223 results about "Body dynamics" patented technology

The invention belongs to the technical field of multi-body dynamics analysis, and discloses a wind driven generator transmission chain rigid-flexible coupling multi-body dynamics analysis method based on dynamic mode decomposition, and the method comprises the steps: firstly, enabling multi-degree-of-freedom time series data to be non-linearly embedded into a high-dimensional feature space through an encoder neural network; extracting a dominant mode by utilizing intrinsic orthogonal decomposition (POD), and constructing a low-dimensional feature space; parameterized dynamic mode decomposition and radial basis function regression are adopted, a mapping relation between system parameters and Koopman operators is established, and accurate prediction of dynamic characteristics under variable working conditions is achieved; and finally, reconstructing a physical response through a decoder, and optimizing model parameters in combination with an error driving mechanism. The problems that a traditional method is low in calculation efficiency, poor in nonlinear adaptability and difficult in multi-parameter coupling prediction are effectively solved, the efficiency and precision of transmission chain dynamic analysis are remarkably improved, and reliable technical support is provided for state monitoring and service life prediction of the wind turbine generator.

The invention relates to the technical field of mechanical transmission, in particular to a reinforcement learning compensation method and system for gear multi-body dynamics constraint, and the method comprises the steps: building a multi-body dynamics digital twinborn model containing bearing rigidity and gear meshing force; constructing an adaptive reward function based on nonlinear manifold mapping, and dividing a system state space into a small deviation domain and a large deviation domain according to an angle deviation threshold value; training the multi-body dynamic model based on a depth deterministic strategy gradient algorithm to obtain a compensation strategy; the obtained compensation strategy is applied to a multi-body dynamic model, and an optimal compensation signal is obtained through self-adaptive fusion of static compensation and dynamic compensation, so that the training efficiency of a reinforcement learning algorithm in a complex nonlinear system is improved, the adaptability of the system to working condition changes is enhanced, the vibration of a gear system is remarkably reduced, and the reliability of the system is improved. The angle control precision is improved, and the service life of equipment is prolonged.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention discloses an integrated fan pneumatic-hydrodynamic-servo-elastic-plastic coupling analysis system and method, and belongs to the technical field of offshore fan numerical simulation calculation. According to the method, a coupling model of an offshore wind turbine under the environment load effect is established, a rotor cabin assembly is simulated through a multi-body dynamics method, and interaction of a supporting structure and pile soil is simulated through a finite element method. By introducing a prediction correction loose coupling algorithm, joint simulation between a multi-body system and a finite element system is realized. The method is not only suitable for coupling dynamic response analysis of the offshore wind turbine under the action of conventional wind wave load, but also suitable for elastic-plastic coupling analysis of the offshore wind turbine under the action of extreme typhoon load or earthquake load. In addition, the method not only can be used for coupling analysis of the offshore wind turbine of a traditional steel supporting structure, but also is suitable for integrated coupling analysis of the wind turbine of a novel steel-concrete structure on land or on the sea.

The invention discloses a three-dimensional fluid-solid coupling simulation method and device for a rod falling behavior of a control rod drive line, and relates to the technical field of simulation of the rod falling behavior of the control rod drive line. Fluid boundary updating in the rod falling process of the control rod is processed through a structural grid and dynamic grid layer laying technology on the basis of computational fluid dynamics and multi-body dynamics theories; a modal synthesis method and a Hertz contact model are adopted to solve the problems of flexibility and contact friction of a large-length-diameter-ratio moving part, key factors including fluid resistance and mechanical friction resistance influencing rod falling simulation accuracy are calculated, fluid-solid coupling is achieved through one-way data transmission, three-dimensional fluid-solid coupling of the rod falling behavior of the control rod drive wire is achieved, and the control rod drive wire rod falling simulation accuracy is improved. The accuracy of a simulation result is improved, the degree of dependence on a prototype test is reduced, and a technical basis is provided for researching the rod falling behavior of the reactor control rod drive wire.

Provided are a planning and control method for a legged robot, an apparatus, a robot, and a storage medium. The method includes: determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment; and performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground.

The invention discloses a double-foot wheel-legged robot pose control method and device based on hierarchical cooperative control, a medium and a product, and relates to the field of robot control, and the method comprises the steps that a hierarchical cooperative control framework is constructed; the layered cooperative control framework comprises a balance controller and a whole body attitude controller; the balance controller determines a reference wheel joint driving torque based on a simplified inverted pendulum dynamic model according to the pose information of the upper mass center of the biped wheel-leg robot; the whole-body attitude controller performs optimization control on all joints of the biped wheel-leg robot by adopting an incremental model prediction control algorithm combined with a reference wheel joint driving moment based on a whole-body dynamic model; state information of the biped wheel-legged robot is obtained; according to the state information, a driving torque instruction of each joint is obtained based on a hierarchical cooperative control framework; and driving the double-foot wheel-leg robot to move according to the driving torque instruction of each joint. The precision, robustness and real-time performance of robot motion control can be improved.

The invention relates to the technical field of belt conveyor dynamic characteristic research, in particular to a rail type belt conveyor turning section dynamic characteristic simulation method, which comprises the following steps: carrying out stress analysis on a trailer unit and arranging the degree of freedom; establishing an overall coordinate system, a vehicle body coordinate system, a contact coordinate system and a conversion relation; establishing a kinetic equation of the trailer unit; kinetic parameters of the trailer unit are determined; establishing a left and right wheel set motion equation of the trailer unit according to the Hamiltonian principle, and further obtaining a linear second-order differential equation of the trailer unit; and compiling a calculation program by using numerical calculation software, and simulating the wheel-rail vibration characteristics of the trailer unit in the advancing process of the turning section. Based on a multi-degree-of-freedom multi-body dynamics theory, a nonlinear kinetic equation of a belt conveyor system is constructed, and a six-degree-of-freedom motion equation of a trailer unit is analyzed.

The invention relates to the technical field of bearing life calculation, in particular to a transmission bearing installation pre-tightening amount calculation method and system, and the method comprises the steps: S1, building a finite element mesh model of a transmission housing and a shaft through finite element simulation software based on predefined material attributes; the material attributes comprise elastic modulus, Poisson's ratio and thermal expansion coefficient of the transmission shell and the shaft; s2, based on the actual working condition of transmission assembly life simulation analysis, importing the finite element mesh model of the transmission shell and the shaft into a pre-constructed multi-body dynamics simulation model of the transmission shell, and establishing node connection between the finite element mesh model of the transmission shell and the shaft and a transmission part in the multi-body dynamics simulation model; s3, setting a detection object and a design variable, and adopting a preset strategy to obtain a target mapping curve of the detection object and the design variable; compared with the prior art, the optimal relation between the pre-tightening amount and the service life of the bearing can be quickly determined, so that the service life of the bearing is maximized.

The invention belongs to the technical field of medical treatment, and discloses a surgical robot arm joint torque collaborative optimization and trajectory tracking control method, which comprises the following steps of: dynamically associating a tissue viscoelasticity characteristic with a joint torque through biomechanics-multi-body dynamics coupling modeling to form a'mechanics-injury 'double-constraint mechanism; a damage early warning factor is introduced into the memory enhanced controller, torque output is adjusted in real time when an instrument interacts with a tissue, and traction damage caused by overlarge load of a single joint is avoided; meanwhile, the digital twin system prejudges potential risks in advance, the threat of surgical operation to fragile tissues is reduced from modeling, control to verification of a whole link, and a safety guarantee is provided for operation in a fine surgical area; through staged dynamic weight optimization, target adaptive adjustment of different operation stages is realized; the multi-modal sensing fusion architecture combines flexible sensing and image data, and improves the sensing precision of a complex organization environment.

The invention discloses an unmanned aerial vehicle steering effect analysis method based on wind disturbance, and belongs to the technical field of unmanned aerial vehicle overall design and flight control. Comprising the following steps: 1, constructing a coupling simulation model; step 1.1, constructing a six-degree-of-freedom rigid body dynamic model; step 1.2, integrating control laws; step 2, dynamically injecting a wind disturbance scene; step 3, dynamically evaluating the steering effect and extracting parameters; step 4, carrying out multidisciplinary collaborative optimization; and 5, carrying out closed-loop iteration verification. Dynamic closed-loop test: breaking through traditional static analysis, realizing real-time interactive simulation of wind disturbance-control-steering effect, and accurately capturing nonlinear transient response; multi-source disturbance fusion: discrete gust and continuous turbulence are compositely injected, so that challenges of complex meteorological conditions on steerage are reflected more truly; and cross-domain parameter linkage: through dynamic iteration of pneumatic, control and structural parameters, system performance loss caused by excessive design of a single specialty is avoided.

The invention discloses a wind power tapered roller bearing retainer slip rate calculation model which is simple in structure and can be suitable for various working conditions and structure parameter combinations. A user only needs to input parameters such as the rotating speed of the inner ring, the radial force, the axial force, the inclination angle of the pressing slope surface, the pressing slope depth, the curvature of the pressing slope surface and the pocket gap, and the corresponding slip rate of the retainer can be quickly calculated. The model is verified through multi-body dynamics simulation software, and the result has high accuracy.

The invention provides a service life prediction method and device for an industrial robot RV speed reducer, and relates to the technical field of speed reducer service life prediction.The method comprises the steps that an acceleration load spectrum is determined according to torque and time history data, and multi-stage loads in the acceleration load spectrum are woven into a program block spectrum according to a preset sequence; all levels of loads in the accelerated load spectrum serve as independent working conditions to be applied to the multi-body dynamic model for dynamic simulation, a load and time history curve set of the key weak component is obtained and input to the cumulative damage model for life calculation, the simulated predicted life is obtained, and a damage cloud picture is generated; taking the program block spectrum as a test loading instruction to carry out an RV speed reducer accelerated life test to obtain a test observation life and a physical failure morphology; if the two are in the corresponding preset deviation range, taking the simulated predicted life as the predicted life of the current RV speed reducer; the problems of long test period, high cost and low reliability of a simulation model are solved.

The invention belongs to the technical field of ocean new energy, and provides an anchor system multi-floating-body array wave flow motion response analysis method and system, and the technical scheme is that a joint simulation method of multi-body dynamics and computational fluid mechanics is adopted to carry out the comprehensive modeling and analysis of a mooring type multi-floating-body array, and the wave flow motion response analysis of the mooring type multi-floating-body array is realized. A universal joint connection structure for platform connection is designed, and an equivalent concentrated mass-spring unit is introduced to simplify modeling of a mooring chain. Joint simulation is implemented in a numerical wave generation and ocean current pool, and hydrodynamic force and structural response of the anchor system multi-floating-body array system under the steady-state ocean current and regular wave conditions is evaluated; the system studies the influence of the size of the floating ball, the weight of the mooring chain and the flow velocity on the hydrodynamic performance and the platform stability. And the performance requirements in a complex marine environment can be better met.

The invention discloses a multi-body system dynamics intelligent modeling calculation system and method based on a natural language, and belongs to the field of overall design of spacecrafts. The problems that in the prior art, when the simulation requirement related to extreme working conditions and strong nonlinear coupling is met, the period is long, manual experience is relied on, and the maintenance cost is high are solved. The system comprises a text segmentation embedding unit used for carrying out text segmentation embedding processing on a multi-body dynamics knowledge base and constructing a vectorized dynamics knowledge context; the large language model unit is used for receiving natural language task description input by a user, performing semantic understanding through LLM (Logistics Language Model) and generating a task analysis result according to dynamic knowledge context learning; and the task processing unit is used for classifying the tasks into inquiry tasks, command and control tasks or construction tasks according to the task analysis result, and calling corresponding modules according to LLM and MCP technologies. The method is used in the field of multi-body system dynamics modeling of spacecrafts.

The invention relates to the technical field of vehicle engineering, and particularly discloses a load distribution optimization method and system for stake skeleton design, and the method comprises the steps: firstly building an initial three-dimensional design domain of a stake skeleton, and applying a composite dynamic load working condition obtained based on multi-body dynamics simulation; then, a material density distribution cloud picture is obtained through macroscopic topological optimization, a main force transmission path is recognized and extracted according to the cloud picture, and a design domain is divided into a core bearing area, a transition area and a non-key area; dot matrix structures with gradient material attributes are designed in the non-key area and the transition area according to stress states, and continuous changes of the material attributes are achieved by adjusting dot matrix types, arrangement directions and control parameters; and finally, carrying out performance verification and parameter iterative optimization on the overall structure comprising the core bearing area and the dot matrix filling area.

The invention belongs to the technical field of crossing of mechanical engineering and system simulation, and relates to a simulation and experimental analysis method for a multi-factor coupling influence rule of a low-speed bearing. Comprising the steps that a multi-body dynamics finite element model is established based on bearing geometry and working condition parameters, and a multi-physical-field two-way coupling simulation model integrating mechanics, heat, lubrication and vibration is established; building an experiment table to synchronously acquire load, temperature, vibration and oil film state data; model boundary parameters are corrected by comparing experimental data with simulation results, and multi-target parameters such as bearing clearance and hardness are optimized by adopting a genetic algorithm; and finally, predicting the life of the multi-failure mode based on the correction model in combination with accumulated damage and crack propagation theories, and outputting optimization design parameters and operation and maintenance strategies. According to the method, a'simulation-experiment-feedback-optimization 'closed-loop analysis framework is established, so that the service life prediction precision and the reliability evaluation capability of the bearing are remarkably improved, and reliable technical support is provided for design optimization, operation maintenance and fault early warning of the high-load low-speed bearing.

The invention relates to the field of motor and gear transmission systems, in particular to a method for optimizing design parameters of a transmission gear in an electric drive system.The method includes the steps that firstly, a two-dimensional finite element model of a permanent magnet synchronous motor is established, rotor stepped skewed slots and material magnetic saturation characteristics are accurately simulated, and an external characteristic MAP is generated; then calculating electromagnetic force density based on a Maxwell stress tensor method, mapping the electromagnetic force density to a multi-body dynamic model to construct a transverse coupling model, extracting an ECE reduced-order model based on a permanent magnet synchronous motor two-dimensional finite element model, forming a torsional vibration model in combination with a control algorithm, integrating a rigid-flexible coupling mechanical system, and establishing an electromechanical-rigid-flexible coupling model; and finally, through sensitivity analysis and a response surface model, with vibration acceleration and torsion amplitude as targets and gear strength as constraints, a Pareto optimal solution is solved by adopting a genetic algorithm, electromechanical coupling simulation precision is greatly improved, system vibration is effectively reduced, gear transmission reliability is enhanced, and the method is suitable for design of a high-dynamic-performance electric drive system.

The invention discloses a tracked vehicle loading wheel dynamic load analysis method, system and device and a medium, and relates to the field of tracked vehicle dynamics, and the method comprises the steps: constructing a road surface unevenness time domain model considering front and rear wheel input variable time difference correlation and left and right wheel input coherence, and outputting a road surface excitation input signal; establishing a parameterized kinetic model of the tracked vehicle suspension system and further determining a state-space equation; according to the road surface excitation input signal and the state-space equation, obtaining a dynamic load and a dynamic load coefficient of each loading wheel; establishing a tracked vehicle action system simulation model, performing dynamic load simulation based on different driving speeds, different road surface grades and different track shoe parameters by adopting a multi-body dynamics simulation method, and determining a change rule of a dynamic load of a loading wheel; the structure of the tracked vehicle loading wheel is optimized according to the change rule of the loading wheel dynamic load, the loading wheel dynamic load can be accurately analyzed, and a reliable basis is provided for design optimization of the tracked vehicle.

The invention relates to the technical field of vehicle part strength simulation analysis verification, and discloses a strength load processing method and system based on a virtual test field, and the system comprises a model construction module, a data configuration module, a simulation execution module, a load processing core module, and a finite element interface module. The method comprises the following steps: constructing a virtual test field pavement model and a multi-body dynamic model; calling a programming tool to process the file; further converting the sub-working-condition load into a standardized load header file required by finite element strength analysis, and finally driving a finite element solver to execute batch working condition calculation and output stress-strain summarized data of the parts. According to the method, intelligent normalization processing of load data, dynamic coverage of critical working conditions and multi-system seamless integration are achieved, the efficiency and precision of component strength verification are improved, the development period is shortened, and a unified comparability reference is provided for fatigue life evaluation.

The invention discloses a method and equipment for determining the pose and working space of a six-degree-of-freedom platform and a medium, and belongs to the field of six-degree-of-freedom platform design. The method comprises the following steps: step 1, permutation and combination are carried out to generate stroke script curves of a six-degree-of-freedom platform and six driving cylinders; 2, multi-body dynamics software modeling simulates and runs a six-cylinder driving script curve; 3, measuring the three-direction rotation angle of the center point of the upper platform, and tracking and describing the boundary feature points of the six-degree-of-freedom platform prototype to form track recording point data; 4, exporting feature point track recording data, projecting the feature point track recording data to an XY plane, a YZ plane and an XZ plane, and extracting an envelope contour of a recording point data set by using a polygon envelope function; and step 5, performing normal stretching on the three-plane envelope contour, and taking an intersection to form a final working envelope space. According to the method, the six-degree-of-freedom platform pose and the working envelope space can be efficiently and accurately obtained.

An underwater multi-body power forecasting method comprises the following steps: constructing a coupling force forecasting basic model, and carrying out single-working-condition and multi-working-condition model training; training the coupling force prediction basic model by using the experimental data mixed by various working conditions to obtain a multi-working-condition prediction model with high generalization; constructing an integrated coupling force prediction model; selecting a final coupling force prediction model; comparing errors between the actually measured poses of the sensors and the predicted poses of the models in real time, and dynamically selecting the model with the minimum error as a final coupling force prediction model; determining a final coupling force predicted value; the coupling force prediction model is constructed based on the convolutional neural network, the coupling force at the joint of the underwater equipment and the mechanical arm is trained and learned, the complex nonlinear relation between the coupling force and underwater equipment movement and the complex nonlinear relation between the coupling force and mechanical arm movement can be more effectively captured, an accurate dynamic model and an accurate physical model do not need to be relied on, and the method is easy to implement. Therefore, the complexity of the model and the dependence on priori knowledge are reduced.

The invention provides a self-adaptive wind-resistant slope roof photovoltaic tile system and a transmission mechanism fault diagnosis method thereof, and the method comprises the steps: initializing a digital twinborn body of a physical transmission mechanism, and carrying out the multi-body dynamics prediction of a control instruction sequence of a drive device based on the digital twinborn body; a simulation angle response sequence and a simulation vibration response sequence of the physical transmission mechanism in the current anti-wind adjustment action are obtained, and then the transmission ratio offset coefficient and the structure resonance abnormal index of the physical transmission mechanism are determined; determining response matching characteristics and excitation conflict characteristics of the physical transmission mechanism according to the transmission ratio offset coefficient and the structural resonance abnormity index; and carrying out abnormity judgment on the physical transmission mechanism based on the response matching characteristics, and positioning the fault position of the physical transmission mechanism through the excitation conflict characteristics when abnormity is judged to exist. Based on the scheme, fault diagnosis based on digital twinning virtual-real comparison can be realized.

The invention relates to a multi-body dynamics simulation modeling method for a laser radar control system of a paddy field laser land leveler, and the method comprises the steps: building a whole machine mechanical model based on a multi-body dynamics simulation environment, enabling a virtual marking point and a measurement function to be equivalent to a laser radar sensing module, and integrating an embedded controller based on a built-in calculation function of software, thereby achieving the simulation modeling of the laser radar control system of the paddy field laser land leveler. Full-link closed-loop simulation of'perception-decision-execution-response 'is realized in a unified platform; by simulating various road excitation and operation conditions, the tracking precision, response speed and stability of a control algorithm can be directly verified in a virtual environment, and parameter optimization is completed. The method solves the key problem that a control system lacks a real controlled object and excessively depends on a physical model machine in the early stage of development, achieves full-digital system-level verification and performance prediction, can remarkably shorten the research and development period and reduce the development cost, and belongs to the technical field of agricultural machinery control system simulation verification.

The invention relates to a strength analysis method for a lower control arm of a heavy truck, and solves the problems that the design iteration period is prolonged and the cost is increased due to the fact that a deviation exists between a traditional analysis method and a real working condition and the strength needs to be verified through a large number of bench tests in the later period. Selecting a lower control arm front end point, a lower control arm rear end point, a spiral spring lower end point and a spherical hinge point from the initial finite element model as nodes for extracting loads, endowing material parameters of the lower control arm: an elastic model, density and Poisson's ratio, and laying a foundation for building a multi-body dynamic model; when the multi-body dynamic model is built, template models of tires, suspensions and flexible bodies are built, a whole vehicle assembly model is assembled, loading of a vertical bending working condition, a horizontal bending working condition and a torsion working condition is carried out, loads of all nodes are submitted, calculated and extracted, the loads are reversely loaded to a complete finite element model, and a strength analysis result of the lower control arm is obtained through calculation. A simulation analysis result is closer to a real vehicle reliability test result.

The invention relates to a structural design method of an eccentric cradle body of a cradle rotary table for a five-axis machine tool, which is characterized in that the eccentric direction is opposite to the rotating direction through the eccentric design of the cradle body structure, so that the tooth surface on one side of a worm gear is tightly attached to the tooth surface on one side of a worm; therefore, the problem of unstable precision of the rotary table inclined shaft caused by a worm and gear gap is solved. The invention relates to a method for identifying structural parameters of an eccentric cradle body by mainly combining simulation analysis and a multi-objective optimization algorithm. The method comprises the following steps: firstly, constructing a multi-body dynamic model in Adams, obtaining a transmission error and jitter curve through torque scanning, and identifying an optimal input torque interval; and finally, importing the optimized box body model into Adams for coupling simulation verification, and calibrating the simulation model in combination with a laser interference experiment. The method is suitable for various high-precision machine tools, in particular to the field of five-axis machine tool machining requiring high precision and high dynamic performance.

A method for constructing a dynamic model of a coupled system of high-speed railway train-track-substructure includes: experimentally obtaining key technical parameters with nonlinear and frequency-varying characteristics in the high-speed railway infrastructure system; constructing a novel wheel-rail contact model suitable for higher speed levels and integrating it into the vehicle-track coupled dynamic model; constructing a train vehicle model and track structure model based on the principles of multi-rigid-body dynamics and the finite element method; and using a self-developed program to realize the dynamic modeling of the train-track system; taking the ballastless track structure, subgrade, bridge, and tunnel structures of high-speed railways as research objects, and applying a finite element simulation platform to realize the construction of a refined finite element model of the track-substructure structure; this invention achieves a breakthrough in the theoretical modeling of the vehicle-track-substructure system of higher speed railways, providing a research method and platform for deepening the understanding of the coupled dynamic mechanism of complex systems of high-speed railway infrastructure with speeds of 400 km / h and above.

The invention discloses a method for constructing a motion trail model of a large forging manipulator, and relates to the technical field of large forging equipment control. The method comprises the steps that a manipulator kinematics model is established based on an improved D-H parameter method, and model parameters are updated in real time through online calibration; constructing and analyzing a Jacobian matrix to identify and smoothly transit the singular configuration; performing attitude interpolation in the SE (3) space by adopting spherical linear interpolation or quaternion interpolation, and generating a smooth trajectory in combination with multi-objective optimization; a multi-source nonlinear constraint model covering machinery, driving, process and safety is established, and integrated decision making is carried out based on model predictive control; and simulating and predicting response by using finite elements and multi-body dynamics, and optimizing model parameters through Bayesian updating or a least square method based on actually measured data. According to the method, the tail end pose precision, the trajectory smoothness and the production efficiency are remarkably improved, and the problems of inaccurate modeling, sudden pose change, incomplete constraint consideration and lack of continuous optimization of a traditional method are solved.

The invention provides a double-drive synchronous control method and system for a gantry machine tool, and the method comprises the steps: S1, building a flexible multi-body dynamic model of the gantry machine tool through combining the part flexibility and connection flexibility of the gantry machine tool; s2, constructing a dual-drive electromechanical coupling model of the gantry machine tool by combining servo system characteristics of the gantry machine tool and traditional system dynamic characteristics on the basis of the flexible multi-body dynamic model; and S3, according to the double-drive electromechanical coupling model, a self-adaptive control algorithm combining cross coupling double-drive synchronous control and sliding mode control is adopted to complete synchronous control of a double-drive system. According to the gantry machine tool double-drive synchronous self-adaptive control algorithm based on cross coupling double-drive synchronous control and sliding mode control, a cross feedback item is introduced, so that information of two drivers is correlated, the problem of double-drive synchronous error accumulation faced by a traditional double-drive parallel control or master-slave control method of a gantry machine tool is solved, and the system reliability is improved. The synchronous control of the gantry machine tool servo double-drive system is realized.

The application discloses a six-degree-of-freedom wheel-foot robot control method, system, device and storage medium, relates to the technical field of robots, and comprises the following steps: performing whole-body dynamics modeling on a wheel-foot robot to obtain a target motion equation of the wheel-foot robot; calculating a current task state, a Jacobian matrix and a ground normal vector at a wheel-foot contact point of the wheel-foot robot according to sensor data; determining a target expected acceleration according to the current task state and a reference task state; constructing an optimization problem by using the Jacobian matrix, the ground normal vector and the target expected acceleration; solving the optimization problem under the constraint of the target motion equation to obtain a driving torque; and controlling the motion of the wheel-foot robot according to the driving torque. The optimization problem constructed by the application comprises the ground normal vector at the wheel-foot contact point, the leg dynamics is considered when the wheel-foot robot is controlled, and therefore the driving torque obtained can more smoothly drive the wheel-foot robot to pass through uneven terrain, and the robustness and passing capacity are improved.