter axis vector point set entering a singular region in a cutter path, and expanding transition points along the path to construct a sequence to be optimized; interpolating the rotation angular displacement of the sequence by adopting a B spline curve; establishing an optimization model taking a minimum angle jerk integral square norm (guaranteeing motion stability) and a minimum cutter axis vector deviation (maintaining machining precision) as double targets; and solving an optimal B spline control point through a sequential quadratic programming (SQP) algorithm under a non-singularity constraint machine tool kinematics constraint (angular velocity / acceleration limitation) and a motion continuity constraint (C2 continuity at a connection point), and generating a smooth optimized tool path avoiding a singular region. By means of the optimization method, smoothness optimization of the tool path and stability of machine tool movement are achieved, machining errors are effectively controlled, and the method is suitable for five-axis high-precision machining of complex curved surfaces in the fields of aerospace, mold manufacturing and the like.

The invention provides a carrier rocket attitude control method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining attitude angular velocity target values of pitching, yawing and rolling channels of a rocket body at a satellite-rocket separation moment in an offline manner; the method comprises the following steps: designing rocket body spin-up and spin-down time and attitude angular accelerations of pitching, yawing and rolling channels in spin-up and spin-down stages in an off-line manner, obtaining attitude angular velocity values of the pitching, yawing and rolling channels at the spin-up moments of the rocket body before and after satellite-rocket separation in an on-line and real-time manner, and calculating attitude angular velocity tracking instruction values of the pitching, yawing and rolling channels in an on-line and real-time manner; and according to the attitude angular velocity tracking instruction value, the actual attitude angular velocity of the carrier rocket is controlled in real time, so that the deviation between the actual attitude angular velocity and the attitude angular velocity tracking instruction values of the pitching, yawing and rolling channels is kept within a preset deviation range, and the flight attitude of the carrier rocket is stabilized.

The invention discloses an electric shovel lifting steel wire rope dynamic control device and method based on bucket lifting lug angle changes. The electric shovel lifting steel wire rope dynamic control device comprises a tilt angle sensor, a lifting motor and a whole vehicle controller. The tilt angle sensor is installed in a lifting lug of a bucket of the electric shovel and used for monitoring the dynamic change conditions of the axial tilt angle and the angular acceleration of the lifting lug in the operation process of the electric shovel in real time. A lifting motor dynamic control model established based on the data of the tilt angle sensor is configured in the vehicle control unit, the lifting motor dynamic control model analyzes the real-time posture information of the lifting lug according to the obtained data of the tilt angle sensor, and the tension state of the lifting steel wire rope is further recognized according to the real-time posture information of the lifting lug. And the lifting motor is dynamically controlled accordingly. The angle change of the lifting lug can be automatically monitored in real time, the lifting motor is dynamically adjusted, the fatigue fracture caused by overload of the lifting steel wire rope and the groove jumping overlying fault caused by looseness are effectively avoided, and the operation safety and reliability of equipment are remarkably improved.

The application relates to an intelligent isolation bearing online monitoring system, an installation process and a monitoring method. The system integrates force value, angular acceleration and displacement monitoring functions on the basis of an isolation bearing, is composed of an upper sealing plate, a rubber body, a lower sealing plate and a monitoring system, is used for simultaneously monitoring vertical loads transmitted from an upper building to a lower foundation and angular acceleration and horizontal displacement of the isolation bearing, and is composed of a ring-shaped pressure sensor, an inertial measurement unit (IMU), a displacement sensor, a data acquisition and transmission module, a cloud server and a monitoring platform. The system adopts a full-sensor external modular structure, is matched with a six-order Kalman fusion algorithm, a multi-parameter coupling early warning criterion, an IMU dynamic drift calibration model, and a special pre-tightening and anti-loosening installation process, is suitable for various working conditions, realizes synchronous acquisition of multi-dimensional parameters of a bearing, data noise reduction fusion and fault grading early warning, and can realize real-time monitoring of stress, angular acceleration and displacement states of a building isolation bearing.

This invention discloses a method and apparatus for calculating vehicle acceleration. The method establishes gravitational acceleration component equations based on a first set of acceleration models and a second set of acceleration models. It determines the total acceleration vector of a second sensor based on the vector coordinates of the second coordinate system relative to the first coordinate system. Based on the vector coordinates of the second coordinate system relative to the first coordinate system, it calculates the total rotational angular velocity vector and the total rotational angular acceleration vector of the second sensor in the first coordinate system. Based on the total acceleration vector, the total rotational angular velocity vector, and the total rotational angular acceleration vector, it calculates the summed acceleration vector of the second sensor at the origin of the first coordinate system. Based on the resultant acceleration vector and the summed acceleration vector in the first coordinate system, it establishes acceleration equations. Finally, it establishes and solves a joint system of equations based on the gravitational acceleration component equations and the acceleration equations to obtain the motion acceleration of each axis in the first coordinate system. This method improves the accuracy of vehicle acceleration calculation.

The invention discloses a gyro accelerometer dynamic error modeling and calibration method considering angular motion of a base, and belongs to the field of dynamics and control. The implementation method comprises the following steps: establishing kinematics and dynamics equations of the PIGA under the triaxial angular motion of the base, and deducing a complete error model comprising a static error term, a dynamic error term and a nonlinear error term; constructing a kinetic equation including inertia tensor, a moment balance equation and servo loop influence; quantitatively analyzing the influence of the angular motion parameters of the base on PIGA output errors; based on three-axis turntable experimental design, dynamic response of each axis of the PIGA is excited through single-axis, double-axis and three-axis angular velocity input, and error model coefficients are separated and calibrated; error model parameters are calibrated by adopting a mode of combining a least square method and other data fitting algorithms; angular velocity and angular acceleration terms are separated based on direction cosine matrix transformation, and error coefficient aliasing is avoided; dynamic response data are fitted through a least square method, and all error coefficients are calibrated at a time.

The invention provides a data-driven insect flapping-wing flight control method based on deep reinforcement learning, and the method comprises the steps: constructing an insect model according to an obtained geometric construction image of a real insect, carrying out the parametric modeling of a flapping-wing period based on a real insect flight data set, generating a wing motion track, and carrying out the recognition of the wing motion track. The method comprises the following steps: driving wings of an insect model discretized based on a leaf element theory by utilizing a wing motion trail, calculating by utilizing a quasi-steady-state aerodynamic model to obtain total aerodynamic force and total aerodynamic torque, applying the total aerodynamic force and the total aerodynamic torque to the insect model, and calculating an angular velocity and an angular acceleration according to an Euler motion equation, and updating the motion state of the insect model in the simulation environment. According to the invention, a universal control strategy capable of autonomous learning is established, and the strategy can dynamically map a high-dimensional flight state into an optimal wing kinematics parameter through continuous interaction with the environment, so that intelligent and adaptive control of insect flight is realized.

A wearable device is disclosed. This wearable device may: obtain, using an IMU sensor, an acceleration value in a forward direction of a user while walking; obtain an angular acceleration value of a hip joint of the user on the basis of a sensing value of an angle sensor; determine a walking state of the user as a first walking state on the basis of the angular acceleration value; determine a walking state of the user as a second walking state on the basis of the acceleration value; and output torque to the user in at least one of the first walking state and the second walking state.

The invention relates to the technical field of mechanical equipment monitoring, in particular to a rotary machinery gear transmission system kinetic parameter identification method, which comprises the following steps: step 1, based on a gear dynamics theory, considering meshing rigidity and meshing damping of a time-varying gear pair, and establishing a transmission chain torsional vibration kinetic model of rotary machinery; step 2, based on the transmission chain dynamic model established in the step 1, respectively establishing parameter identification objective functions of rotational inertia and meshing rigidity; 3, data of angular displacement, angular acceleration and torque of the transmission chain are continuously collected, and data preprocessing is completed; 4, reconstructing a target function of rotational inertia under the reference of the rotor coordinates, and solving the rotational inertia; step 5, based on the rotational inertia identified in the step 4, solving a meshing stiffness objective function; according to the method, the problem that the stability and the reliability of the gear transmission system cannot be accurately predicted by an existing identification method is solved.

The invention discloses a precision control device of a high-frequency angular vibration test stand, which comprises an angular vibration stand, a linear accelerometer, an air bearing, an angle encoder and a driving motor, a rotating shaft of a table top of the angular vibration table and a motor rotor of the driving motor are connected with an air bearing rotor of the air bearing, an air bearing stator of the air bearing and a motor stator of the driving motor are connected with the base, and the linear accelerometer is arranged on the upper portion of the angular vibration table and installed on the circumferential side of the table top. The central point of the linear accelerometer forms a reference circle relative to the midpoint of the table top, and the linear accelerometer is horizontally arranged, so that the central axis of the linear accelerometer coincides with one tangent line of the reference circle. Through closed-loop control of the linear accelerometer and position feedback of the absolute angle encoder, centering control of the high-frequency angular vibration table is achieved, the precision and distortion degree of angular acceleration are guaranteed, and precise control of high-frequency angular vibration is achieved.

A hand-held electrically powered cut-off tool (100) for cutting concrete and stone by a rotatable cutting disc (105), the cut-off tool (100) comprising an electric motor (130) arranged to be controlled by a control unit (110) via a motor control interface (120), wherein the control unit (110) is arranged to obtain data indicative of an angular velocity of the cutting disc (105), and to detect a kickback condition based on a decrease in angular velocity, wherein the control unit (110) is arranged to control an electromagnetic braking of the electric motor (130) in response to detecting a kickback condition, wherein the control unit (110) is arranged to determine an angular acceleration associated with the electric motor (130), and to detect the kickback condition based on a comparison between the determined angular acceleration and a configurable detection threshold.

The invention discloses a method for measuring a damping coefficient of a vehicle damper based on inertial sensing and visual tracking. The method comprises the following steps: S10, acquiring geometric quantities and inherent characteristics of a vehicle; angular velocities and angular accelerations generated when the vehicle moves in all directions are obtained; s20, calculating the vertical load of each suspension according to the data obtained in the step S10; s30, obtaining the internal force of a suspension spring damping model according to the suspension vertical load, the spring mass, the inherent geometrical relationship and the spring stiffness coefficient; and S40, judging whether the data volume is sufficient or not, if so, outputting a damper damping characteristic graph, and if not, returning to the step S10. The method can directly reflect the direct relation between the performance of the shock absorber and the motion characteristics of the vehicle.

[Problem] To provide an information processing method, an information processing device, and an information processing program capable of inferring information regarding the inclination of a sensor mounted on a movable body. [Solution] According to the information processing method of the present disclosure, a movable body equipped with a sensor capable of detecting at least one of angular velocity and acceleration is turned, angular velocity data or acceleration data detected from the sensor is acquired in accordance with the turning of the movable body, and information regarding the inclination of the sensor with respect to the movable body is inferred on the basis of the acquired angular velocity data or the acceleration data.

A method of deriving angular acceleration of a drill bit includes receiving data from one or more sensors of a sensor module installed on a drill bit. The one or more sensors include at least one accelerometer and at least one rotational motion sensor. The data received from the one or more sensors may be filtered. Angular velocity and angular acceleration are calculated from acceleration data received from the at least one accelerometer in response to a determination that the at least one rotational motion sensor is not providing accurate data.

The application discloses a multi-module fusion vehicle state estimation model and a control method thereof, relates to the technical field of vehicle engineering and intelligent vehicle control, and comprises a tire force estimation module, a vehicle pose estimation module, an adhesion coefficient calculation module, a slip rate calculation module, a road surface friction coefficient identification module and a yaw angular acceleration calculation module; the tire force estimation module acquires four-wheel speeds, four-wheel driving torques, four-wheel braking torques, a vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, yaw angular velocity, pitch angular velocity and roll angular velocity, performs tire rotation dynamics calculation and axle load transfer calculation, and obtains longitudinal forces and vertical forces of each wheel. The application adopts a layered module architecture and multi-parameter fusion calculation, realizes accurate estimation of vehicle states, optimizes calculation logic and constraint mechanisms in different scenes through a working condition self-adaptive strategy, and improves overall estimation accuracy, system stability and engineering adaptation capability.

The invention belongs to the field of satellite-borne scanning mechanism design, and relates to an integrally-designed satellite-borne variable-speed scanning and torque compensation mechanism which comprises a variable-speed scanning mechanism and a torque compensation mechanism which are coaxial, and the product of the rotational inertia generated by the torque compensation mechanism and the angular acceleration is equal to the product of the variable-speed scanning mechanism and the torque compensation mechanism. The corresponding product generated by the variable-speed scanning mechanism is equal in size and opposite in direction, so that the disturbance torque generated by the variable-speed scanning mechanism is compensated; the first casing of the variable-speed scanning mechanism and the second casing of the torque compensation mechanism are assembled to form a set of casing. The mechanical structure is compact, the size and the mass are small, the coaxiality of the two mechanisms is good, the torque compensation effect is good, and the device is suitable for disturbance torque compensation of a scanning mechanism with a narrow space on a satellite.

The invention discloses an autonomous underwater vehicle attitude regulation and control method and system, and relates to the technical field of underwater vehicle control, and the method comprises the following steps: collecting the current attitude parameter of an underwater vehicle in real time, and obtaining a deviation error signal of the current attitude parameter and an expected attitude parameter; acquiring a control signal for controlling the flywheel rotating speed or the flywheel angular acceleration based on the deviation error signal; the control signal is input to a driver used for controlling the flywheel to rotate, the flywheel is driven to rotate according to the expected flywheel rotating speed or flywheel angular acceleration, the flywheel generates corresponding angular momentum, and driving torque is generated based on the angular momentum; the driving torque is applied to the vehicle body in an equal-size and reverse mode, and the posture of the underwater vehicle is regulated and controlled. According to the method, the attitude of the underwater vehicle is regulated and controlled by utilizing the internal torque characteristic of the flywheel, the flywheel can realize one-axis one-control, control algorithm decoupling is realized, a distribution algorithm does not need to be introduced, the design is simple, and the control process is clear.

This invention discloses an internally driven spherical tracking and aiming device and its control method, relating to the field of tracking and aiming system technology. The device includes a base, a spherical shell, a support module, a vision module, a control module, and a drive module. The spherical shell is embedded in a socket within the base. The imaging unit of the vision module is fixed at the opening of the spherical shell for acquiring target images. The control module calculates the angular acceleration required to make the target center coincide with the image center based on the target's geometric center coordinates output by the image processing unit and the motor angle information fed back by the angle sensor. The drive module employs two sets of vertically arranged frameless torque motors and momentum wheels. This invention achieves rapid response and high-precision pointing through a highly integrated built-in drive structure and visual feedback control algorithm, solving the problems of large size and slow response in existing devices. It is suitable for tracking moving targets in military, aerospace, and security fields.

The application discloses a kind of based on multiple type signal dry vacuum pump working state intelligent diagnosis method and system, specifically related to vacuum pump monitoring technical field, by synchronous acquisition encoder pulse and vibration acceleration signal, equal-angle resampling establishes angular domain sequence, by pulse interval calculation instantaneous angular velocity and angular acceleration and combined with moment of inertia to obtain actual inertia moment, based on screw profile and ideal compression model generates theoretical aerodynamic load moment and difference integration obtains leakage flux index, corrects rotor dynamics aerodynamic term and iteratively inverts unbalance eccentricity, exports health status and fault grade.The application adopts angular domain alignment to make criterion consistent under speed fluctuation and working condition change, constructs leakage flux index by difference integration of aerodynamic load and inertia moment, and iteratively inverts physical unbalance eccentricity with residual error, so that leakage and unbalance have distinguishable physical quantity representation, improve evaluation consistency and traceability.

A nonlinear and adaptive alternating-current servo electric motor angular position control method and system includes: acquiring original electric motor rotor angular position data; inputting the original electric motor rotor angular position data into a rotor angular position control module; performing second-order time differentiation on the electric motor rotor position data, so as to generate electric motor rotor angular acceleration data; inputting the electric motor rotor angular acceleration data and an output from the rotor angular position control module into an incremental inverse dynamic control module at the same time; and inputting the output from the incremental inverse dynamic control module into an electric motor current control module.

The invention discloses a maritime mobile channel adaptive code modulation transmission method and system, and relates to the technical field of wireless communication, and the method comprises the steps: obtaining the dynamic sensing data, spatial position and channel state information historical sequence of a mobile platform; reconstructing an absolute motion velocity vector of the antenna under the reference navigation coordinate system based on the antenna installation position offset characteristic; extracting an effective radial speed scalar in combination with the sight distance direction vector; determining a dynamic channel coherence time boundary, and performing truncation processing on the channel sequence to obtain a target prediction input sequence; generating a reference signal-to-noise ratio predicted value by using the time sequence prediction model; determining a nonlinear back-off compensation amount based on an angular acceleration obtained by rotation angular velocity difference, further correcting a reference predicted value to obtain a target signal-to-noise ratio, and executing physical layer resource mapping; the method can effectively cope with the prediction failure caused by the violent sudden change of the carrier attitude, and improves the robustness and throughput of a maritime communication link.

The invention provides a recoil detection method and device for an electric tool, a storage medium, a controller and the electric tool, according to the recoil detection method for the electric tool provided by the invention, the recoil can be detected according to the angular acceleration data of a tool shell of the electric tool within a preset time period and the angular acceleration data of the tool shell of the electric tool within the preset time period; the acceleration data is used for reflecting the deceleration operation condition of a working head of the electric tool in a preset time period, and recoil parameters of the electric tool are obtained through calculation; when the recoil event occurs in the electric tool, numerical values of the angular acceleration data of the tool shell and the acceleration data corresponding to the deceleration operation condition of the working head are generally large, so that when the recoil parameter of the electric tool reaches the first threshold value, it can be determined that the recoil event occurs in the electric tool; therefore, the recoil event occurring at the electric tool can be detected efficiently, conveniently and accurately.

The embodiment of the invention provides a motor control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining a target speed instruction, and obtaining a real-time rotating speed signal of a motor in a current sampling period; then, based on the target speed instruction and the real-time rotating speed signal, an initial current control instruction is generated; then, based on the real-time rotating speed signal, the real-time angular acceleration of the motor is determined, and a compensation current instruction is generated based on the real-time angular acceleration; and finally, generating a target current control instruction based on the compensation current instruction and the initial current control instruction, and performing operation control on the motor based on the target current control instruction, thereby effectively suppressing resonance disturbance, enabling acceleration and deceleration characteristics of the motor to tend to be gentle, remarkably reducing rotation speed fluctuation, enabling system dynamic response to be smoother, and improving system performance. Therefore, the anti-interference performance and the operation stability of the whole motor transmission system are improved.

The application discloses a kind of mechanical arm motion trajectory determination method, belong to industrial robot control technical field.The method includes: through six-dimensional force sensor, current sensor, encoder, IMU and vision sensor and so on multisource sensor synchronous acquisition mechanical arm state and environmental data;Original data is filtered, interpolation and time alignment using FPGA, generates standardization synchronous data frame;MCU fuses pose data by extended Kalman filter, and checks load state by least square method;When detecting that load current or end force changes more than threshold value, trigger DSP to execute online inertia identification, based on recursive least squares method real-time estimates total inertia;Trajectory planner adjusts angular velocity and angular acceleration parameters of motion trajectory according to fusion pose, environmental information and inertia identification result, generates optimized trajectory adapted to current load.The application can significantly improve trajectory tracking accuracy, motion stability and system response speed under variable load conditions.