65 results about "Body roll" patented technology

This invention discloses a method, system, and vehicle for adjusting body roll in crosswinds during oncoming traffic. The method acquires full-dimensional parameters and inputs them into a crosswind impact timing prediction model to predict the impact timing in advance. Based on this, it divides the adjustment into three stages: pre-tensioning, precise attitude control, and recovery, overcoming the inherent lag of existing passive feedback control's post-event intervention and achieving a leap from post-event compensation to pre-event control. The pre-tensioning stage uses a non-full pre-tensioning target value, and the recovery stage smoothly restores the vehicle according to the calibrated slope. This avoids the comfort degradation caused by existing on / off pre-adjustment technologies that apply full pre-tension throughout the entire process without a smooth recovery, effectively suppressing crosswind impact while significantly improving the driving experience. Differential adjustment of the damping / stiffness of the left and right suspensions is performed based on the bidirectional impact characteristics, overcoming the shortcomings of existing technologies that apply a one-size-fits-all approach and cannot differentiate adjustments based on the impact direction, resulting in a significant improvement in attitude control accuracy.

The invention relates to the technical field of automobile chassis tests, in particular to a torque accurate control method and device for an intelligent chassis active transverse stabilizer bar. According to the accurate torque control method, by presetting a target roll angle, multi-dimensional operation data of a vehicle and a motor are collected in real time, generation of an anti-roll torque instruction is accurately triggered, and the torque instruction is dynamically corrected in combination with a least square estimation algorithm so as to adapt to the response requirement of the roll angle of the vehicle body. And then current closed-loop control of a three-ring nested structure is utilized to realize rapid and accurate output of torque of the permanent magnet synchronous motor, excitation current and torque current are effectively decoupled, the torque response speed and control precision are greatly improved, the vehicle body roll risk can be inhibited in time, the driving stability and safety of the intelligent chassis are remarkably optimized, and the driving safety of the intelligent chassis is improved. And meanwhile, the torque control requirements under different working conditions are met, and the high anti-interference capability and the high adaptability are achieved.

The utility model provides a purple sand green body roller press, which belongs to the technical field of purple sand green bodies, and comprises a die cylinder and a bottom seat, the bottom of the die cylinder is provided with a butt joint block, the lower surface of the butt joint block is matched with a mounting groove, the side surface of the mounting groove is provided with the bottom seat, the lower surface of the bottom seat is connected with angle teeth in an embedded manner, and the angle teeth are matched with the butt joint block. A vertical rod is installed on the upper surface of the bottom base, a top plate is fixedly connected to the top of the vertical rod, a connecting rod is arranged on the top plate, a rolling ball is installed on the lower surface of the connecting rod in a matched mode, and a gap is reserved between the surface of the rolling ball and the inner wall face of the mold cylinder; through meshing transmission of angle teeth and straight gears, the bottom base can continuously and stably rotate, meanwhile, basic conditions are created for stable rolling of the purple sand materials, through cooperative arrangement of vertical rods, a top plate and a connecting rod, the purple sand materials are repeatedly and evenly pressed on the inner side face of the mold cylinder, and the coating effect is better.

There is provided a drone comprising, a main body which is elongated and having a longitudinal axis, the main body being rotatable attached at one end of the elongated body to a propeller body with a shaft so that the main body and the propeller body are arranged to rotate in relation to each other, so that the propeller provides thrust in the direction of the shaft, where the main body rotates around its longitudinal axis, the drone comprising driving means mechanically connected to the shaft, the driving means driving rotation of the bodies in relation to each other, the drone comprising a control device arranged to control the speed of rotation of the driving means to control the thrust and further arranged to control the flight direction of the drone, where the drone is configured to rotate the propeller body at a first rotation speed that is greater than a second rotation speed of the main body in relation to an external frame of reference, the second rotation speed being referred to as roll speed, where the drone is configured such that the longitudinal axis of the main body has, during flight, an angle of attack greater than zero to the flight direction of the drone, said longitudinal axis rotating around the flight direction of the drone, the flight direction being in relation to the external frame of reference, where the rotation around the flight direction occurs with the same angular speed as the main body rolls around the longitudinal axis (roll speed), where the control device is arranged to determine the orientation of the longitudinal axis of the main body in relation to the external frame of reference with a frequency that is higher than the roll speed and adjust the thrust during a subsection of a complete revolution of the main body in relation to the external frame of reference in order to adjust the angle of attack, thereby adjusting the flight direction of the drone.

The present application relates to a kind of parallel front wheel active roll chassis, belong to vehicle chassis technical field, especially to the category of vehicle roll drive and control technology, by a group of front wheel steering roll mechanism and a group of rear wheel active roll mechanism on the same vehicle according to given wheelbase front and rear arrangement, share the same vehicle vertical plane, rear wheel track is far greater than front wheel track, through the linkage roll mode of vehicle body and wheel, rear wheel active roll mechanism controls vehicle body roll, front wheel steering roll mechanism adaptive roll, realize vehicle steering and vehicle body roll independent control, by parallel front wheel steering, adaptive roll, double rear wheel drive, active roll, form the parallel front wheel active roll chassis with positive tricycle characteristics;Small wheel track parallel front wheel steering, roll technical measures, retain the single wheel adaptive roll characteristics, have the effect of small power consumption of roll drive and control, improve the adhesion and carrying capacity of active roll positive tricycle vehicle.

The invention relates to the technical field of special transport vehicles, and discloses a compartment-detachable garbage truck which comprises a frame assembly and longitudinal beams, the longitudinal beams are divided into a left longitudinal beam and a right longitudinal beam, and cross beam assemblies are connected to the longitudinal beams. Due to the fact that the third cross beam and the seventh cross beam of the hook arm system are arranged, cross beams do not need to be additionally installed at the two positions of the frame assembly to guarantee the structural strength. According to the garbage truck with the detachable carriage, under the full load condition, the gravity center is lowered by 100-300 mm, the driving stability of the whole truck is greatly improved, the truck body roll control is better during turning, and the safety is improved; a hook arm system structural member is integrated with a chassis girder to form a part of a girder structure to ensure the structural strength, repeated structural members can be omitted, and materials are saved; the mounting height of the functional part is reduced, the stress of the component is improved, the local load is reduced, the strength requirements of the component, the functional part and the hydraulic system are reduced, and the cost is saved.

The present application relates to the technical field of vehicle engineering, in particular to a kind of active suspension vehicle roll angle measurement and calculation method, by collecting vehicle body roll angular velocity, lateral acceleration and the change of four suspensions' suspension height, and according to lateral acceleration, four suspensions' suspension height change respectively calculates tire deformation and the steady-state roll angle contributed at wheel center, linearly superimposes two steady-state roll angles to obtain the steady-state roll angle of vehicle as a whole, again the vehicle roll angular velocity after filtering is integrated into transient roll angle, finally, the correction degree of steady-state roll angle to transient integral result is adjusted by weight coefficient, and the vehicle roll angle with strong real-time performance and high robustness is fused and calculated, the technical problems that the existing technology exists, such as inaccurate roll angle acquisition, large calculation deviation caused by vehicle load change and suspension nonlinear characteristics, and pure integral calculation prone to drift are solved.

The invention discloses a celadon mud embryo rolling mechanism and relates to the field of ceramic forming equipment, aiming to solve the problems of low demolding efficiency, high green body damage rate and poor adaptability of traditional demolding. The mechanism comprises a cylinder, a piston, a trigger mechanism, a mounting seat, a detachable mold disc and a central shaft pipe and other components. The trigger mechanism separates to form double air chambers, and the central shaft pipe is matched with the ball linkage to switch the thick and thin rod sections, so as to realize the accurate regulation and control of air path on-off and flow, complete the stage demolding of "blowing loose - uniform speed ejection - rapid lifting", and realize the automatic opening and closing of the air path by the weight of the mold disc. The initial reserved redundant distance between the central shaft pipe and the push rod ensures the process connection. The mechanism does not need electric control, is convenient to operate and reliable to run, is suitable for batch production, can greatly reduce the damage of the green body, and improves the production efficiency and product qualification rate of celadon.

Method for roll stabilization of a motor vehicle by means of an adjustable roll stabilizer (1), comprising an actuator (2) which can be controlled depending on vehicle parameters in order to rotate two connected stabilizer sections (6a, 6b) relative to each other about an axis of rotation (3), wherein the stabilizer sections (6a, 6b) are each coupled to a wheel suspension (7a, 7b, 8a, 8b, 9a, 9b) radially from the axis of rotation (3), wherein vertical acceleration signals (a7a, a7b) of individual wheels (7a, 7b) are taken into account for the control of the actuator (2), characterized in that, in the presence of a signal for a roll acceleration of the vehicle body (10), the compression velocity (v(rel)) of a wheel (7a, 7b) is directly calculated from the roll acceleration of the vehicle body (10). and the wheel acceleration (a7a, a7b) is determined.

Method for roll stabilization of a vehicle body, wherein the body has four wheel suspensions, each with a vibration damper, wherein the vibration dampers are arranged between the body and a wheel suspension movably mounted relative to the body, wherein the vibration dampers are designed such that a damping force is adjustable for each vibration damper, wherein two front vibration dampers are arranged on opposite sides of a front section of the body, wherein two rear vibration dampers are arranged on opposite sides of a rear section of the body, wherein a first roll velocity is determined for a front section of the body and a second roll velocity is determined for a rear section of the body, wherein, depending on the two measured roll velocities, a damping force for at least one vibration damper is adjusted in such a way as to counteract a roll movement of the body. characterized by the fact that The damping force for an in-phase oscillation of the front and rear sections of the body is determined.

The utility model relates to the technical field of automobile parts, and discloses a novel automobile anti-roll bar damper which comprises a damping cylinder barrel, and a damping piston is assembled in the damping cylinder barrel in a sliding mode. According to the novel automobile anti-roll bar damper, through a ball screw pair composed of the adjusting knob and the lead screw, the lead screw can be driven to drive the adjusting piston to axially move in the damping cylinder barrel by rotating the adjusting knob, and the sectional area of a fluid channel in the double-cavity damping structure can be accurately changed through the design; the effective flow area of the damping hole is reduced, the flow resistance of a damping medium (such as hydraulic oil) is increased, and the damping force is enhanced; compared with a traditional fixed damping structure, damping parameters can be adjusted in real time according to the vehicle load, the road condition and the driving style, so that the vehicle provides strong damping to restrain side tipping when turning at a high speed, weak damping is switched on a bumpy road section to improve comfort, and the dynamic performance of the vehicle is remarkably improved.

The application provides an integrated control method for active suspension and differential steering of a distributed drive unmanned vehicle, which realizes trajectory tracking of the unmanned vehicle through differential steering, realizes vehicle body roll during steering through active suspension, improves the speed of the unmanned vehicle during cornering, and improves the steering stability. First, a dynamic model of the unmanned vehicle including differential steering and active suspension is established, a reference model is established to obtain a reference yaw rate and a reference vehicle body roll angle, a single-point preview driver model based on fractional calculus theory is designed to obtain a reference front wheel steering angle required by the reference model, and an H ∞ A robust controller controls the yaw rate and the vehicle body roll angle of the differential steering unmanned vehicle to track the reference values, and differential torques and control forces of left and right active suspensions are obtained. The results show that the integrated control method can make the differential steering unmanned vehicle realize trajectory tracking and vehicle body posture control.

The invention relates to the technical field of vehicle tank body welding, in particular to a vehicle tank body after-edge-rolling welding device capable of synchronously pressing a to-be-welded edge, which comprises a base, a pressing assembly arranged at the top of the base and used for self-adaptively correcting and butting the to-be-welded edge according to the shape of a vehicle tank body, and a welding assembly linked with the pressing assembly to adjust the welding height, the pressing assembly comprises a fixed frame and a movable frame which are of an L-shaped structure, the fixed frame and the movable frame are each provided with two sets of brackets, the tops of the brackets are rotationally connected with two sets of carrier rollers, and semicircular self-adaptive clamps are arranged above the brackets; the movable frame moves to adapt to fixation of vehicle tank bodies with different lengths, the abutting roller abuts against the to-be-welded edge, so that the end faces are flush, and the tank bodies which are slightly and obliquely rolled are corrected; and meanwhile, the bracket with the deflectable angle and the semicircular self-adaptive clamp can be used for self-adaptively clamping circular or elliptical tank bodies with different sizes, so that accurate butt joint of the to-be-welded edges is realized, and meanwhile, deformation of the arc rolling degree is prevented, so that the accuracy of the size of the arc after welding is guaranteed.

The application discloses a vehicle anti-rollover control system based on a drive-by-wire chassis, which comprises a vehicle running information detection unit, a vehicle rollover danger index calculation unit, a vehicle anti-rollover judgment unit and a vehicle anti-rollover execution unit. The vehicle running information detection unit is used for acquiring real-time vehicle speed, vehicle body roll angle, lateral acceleration, wheel vertical load and tire side force; the vehicle rollover danger index calculation unit is used for calculating a lateral load transfer rate, a lateral load offset coefficient and a lateral load excitation index, so as to obtain a rollover danger index; the vehicle anti-rollover judgment unit is used for judging whether the anti-rollover system is executed to control work or not, wherein the control mode comprises a single control work mode and a joint control mode; and the vehicle anti-rollover execution unit comprises a drive-by-wire steering system, a drive-by-wire braking system and an active suspension system, and different control systems are controlled according to different control modes.

The utility model relates to the technical field of cover body rolling machines, and discloses a four-head rolling machine for cover body production, which comprises a rolling table, a motor is fixedly arranged on the outer surface of the top of a rack, first rolling shafts and transmission shafts are rotatably arranged on the outer surfaces of four transmission boxes in a penetrating manner, and the first rolling shafts and the transmission shafts are arranged on the outer surfaces of the transmission boxes in a penetrating manner. A first rolling head is installed on the outer surface of the bottom of the first rolling shaft, a second rolling shaft is arranged between the first fixing sleeve and the second fixing sleeve, and a second rolling head is installed on the outer surface of the top of the second rolling shaft. The four cover bodies are fed, the main shaft is driven by the motor to rotate, the first rolling shafts and the first rolling heads are driven to rotate, the second rolling shafts are driven to rotate to enable the second rolling heads to rotate in cooperation with the fluted discs and the tooth columns, and the cover bodies are machined through rotation of the first rolling heads and the second rolling heads. And therefore, four cover bodies are machined at the same time, and the machining efficiency of the cover bodies is greatly improved.

The application discloses a spring-over double wishbone suspension structure based on a corner module, which comprises a steering knuckle connected with a wheel hub on one side; a connecting corner matched with the steering knuckle, the steering knuckle and the connecting corner having coaxial through holes; a driving mechanism, an output end of which is provided with an angular contact bearing, the Z-direction freedom of the angular contact bearing being limited through the steering knuckle and the connecting corner; an air spring installed above the connecting corner; an upper cross arm arranged in the middle of the connecting corner; and a lower cross arm connected with the steering knuckle through a ball hinge. The air spring is arranged above, and the angular contact bearing is designed, so that the stress of the spring can be effectively shared, the stability and responsiveness of the suspension system are improved, the impact caused by the uneven road surface can be more efficiently absorbed, especially when steering and emergency braking, the suspension system can show better control ability, the body roll and shaking are reduced, and the vehicle is more stable and stable when running at high speed and in complex road conditions.

This invention discloses a method for preventing rollover of hazardous chemical tank trucks. The steps are as follows: transforming the tank's coordinate system; calculating the tank's center of gravity height when stationary; calculating the vertical lateral deviation height of the tank's center of gravity during swaying; calculating the overall tank's center of gravity offset height; and implementing rollover prevention control. This invention employs a rollover prevention control method based on center of gravity lateral deviation height compensation. The center of gravity height calculation method, through coordinate transformation, makes the formula applicable regardless of the amount of hazardous chemicals loaded in the tank. It can also accurately calculate the tank's center of gravity offset height at each moment, taking into account the transient changes in vehicle tilt. Furthermore, this rollover prevention control method is applicable to any mechanism capable of compensating for center of gravity lateral deviation height. The technical solution is simple, the measurement is more accurate, and the applicability and reliability are stronger, making it highly valuable for widespread application.

The invention provides a commercial vehicle drive-by-wire electro-hydraulic steering road feeling simulation control system and method, a steering resistance moment fusion estimation module fuses a steering resistance moment based on vehicle dynamics and a steering resistance moment based on steering dynamics based on an AKF algorithm, and is used for estimating the steering resistance moment of a commercial vehicle in a driving process; the compensation torque module is used for generating a friction compensation torque, a damping compensation torque and an inertia compensation torque, and introducing a roll compensation torque; the road feeling feedback torque generation module obtains the expected road feeling motor torque according to the torque output by each module, and a sliding mode controller (SMC) is adopted to carry out closed-loop control on the road feeling motor, so that the road feeling motor tracks the expected road feeling torque. According to the method, the estimation precision of the steering resistance torque can be remarkably improved, and more stable and reliable road feeling simulation is provided; by introducing the roll compensation torque, the roll posture of the vehicle body is converted into the torque change of the steering wheel which can be directly perceived by a driver, and the perception capability of the driver on the roll trend and the stable boundary of the vehicle is enhanced.

The application discloses a kind of active dynamic adjustment stabilizer bar for vehicle and vehicle, stabilizer bar includes first rod body, second rod body, movable sleeve, driving piece and monitoring system;Driving piece can drive movable sleeve reciprocating movement and / or rotation along the direction of its own axis relative to first rod body or second rod body;Monitoring system is used to detect vehicle operating condition, and detect the moving distance of movable sleeve along the direction of its own axis.Therein, user can manually control stabilizer bar to switch between first working state and second working state;When stabilizer bar is in second working state, first rod body can rotate relative to second rod body to increase the passability of vehicle;When stabilizer bar is in first working state, monitoring system can control movable sleeve movement by driving piece according to detection result, to inhibit the rotation of first rod body relative to second rod body, so as to solve the technical problem of body roll and can reduce the state of body tremor and left and right swing.

The embodiment of the invention provides a wheel track adjusting method and device, equipment, a medium and a product. The method comprises the steps of obtaining first data; the first data comprises vehicle real-time speed, road surface type characteristic data, steering wheel real-time steering angle, vehicle body roll and pitching angle; determining a driving scene of the current vehicle according to the first data; determining a wheel track adjusting instruction according to the driving scene of the current vehicle; the wheel track adjustment instruction is used for representing a wheel track adjustment mode in the current driving scene; and adjusting the wheel track according to the wheel track adjusting instruction. According to the scheme, the wheel track adjustment is more in line with the current vehicle driving scene, and the reliability of the wheel track adjustment is improved.

The invention provides a floating body rolling calculation method and device, a computer readable medium and electronic equipment. The method comprises the steps that a rolling attenuation curve of a target floating body model is generated based on computational fluid mechanics; the rolling attenuation curve is a change curve of a rolling angle along with time, and the rolling attenuation curve comprises at least a preset number of complete oscillation periods; determining rolling damping of the target floating body model according to the rolling attenuation curve; based on a potential flow theory, according to the rolling damping and a surface element model corresponding to the target floating body model, a wave and floating body motion model is established, and the surface element model is generated according to the target floating body model; according to the rolling damping and the wave and floating body motion model, a rolling motion response amplitude operator is obtained through calculation; and generating rolling motion information of the target floating body model according to the rolling motion response amplitude operator. The accuracy of calculating the rolling motion of the floating body is improved, the calculation cost is saved, and the efficiency is improved.

The invention provides a crawler-type deep-sea mining vehicle overturning risk monitoring and inhibiting device, and belongs to the technical field of safety monitoring and control of deep-sea mining equipment, the device is arranged on a crawler-type deep-sea mining vehicle, and the device comprises an attitude measurement unit used for obtaining rolling, pitching and angular velocity information of a vehicle body; the grounding load measuring unit obtains grounding load information of the left and right tracks; the hose external load measuring unit is used for acquiring tension and torque information applied to the vehicle body by the lifting hose; the control unit is used for carrying out risk analysis in combination with multivariate information data; and a suppression execution unit for performing active suppression when the risk is triggered. According to the method, multi-element information is fused, the static critical overturning angle, the attitude margin, the unloading coefficient and the hose constraint torque fluctuation ratio are calculated, graded recognition of the overturning risk of the crawler-type deep-sea mining vehicle is achieved, overturning is actively restrained through measures such as connection point adjustment and anti-overturning support unfolding, and the stability and continuity of deep-sea mining operation are improved.

The embodiment of the utility model provides a stabilizer bar assembly and a vehicle, and relates to the technical field of vehicle accessories. The stabilizer bar assembly comprises a bar body, and the two ends of the bar body are used for being rotationally connected with a suspension system of the vehicle. The rod body penetrates through and is rotationally connected to the first supporting piece, and the first supporting piece is used for supporting a chassis structure of the vehicle; and the at least one second supporting piece is arranged in the middle of the rod body, and the second supporting piece is used for supporting the chassis structure. According to the stabilizer bar assembly and the vehicle, the loss of torque in the bar body transmission process can be reduced, and therefore the restraining strength of the bar body to the vehicle body during side tipping is enhanced.

The utility model discloses an unmanned aerial vehicle spraying device with good stability, which comprises a frame, an unmanned aerial vehicle is mounted at the top of the frame, a plurality of wheel bodies are rotatably mounted on the left side surface of the frame, a spraying assembly is mounted in the frame, a nozzle on the spraying assembly correspondingly faces the left side of the frame, and a threading hole is formed in the frame. The upper sliding rail assembly is installed at the top end of a to-be-sprayed object during use, the lower sliding rail assembly is correspondingly installed at the bottom end of the to-be-sprayed object, a traction rope capable of horizontally moving along the to-be-sprayed side face of the to-be-sprayed object is arranged between the upper sliding rail assembly and the lower sliding rail assembly in a traction mode, and the frame is connected to the traction rope in a sliding and penetrating mode through the threading hole. The multiple wheel bodies abut against the to-be-sprayed side face of the to-be-sprayed object in a rolling mode. According to the unmanned aerial vehicle spraying device, the stability of the spraying assembly on the frame in the spraying operation process is remarkably improved, the unmanned aerial vehicle spraying device is also suitable for the working condition that wind exists outdoors, and it is guaranteed that the spraying operation quality is good, and the spraying operation efficiency is high.

The utility model relates to a kind of composite rolls for preventing pole piece roll press broken belt of pole roll, set before pole piece roll press, including the main body roll for bearing the coating area of the pole piece of several and the radius adjustable auxiliary roll for bearing the empty foil area of the pole piece of several;Several The main body roll and several The auxiliary roll are alternately connected.This utility model connects auxiliary roll and main body roll together as tensioning roll, realize the adjustment of the tensioning force of the multiple empty foil areas on pole piece, to avoid pole piece in thinning compaction (that is, press roll) broken belt.Auxiliary roll and main body roll can be disassembled design is to change the length of main body roll, and then adapt the pole piece of different coating area width.

The utility model discloses a wheel set type self-moving device, which relates to the field of belt conveyors and comprises a base and a frame body, rails are fixedly mounted on two sides of the top of the base, a wheel set body is mounted at the bottom of the frame body through bolts, the surface of the wheel set body is attached to the tops of the rails, and the wheel set body is mounted on the frame body through bolts. A connecting seat is mounted at one end of the top of the base, a saddle is mounted at the top of the connecting seat, a reversed loader body is mounted at the top of the saddle, mounting frames are mounted on the two sides of the top of the reversed loader body at equal intervals, and fixed carrier rollers are mounted on one sides of the mounting frames. According to the utility model, the wheel set body rolls on the top of the track, so that the reversed loader body directly pushes the tail frame to roll while the rubber belt is shrunk in the recovery process of the device, the tail frame is not easy to sink to the bottom, and the rubber belt is not easy to deviate; and the oil cylinder is started to adjust the height of the adjusting carrier roller mounted at the other end of the adjusting frame.

The invention discloses an automobile body roll attitude control method and system for a full-active suspension system, and belongs to the field of automobile active suspension control. Judging the fault level based on the number of abnormal wheel edges, and entering a single-side fault mode if single-side abnormality occurs; if the two sides are abnormal, entering a limit fault mode; identifying whether the road condition is flat without a curve or rugged with a curve through a preview system; dynamically executing a control strategy, and lowering the vehicle body to the lowest height when the vehicle body is flat and has no curve; when the vehicle body is rugged and has a curve, the vehicle body descends to the lowest medium height and limits the speed; and finally ensuring that the vehicle safely runs to a maintenance center. According to the invention, through the cooperation of the fault grading logic and the road condition dynamic decision-making mechanism, the roll force loss is accurately compensated, the roll out-of-control risk of a traditional scheme in a curve scene is avoided, and hardware transformation is not needed.

The present invention relates to a two-mode, preferably electrically driven, transportation system. [Solution] The present invention introduces an auxiliary support having at least one retractable roller mounted on a support arm, enabling lateral traverse of the inner surface via a ramp while maintaining cruising speed. The roller temporarily bears the vehicle load during traverse and retracts to maintain ground clearance. Additional features include a third rail for power supply, an emergency braking caliper acting on a continuous rail independent of tire-road friction, a variable height suspension to minimize body roll during lateral shifts, and a lateral distance sensor for precise wheel centering in the U-shaped groove. Methods for safe entry and exit from the U-shaped groove are also provided through adjusted steering, roller deployment, and suspension adjustment.

A bidirectional adaptive multi-floating body roll type wave power generation device is composed of a floating box, a speed increaser, a raindrop-shaped wave absorbing floating body, a connecting shaft, a flexible coupling, a generator and a battery, the floating box is composed of a floating box shell and a floating box cover, the speed increaser is composed of a speed increaser shell, a speed increaser shell end cover, a center gear, an intermediate gear and an intermediate gear support frame, and the generator is composed of a generator stator, a generator rotor and a generator stator end cover.The present application has the advantages of easy realization, low manufacturing cost, high wave energy conversion efficiency, and can meet the needs of ocean renewable energy development and ocean equipment field, and solve the problems of large scale, poor mobility, single wave absorbing direction and poor adaptability of the existing wave power generation device.

The invention discloses a vehicle body roll adjusting method and device for improving riding comfort, a storage medium and electronic equipment, and the method comprises the steps that under the characteristic working condition of high roll risk, the load transfer direction of a to-be-controlled vehicle is determined based on the current acceleration of the to-be-controlled vehicle; based on the load transfer direction, judging whether the vehicle body of the to-be-controlled vehicle can roll or not; if the vehicle body of the to-be-controlled vehicle can roll, the rear wheel turning angle of the to-be-controlled vehicle is controlled based on the current acceleration, the current vehicle speed, the current steering wheel turning angle and the vehicle structure parameters of the to-be-controlled vehicle so as to actively restrain the vehicle body from rolling. According to the technical scheme, the vehicle body roll is judged in the early stage based on the load transfer direction, the rear wheel turning angle is actively controlled for compensation, and therefore smooth restraining is achieved before roll happens, and the riding comfort and the driving stability of the vehicle are effectively improved.