10 results about "Collision dynamics" patented technology

The invention discloses an efficient simulation method for collision between long ellipsoid particles and a wall surface based on discrete elements, and belongs to the technical field of gas-solid two-phase flow numerical simulation. The method comprises the steps that a universal long ellipsoid particle-wall surface collision elastic force model is established, and the model represents a universal function relation between elastic force and particle geometry, material attributes and kinematics state parameters; based on the elastic force model and the momentum theorem, constructing a particle-wall surface collision dynamic model; based on the kinetic equation, a discrete time method and a numerical integration algorithm are adopted, and force, speed and energy parameters, changing along with time, of the long ellipsoid particles and the wall face in the whole collision period are solved. According to the method, the analytic model is embedded into a discrete element simulation framework to replace calculation-intensive finite element solution, so that second-level efficient solution is realized while the calculation precision is ensured, and the calculation efficiency is remarkably improved.

The invention relates to a contact collision dynamics modeling method for a spacecraft flexible multi-body system, which is used for simulating collision force generated by mutual contact collision of flexible collision bodies of a service satellite and a target satellite. Establishing a spacecraft flexible multi-body system kinetic equation containing the flexible collision body; calculating and considering a relative motion relation of the flexible collision body Tf relative to the flexible collision body Se and geometric deformation of all contact points on the two flexible collision bodies; calculating a normal collision force FNp and a tangential friction force Ftp of each contact point p; according to the normal collision force FNp and the tangential friction force Ftp of the position of each contact point p, and calculating the concentrated collision force acting on the distributed collision force rigid body of the vibration of the flexible component of the service satellite where the flexible collision body Se is located and the concentrated collision force acting on the movement of the flexible component of the service satellite where the flexible collision body Se is located and acting on the distributed collision force rigid body of the vibration of the flexible component of the target satellite where the flexible collision body Tf is located and the concentrated collision force acting on the movement of the flexible component.

The application discloses a kind of vehicle micro-collision capture and trajectory reconstruction method and system under anti-shielding environment, comprising: constructing dynamic shielding perception vehicle semantic space-time graph, locking the visible rigid connection feature site of shielding risk target;Based on phase amplification, the feature site is analyzed in frequency domain micro-motion, and vibration fingerprint feature vector is extracted in combination with vehicle type-modal frequency fingerprint library;By introducing impulse-momentum theorem as the neural network of physical constraint, the vibration fingerprint feature is inferred and regressed collision impulse of collision event;Using the denoising diffusion model with collision impulse as the condition, the vehicle trajectory in the shielding area that meets the collision dynamics is repaired and generated.The application analyzes the micro-vibration of unshielded parts to infer collision, and integrates physical principles into neural networks, solving the problems of difficult micro-collision detection and trajectory distortion under shielding, and generating trajectories that retain collision dynamics characteristics, providing strong evidence for accident liability determination.

The present disclosure relates to a motion control method, device, robot and storage medium, the method comprising: in the case that the robot is in a free state, tracking state variable errors and control input errors in a remaining free time under constraint conditions to obtain state variable optimization results and control input optimization results, wherein the remaining free time comprises a current time to a time when a current action is completed, the state variable errors comprise errors between state variables in a preset reference trajectory and the state variable optimization results, the control input errors comprise errors between control inputs in the reference trajectory and the control input optimization results, and the constraint conditions comprise at least one of a center of mass dynamics constraint, a full kinematics constraint and a collision dynamics constraint; and controlling the robot to move according to the state variable optimization results and the input optimization results.

The invention belongs to the technical field of bearing state monitoring, and discloses an insulation bearing residual life prediction method and related equipment, and the method comprises the steps: obtaining a vibration signal of a target insulation bearing, and carrying out the preprocessing of the vibration signal; performing inner and outer ring collision process simulation based on an inner and outer ring collision dynamic model of the target insulated bearing to obtain collision physical characteristics, obtaining actual measurement signal characteristics according to the preprocessed vibration signals, and fusing the collision physical characteristics and the actual measurement signal characteristics to obtain a characteristic vector; on the basis of a principal component analysis method, dimension reduction processing is carried out on the feature vectors, and health indexes are obtained; according to the health indexes, establishing a health curve model based on a random degradation model fitting method; according to the health curve model and a preset failure threshold value, predicting the residual life of the target insulated bearing; therefore, the residual life prediction reliability and precision of the insulating bearing can be improved.

The invention discloses a vehicle tiny collision capture and trajectory reconstruction method and system in an anti-shielding environment, and the method comprises the steps: constructing a vehicle semantic space-time diagram of dynamic shielding perception, and locking a visible rigid connection feature part of a shielding risk target; frequency domain micro-motion analysis is carried out on the feature part based on phase amplification, and vibration fingerprint feature vectors are extracted in combination with a vehicle type-modal frequency fingerprint database; by introducing an impulse-momentum theorem as a neural network of physical constraint, performing collision event reasoning on the vibration fingerprint features and regressing a collision impulse; and repairing and generating a vehicle track conforming to collision dynamics in the shielding region by using a denoising diffusion model under the condition of collision impulse. According to the method, the collision is inversely deduced by analyzing the microscopic vibration of the unshielded part, and the physical principle is integrated into the neural network, so that the problems of difficult detection of the small collision under the shielding and distortion of track restoration are solved, the track with the collision dynamic characteristics can be generated, and powerful evidence is provided for accident liability affirmation.

The present application relates to the field of rail vehicle technology, and discloses a rail vehicle and vehicle energy-absorbing structure crashworthiness collaborative optimization method and system, comprising: obtaining impact characteristic data sets of the energy-absorbing structure under different structural parameter configurations, and establishing a structural level deep proxy model to predict the load characteristic curve and deformation mode image of the energy-absorbing structure; inputting the load characteristic curve of the energy-absorbing structure output by the structural level deep proxy model into a vehicle collision dynamics model, carrying out vehicle level collision simulation, and constructing a vehicle level deep proxy model to predict the vehicle collision response; based on the deformation mode image obtained by the structural level deep proxy model and the vehicle collision response obtained by the vehicle level deep proxy model, performing multi-objective rail vehicle / energy-absorbing structure crashworthiness collaborative constraint optimization to obtain an optimization scheme; the present application solves the problems of low calculation efficiency and poor reliability of the optimization results of the existing collision optimization method of the rail vehicle and the energy-absorbing structure.

The invention specifically discloses a floating support friction pair impact dynamic load calculation method and system considering rough interface morphology characteristics, and the method comprises the steps: obtaining the basic parameters of a floating support friction plate assembly to be calculated, representing the three-dimensional rough surface morphology, calculating the total contact rigidity of the whole rough interface, and calculating the impact dynamic load of the floating support friction pair. Calculating the rough surface contact rigidity of the gear teeth, calculating the bending, shearing and axial compression rigidity of the gear teeth, the matrix deformation and the matrix rigidity, calculating the comprehensive rigidity and the time variation rigidity of a single tooth pair, and deducing the relative displacement of the inner hub and the friction plate gear teeth under the load effect; calculating the number of random impact collision gear teeth of the floating support friction pair and the collision force; a bending-twisting random collision dynamic model of a floating support friction plate and an inner hub system is established, and the impact dynamic load of a floating support friction pair is obtained by adopting a Runge-Kutta method. By adopting the technical scheme, the impact dynamic load of the tooth part of the friction pair is obtained by constructing the rough interface morphology feature-collision force-rigidity coupled random collision dynamic model.

The invention relates to a traffic conflict risk quantification method based on probability trajectory prediction and physical modeling. The method comprises the steps of obtaining video data of traffic participants at a target traffic scene and extracting state features to construct a trajectory data set; constructing a space interaction graph sequence, inputting the space interaction graph sequence into a trajectory prediction model of a fusion graph attention network and a Transform network, and generating a plurality of candidate trajectories and occurrence probabilities of the candidate trajectories; traversing candidate trajectory combinations of different traffic participants, identifying potential conflict points by adopting a high-order polynomial fitting trajectory and a numerical solution method, and calculating a conflict arrival time difference to perform conflict risk judgment; and constructing a collision dynamics model to calculate the expected impact energy of collision, and quantifying the risk severity of potential conflicts in combination with the occurrence probability of the predicted trajectory. According to the technical scheme, the uncertainty of future behaviors of traffic participants can be accurately described, and high-precision multi-modal trajectory prediction and comprehensive conflict risk quantitative evaluation are realized.

Ocean engineering equipment coupling collision dynamics modeling simulation method and device belong to the field of virtual simulation technology of ship and ocean engineering, especially relate to ocean engineering equipment rigid-flexible multi-body coupling collision dynamics modeling simulation. The method solves the problems of low collision detection efficiency and inaccurate contact force calculation existing in the existing simulation method. The method comprises the following steps: motion simulation step: adopting a time-domain motion simulation model of the working equipment to simulate, updating the external force according to the obtained contact force, solving the acceleration of the working equipment, and obtaining the motion speed and pose of the working equipment through the fourth-order Runge-Kutta method integration, and completing the simulation. The ocean engineering equipment coupling collision dynamics modeling simulation method and device are suitable for the dynamic modeling simulation of the rigid-flexible multi-body coupling collision of the ocean engineering equipment.