336 results about "Body dynamics" patented technology

The invention provides a fan system multi-physics field coupling simulation and modeling method and device, and the method comprises the steps: building a coupling simulation frame of an electromagnetic field, a temperature field, a flow field and a structural mechanical field through multi-physics field collaborative modeling, employing a finite volume method FVM and multi-body dynamics MBS for collaborative solving, and precisely simulating the dynamic response of a fan under a complex working condition. And real-time simulation and verification: combining an S CADA system and a machine learning algorithm to realize online calibration and dynamic verification of a multi-physics field model, and supporting fan structure stability prediction under extreme conditions of typhoon, turbulence and the like. A multi-physics field coupling simulation software environment is developed, the functions of wake effect analysis, fan array layout optimization and the like are provided, the construction cost of an offshore wind field is reduced, and the power generation efficiency is improved.

The invention provides an intelligent networked automobile chassis drive-by-wire simulation method and system based on multi-domain modeling, and relates to the technical field of adaptive control, and the method comprises the steps: obtaining structural parameters and kinetic parameters of an intelligent networked automobile chassis, constructing a finite element grid, building a multi-flexible-body kinetic model corresponding to the intelligent networked automobile chassis, and constructing a multi-flexible-body dynamic model corresponding to the intelligent networked automobile chassis; introducing a coupling coordination equation, establishing a multi-flexible-body kinetic equation, and solving to obtain vibration response and stress-strain distribution under different working conditions; generating a plurality of finite element models, performing multi-physical field fusion and multi-error source fusion models, performing online error identification and active compensation, performing all-condition drive-by-wire chassis closed-loop control, and generating a drive-by-wire chassis closed-loop integrated simulation model; constructing a road three-dimensional parameterized model, generating a vehicle-road coupling model, generating a simulation test case, identifying a performance short board, constructing a knowledge graph and an optimization rule base, and generating an optimal control strategy.

A legged robot planning and control method and apparatus, a robot, and a storage medium. The method comprises: according to the motion state of a legged robot and swing parameters of each leg at the next moment, determining a foot-end reference state of each leg; for a leg to swing at the next moment, according to a foot-end dynamics model and a discrete collision model, planning a swing-leg trajectory having collision awareness; and, according to the motion state, a reference state sequence and the foot-end reference states, controlling the whole body of the legged robot, wherein for a leg which should be a planned supporting leg but is not in contact with the ground, whole-body control having collision awareness is performed according to a whole-body dynamics model and the discrete collision model. Thus, the problems are solved that legged robots in the prior art are limited in passive flexible buffering in collision, involves a large amount of control algorithm calculation and relatively low control precision, exhibit a relatively high degree of hardware wear and relatively short service lives, and cannot meet actual needs.

The invention discloses a covariance self-adaptive control method for a quadruped robot for spine joint adjustment. The method comprises the following steps that 1, a spine quadruped robot kinematics model with spine joints, a robot trunk dynamics model with the spine joints and a robot leg multi-rigid-body dynamics model are established; 2, based on the energy stability margin theorem and the spine joint coupling effect, a posture control method of the spine joint quadruped robot is provided by combining a covariance self-adaptive evolutionary strategy, and the angle, rigidity and damping coefficient of spine joints are estimated and adjusted according to the terrain gradient; 3, extracting the spatial relationship between the trunk mass center and the foot ends of the robot as an expected reference, updating the expected mass center position in real time, and constructing a model prediction control method to control the posture of the spinal joint quadruped robot; 4, the position of the foot falling point of the swing leg is designed in advance in combination with the additional freedom degree provided by the spine joint and MPC prediction state information. The motion stability of the robot in the complex terrain is improved.

The invention relates to the technical field of testing of structural components or equipment, in particular to a method and a device for testing mechanical durability of a wheel hub motor angle module and electronic equipment, and the method comprises the following steps: calculating the mechanical durability of the wheel hub motor angle module on the basis of actual driving data and whole vehicle parameters of a vehicle carrying the wheel hub motor angle module; a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of a vehicle are constructed, a whole vehicle durability simulation working condition of the vehicle is established in combination with test field condition constraints, a test driving file is iterated based on a simulation analysis result, a tool clamp is designed by utilizing the rim size of a hub motor angle module and the position of a suspension mounting point, and a test result is obtained. Therefore, a target test bench is constructed, and the target test bench is used for executing the durability test task of the wheel hub motor angle module. Therefore, the technical problem that in the related technology, a vehicle carrying a wheel hub motor angle module can collect less data and does not have the real vehicle spectrum collection condition under the long-term and severe road condition, so that the durability test is difficult to carry out is solved.

The invention belongs to the field of robot motion control, and discloses an online generation and control method and system for whole-body coordinated walking motion of a humanoid robot, a computer readable storage medium and a computer program product. According to the method, in walking motion generation, a whole-body walking motion track including upper body joint motion information is generated in real time by adopting a whole-body kinematics-centroid dynamics model; a model predictive control model is adopted to realize organic combination of motion trail generation and real-time tracking control; and solving the model prediction control model, and taking the optimal state x * and the corresponding control input u * as the input of whole body control. According to the method, in the planning stage, namely the whole-body walking motion trail including upper body joint motion information, the whole-body dynamic characteristics of the arms, the waist and the like are comprehensively considered, and a new method of long-time-domain trajectory optimization and online control is combined, so that real whole-body coordinated walking is fundamentally realized.

The invention discloses a mixed tower steel cable system parametric modeling method and system based on multi-body dynamics, and relates to the technical field of wind power generation. The method comprises the following steps: creating parameter points at the center of each end face of a concrete section according to geometric parameters, and establishing a mixed tower three-dimensional model; correcting the mass of each section of the mixing tower according to the material density of the mixing tower; simulating the characteristics of pressure resistance and non-tension resistance of the mixed tower, and establishing a contact and bonding relationship between concrete sections of the three-dimensional model of the mixed tower; obtaining design parameters of a steel cable in the mixed tower, constructing a steel cable parameterized model, and combining the steel cable parameterized model with the mixed tower three-dimensional model to obtain a mixed tower steel cable system parameterized model; and performing dynamic simulation on the operation condition of the fan to obtain a time domain response result of the parameterized model of the mixed tower steel cable system. According to the invention, the response characteristic analysis of the mixing tower under multiple working conditions and multiple structures is realized.

The invention provides a centroid estimation and compensation method and system for a variable-configuration quadruped robot with an arm, and relates to the technical field of quadruped robot motion planning, and the method comprises the steps: obtaining the state feedback information of the variable-configuration quadruped robot in the motion process; on the basis of the state feedback information, foot end contact force of the supporting legs is calculated through a whole-body dynamic model of the variable-configuration quadruped robot and a disturbance force observer based on generalized momentum; according to the foot end contact force of the supporting leg, adopting a centroid estimation algorithm of an online recursive strategy to estimate a centroid deviation value after unknown disturbance; according to the estimated centroid deviation value, a motion trail planner and a centroid dynamical model are adjusted, centroid deviation compensation is conducted through a whole body controller of the null space based on the adjusted result, the optimal joint torque is obtained, and real-time servo control is conducted; according to the invention, stable control of the quadruped robot under disturbance of internal force or external force such as double-arm movement, leg configuration change and unknown load is realized.

The invention provides a high-speed train dynamic response simulation method and device, and the method comprises the steps: building a surface element dynamic model of a to-be-tested high-speed train through a potential energy theory based on the boundary dimension parameters and panel parameters of the to-be-tested high-speed train, and building a surface element dynamic model of the to-be-tested high-speed train based on the train body structure parameters and suspension system parameters of the to-be-tested high-speed train; constructing a multi-body dynamic model of the high-speed train to be tested; aiming at the target flow test working condition, performing simulation driving on the high-speed train to be tested through a time domain serial sequence type coupling method so as to perform online coupling on the surface element dynamic model and the multi-body dynamic model, and obtaining dynamic response data of the high-speed train to be tested under the target flow test working condition; and based on the dynamic response data, obtaining a simulation result of the to-be-tested high-speed train under the target flow test working condition through function analysis. Through the method, the problem of waste of simulation calculation resources is solved, and the accuracy and efficiency of dynamic response simulation of the high-speed train are improved.

The embodiment of the invention provides a dexterous hand control method and device, an intelligent agent and a storage medium, and the method comprises the steps: obtaining sensor data, preprocessing the sensor data, obtaining input information which comprises environment information and state information of a dexterous hand, inputting the input information into a cerebellum model, and obtaining a corresponding control instruction, the cerebellum model comprises a trajectory planning model and a motion controller, the trajectory planning model is used for outputting a corresponding trajectory planning result according to the input information, and the motion controller is used for converting the trajectory planning result into a corresponding control instruction; the motion controller is obtained by combining a cerebellum model neural network and a whole body dynamic model based on a model predictive control algorithm, and performs driving control on an execution mechanism module of the dexterous hand according to a control instruction. According to the dexterous hand control method provided by the embodiment of the invention, the control flexibility and accuracy can be improved.

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.

A multi-body dynamics simulation method, system, device and medium for a chain system, the method comprising: acquiring a connection relationship among a plurality of target components in the chain system, a structure parameter, a space environment parameter and a task parameter of each target component, and a physical property of a lubricating medium of the chain system under the space environment parameter; correcting the structure parameter of each target component based on the space environment parameter to obtain a target structure parameter; based on the target structure parameters and the connection relation, determining friction characteristic indexes and motion freedom degrees among the multiple target assemblies; constructing a lubrication-volatilization-friction coupling matrix among the plurality of target components; constructing a multi-body dynamic model according to the target structure parameters and the lubrication-volatilization-friction coupling matrix; and acquiring a rotating speed fluctuation curve and load torque data corresponding to the task parameters, and inputting the rotating speed fluctuation curve and the load torque data into the multi-body dynamic model to obtain a dynamic simulation result of the chain system. The reliability of multi-body dynamics simulation of the chain system can be improved.

The invention discloses an undercarriage retracting and releasing mechanism wear prediction method based on digital twinning, and the method comprises the steps: firstly building an undercarriage three-dimensional model containing geometric dimensions and material characteristics, building a multi-body dynamics simulation model, and simulating the stress and wear process of a pin shaft under the actual working condition; and adopting an Archard wear calculation model considering key parameters to calculate the wear of the pin shaft in the simulation model in real time. On the basis, uncertainty analysis of parameters in Archard is carried out, the parameters are considered to obey normal distribution, and a prediction model under multivariate uncertainty is established by setting reasonable mean values and standard deviations. And finally, based on the digital twin model, by using a particle filtering method, initializing a particle swarm, changing a particle weight by virtue of a state and an observation equation, re-sampling to approach a real state, iteratively updating a curve, calibrating model parameters and a state, improving prediction precision, improving prediction accuracy and reliability, discovering a potential wear problem in advance, and providing a basis for a maintenance plan.

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 a train-ballast track-roadbed system simulation method based on MBD-DEM-FDM coupling, and the method comprises the steps: building a train model based on a multi-body dynamics MBD method: building a dynamic model of a train system, simplifying a suspension system of a train through a spring and a damper, and considering the interaction between the train and a track; establishing a three-dimensional ballast track bed model based on a discrete element method DEM; establishing a roadbed finite difference model based on a finite difference method FDM, including: regarding the roadbed as a continuous medium, and simulating mechanical behaviors and deformation characteristics of the roadbed under the action of a train load based on the finite difference method FDM; setting a coupling medium so as to couple the MBD-DEM-FDM, and carrying out real-time information exchange between the MBD and the DEM and FDM systems; and establishing a coupling model based on MBD-DEM-FDM coupling, and verifying and applying the coupling model. The invention further discloses a corresponding system, electronic equipment and a computer readable storage medium, and the comprehensive influence of the micromechanical characteristics of particles in the ballast bed and the train power effect on the track and the roadbed is considered.

The invention discloses a six-degree-of-freedom wheel-foot robot control method, system and device and a storage medium, and relates to the technical field of robotics.The method comprises the steps that whole-body dynamics modeling is conducted on a wheel-foot robot, and a target motion equation of the wheel-foot robot is obtained; calculating a current task state of the wheel-foot robot, a Jacobian matrix and a ground normal vector at a wheel-foot contact point according to the sensor data; determining a target expected acceleration according to the current task state and the 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 wheel-foot robot to move according to the driving torque. The optimization problem constructed by the method comprises the ground normal vector at the wheel-foot contact point, leg dynamics is considered when the wheel-foot robot is controlled, the determined driving torque can more stably drive the wheel-foot robot to pass through the uneven terrain, and the robustness and the passing capacity are improved.

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 present invention discloses a method and system for real-time monitoring of the wheel-rail matching state and wheel wear of a rail vehicle. The method comprises the following steps: establishing and performing wear simulation processing on a multi-body dynamics model to obtain vehicle wheel wear at different mileages; collecting axle box vibration accelerations of wheels at different wheel wear levels and performing feature analysis on the axle box vibration accelerations, and extracting axle box lateral vibration accelerations from the axle box vibration accelerations as a training data set; calculating that there is a positive relationship between the wheel wear level and the equivalent taper, and using a correlation model to verify that there is a mapping relationship between wheel wear, equivalent taper, and axle box lateral vibration acceleration; constructing a pre-trained spectrum model, and inputting the training data set into the pre-trained spectrum model for feature training to obtain a spectrum model; collecting a set of axle box lateral vibration accelerations as a test data set and inputting the test data set into the spectrum model to obtain the vehicle wheel-rail matching state and wheel wear level under the axle box lateral vibration accelerations.

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 provides a vehicle chassis simulation system, method and device, a medium and a program product, through the chassis simulation system which is established and has the same data transmission format between modules, in the system, a pre-processing module obtains three-dimensional geometric data of a vehicle chassis and material parameters of all parts of the vehicle chassis, and the pre-processing module obtains the three-dimensional geometric data of the vehicle chassis and the material parameters of all the parts of the vehicle chassis based on the three-dimensional geometric data and the material parameters of all the parts of the vehicle chassis; after the analysis model is generated, the finite element analysis module performs multi-body dynamics analysis, modal analysis and fatigue analysis based on the analysis model under different chassis working conditions to obtain static and dynamic loads, modal frequencies, vibration modes and stress field distribution of all attachment points in the vehicle chassis and fatigue damage of all parts; and the post-processing module performs statistical analysis on static and dynamic loads, stress field distribution, modal frequency and vibration modes of each attachment point and fatigue damage of each part to generate and display an analysis report, so that simulation verification of the vehicle chassis can be realized, and the problems of long working link, high software cost and low research and development efficiency of simulation verification are solved.

The invention discloses a finite element simulation method for motion of a magnetically-driven spiral micro-robot in a fluid environment, and belongs to the technical field of finite element simulation. According to the method, a micro-robot model containing a streamline head and a spiral empennage and a fluid environment are constructed through COMSOL software, a peristaltic flow module and a multi-body dynamics module are integrated through the fluid-solid coupling technology, and a fluid-solid coupling transient motion equation is established. The motion characteristics of the micro-robot driven by a rotating magnetic field are accurately simulated by setting material nonlinear parameters, dynamic self-adaptive grid division and a non-uniform step size solving strategy. A rigid domain motion equation and an open boundary condition are innovatively introduced, speed and acceleration probes are combined for real-time monitoring, and the flow field vortex effect caused by spiral propulsion is captured. According to the method, the simulation error is controlled within 5%, the motion trail prediction precision is remarkably improved, a reliable simulation platform is provided for micro-robot structure optimization and magnetic control strategy design, the experiment cost is reduced, and the research and development period is shortened.

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 discloses a spring operating mechanism cam track real-time adjusting device based on digital twinning, and the device comprises a data obtaining module which obtains real-time data; the digital twin model module establishes a virtual simulation model by using a multi-body dynamic model, and dynamically calibrates the virtual simulation model through real-time data; the cam motion trail optimization module calculates an expected cam motion trail by using an optimization algorithm, and compares the expected cam motion trail with an actual trail to determine a trail error; and controlling the adjusting module to dynamically adjust the compression amount of the spring and the voltage of the electromagnet according to the expected cam motion trail and the trail error. The digital twinning technology is combined, the cam motion track of the spring operating mechanism is optimized, real-time prediction and feedback control are carried out through the virtual simulation model, the electromagnet voltage and the spring compression amount are adjusted, and therefore it is ensured that the cam motion track meets the expected requirement, the system operation precision and stability are improved, and the system reliability is improved. And the debugging time and cost are reduced.