358 results about "Control force" patented technology

The invention relates to the technical field of maglev motor dynamics and control, and discloses a bearingless asynchronous motor multi-frequency harmonic vibration cooperative suppression method, which comprises the following steps: acquiring radial displacement signals and mechanical angular velocity of a rotor in an x axis and a y axis under a stator fixed coordinate system, and stacking double-axis displacement signals into an observation vector; calculating a weighting coefficient of the normalized residual error through a Huber robust cost function, and outputting the amplitude, the phase and the confidence of each order of harmonic wave; estimating the total disturbance of the system by using a linear extended state observer with harmonic energy injection, wherein the total disturbance is obtained by weighted summation according to the confidence, order and mechanical angular velocity of each order of harmonic; calculating a feedback control force according to the total disturbance estimated value, and superposing the feedforward compensation force and the feedback control force to generate a total suspension force instruction; and according to the total suspension force instruction, inversely calculating a suspension winding current reference value and outputting a control instruction. According to the invention, a mutually complementary cooperative suppression mechanism is formed, and the suppression precision of multi-frequency vibration is improved.

Systems and methods for controlled-force thermal management device installation that helps thermal management of emerging, next-generation devices are provided. A system includes a mounting assembly for a thermal management device. The mounting assembly includes a fastener and a coupler. The system further includes a compression and locking interface configured to lock with the coupler and compress the mounting assembly to a predetermined loading point using a controlled force. The fastener is installed when the mounting assembly is at the predetermined loading point.

The invention relates to a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps of determining an elevation curve and a road surface type of a driving track in front of a vehicle based on image information acquired in a vehicle driving process; if the road surface type of the front driving track is a special road surface, determining whether a front axle and / or a rear axle of the vehicle is driven into a special road surface area or not according to the running parameters and the static parameters of the vehicle; under the condition that a front axle and / or a rear axle of the vehicle is driven into a special road surface area and the special road surface is a pulse disturbance road surface, the vertical movement distance of a front axle electromagnetic suspension and / or a rear axle electromagnetic suspension of the vehicle is determined based on the elevation curve and the motion parameters of the vehicle; and according to the vertical movement distance of the front axle electromagnetic suspension, a front axle linear motor of the vehicle is controlled to output first control force, and / or according to the vertical movement distance of the rear axle electromagnetic suspension, a rear axle linear motor of the vehicle is controlled to output second control force, so that adjustment of the vehicle electromagnetic suspension is achieved, and the riding comfort is improved.

The invention discloses a starling group-based unmanned aerial vehicle cluster safety control and steering consensus method, which comprises the following steps of: firstly, constructing a three-layer leader-follower network simulating a pigeon group hierarchical structure, and establishing a dynamic physical neighbor topology in combination with a communication radius; an improved artificial potential field method is designed, a damage area, a rejection area, an alignment area and an attraction area are divided, a smooth concave-convex function is introduced to adjust a potential field, and cooperative force and obstacle rejection force for maintaining an expected distance are generated; an inertial spin mechanism is introduced, when a maneuvering intention is detected, expected spin and perceptual spin are calculated, a spin kinetic equation is utilized to update a state, and a transverse consensus coupling force for driving a cluster to rapidly and synchronously steer is generated. And finally, for different levels of unmanned aerial vehicles, differentially fusing the control force, and updating the cluster state through numerical integration. According to the method, the internal safety distance of cluster high-density flight is guaranteed, the overall steering speed and consistency of the cluster facing sudden obstacles are remarkably improved, and the robustness of the system in a dynamic environment is enhanced.

The invention discloses a wheel-foot humanoid robot operation control method and system based on maneuverability optimization, and relates to the technical field of robot intelligent control. According to a mechanical arm tail end trajectory tracking task and mechanical arm joint motion constraints, a weight matrix is calculated in a self-adaptive mode through state vectors of a base and a mechanical arm joint; a robot dynamic model is constructed, and the tail end contact force of the mechanical arm is estimated based on a disturbance observer; the direction of the control force is determined according to an estimation result, and then force maneuverability enhancement is carried out; a speed instruction of an end effector is obtained, the expected base speed and the expected mechanical arm joint speed are obtained through a weight matrix, a hierarchical control frame of a model prediction controller and a whole-body controller is constructed based on an integrated dynamic model, the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained through solving, and the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained. Therefore, the whole-body motion control of the robot is driven. Through organic combination of disturbance compensation and force maneuverability optimization, the motion stability and operation efficiency of the robot are enhanced.

The invention relates to an active suspension control method and device of a corner module vehicle, computer equipment and a readable storage medium. The method comprises the following steps: acquiring vehicle state parameters and attribute information; according to the vehicle state parameters, the attribute information and preset anti-rollover constraints, the anti-rollover moment and the suspension total active force in the current vehicle state are determined; distributing the control force corresponding to each suspension based on a preset optimization target, the anti-rollover moment and the total active force of the suspension to obtain a target control force corresponding to each suspension; the target control force is used for performing active suspension control on each suspension. By adopting the method, the accuracy of anti-rollover control can be improved, and the safety of the angle module vehicle is improved.

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

The invention relates to a mechanical arm self-adaption compliance control method and system based on model reference self-adaption and impedance parameter online identification, and belongs to the field of robots. The method comprises the steps that a mechanical arm task space dynamics model is established; designing a reference model; a recursive least square method is adopted, and an equivalent stiffness matrix and a damping matrix of the interaction environment are identified online; designing a composite adaptive law; the expected rigidity of the reference model is dynamically adjusted according to the environment rigidity obtained through identification; and according to sensor data collected in real time, the mechanical arm task space dynamics model, the robot parameter self-adaption law, the environment rigidity, the environment damping and the environment parameter identification robust item, control force is generated, and the mechanical arm is driven through the control force. According to the method and the system, the environment characteristics can be sensed online, and the compliant behaviors can be adaptively adjusted, so that safe, efficient and high-robustness interaction of the mechanical arm in a complex and unknown environment is realized.

The invention relates to a transverse movement berthing control method considering main thrust idling, which comprises the following steps of: dividing transverse movement berthing control into a controller part and a thrust distribution part, designing a three-degree-of-freedom controller for ship movement by utilizing a nonlinear disturbance observer in the aspect of the controller, and calculating force and moment required for transverse movement of a ship; in the aspect of thrust distribution, the discontinuity of a main thrust idle speed area and rudder force is considered, a thrust action range is decomposed into nine action ranges according to the thrust state of double main thrusters, multi-domain switching logic is designed to complete thrust distribution of control force, and therefore closed-loop control over ship transverse moving berthing is achieved. A simulation result proves the effectiveness of the method.

The present application relates to the technical field of simulation system, specifically to a virtual battlefield scene simulation system and method thereof, the system comprises: terrain node identification module, combat unit control radius extraction module, terrain advantage area preliminary demarcation module, control force gradient evolution analysis module, advantage area boundary dynamic adjustment module.In the present application, through the joint screening based on elevation, visible penetration rate and surface roughness, the key nodes with cover and accessibility are accurately identified, the terrain selection accuracy is improved, the spatial distance between the advantage nodes and the combat units is calculated to realize the accurate association between the control range and the deployment, the isolated points are excluded by node clustering division, the complete control domain contour is constructed, the Laplace operator is introduced to calculate the control force change rate, the boundary is dynamically adjusted in response to the situation evolution, the spatial continuity and change logic of the control force expression are strengthened, and the scene adaptability and deduction accuracy in the simulation process are enhanced.

The invention belongs to the technical field of multi-agent cooperative intelligent control, and particularly relates to a multi-mechanical-arm cooperative control method under unknown disturbance, which comprises the following steps: establishing a dynamic model of a strict feedback nonlinear multi-mechanical-arm cooperative system; constructing a communication topological structure of the system through a virtual coupling mechanism; constructing a unified system collaborative error model; introducing a preset time function and a global preset performance function, mapping errors to an adjustable constraint performance space, and ensuring that all error signals are dynamically converged in a performance range set by a user; a task layer shape control force and a pose control force are designed under a distributed gradient descent method framework, a task layer overall control force is constructed, and multiple mechanical arms are driven to move cooperatively and keep a stable formation in a task space; designing a joint layer distributed adaptive control law under unknown disturbance through passive characteristics of a nonlinear system; according to the method, cooperative convergence and stable control of the multi-mechanical-arm system within the preset time can be achieved under unknown disturbance.

A computer system has processing circuitry to control a force feedback unit to progressively increase a force feedback applied to the input device in response to a manual maneuvering of the input device towards a virtual stop position being defined in between an equilibrium position and a mechanical end position of the input device. The virtual stop position is a software-defined set point acting as an intermediate trigger for the input device. The force feedback is progressively increased until it reaches a maximum force feedback at the virtual stop position; and control the force feedback unit to reduce the force feedback applied to the input device at the virtual stop position in response to a force of a manual maneuvering of the input device exceeding the maximum force feedback value.

The invention discloses a fixed time ship trajectory tracking control method considering state limitation. The method comprises the following steps: S1, establishing an under-actuated ship mathematical model considering input saturation; s2, limiting the actual position of the ship based on the set first obstacle Lyapunov function; limiting the expected position of the ship based on a set second obstacle Lyapunov function; s3, defining a ship position tracking error, and designing a longitudinal expected speed and a transverse expected speed which can enable the ship position tracking error to converge; s4, defining a ship speed tracking error, and designing a first fixed time sliding mode surface and a second fixed time sliding mode surface according to the ship speed tracking error; and S5, designing a longitudinal control force and a yawing control moment which can enable the first fixed time sliding mode surface and the second fixed time sliding mode surface to converge so as to enable the ship speed tracking error to realize fixed time convergence and solve the problem that the convergence rate of the speed tracking error is low.

The invention belongs to the field of vehicle under-actuated system control, and particularly relates to an active suspension control method based on a Wuka theory analysis kinetic model and a vehicle. The control method comprises the following steps: firstly, constructing an equivalent 1 / 4 suspension model of a vehicle; then, the roll angle, the pitch angle and the vertical displacement of the vehicle and the displacement of the unsprung mass in each wheel suspension serve as one degree of freedom, and a seven-degree-of-freedom whole vehicle dynamic model based on the active suspension is constructed and converted into a matrix form; then, taking the roll angle, the pitch angle and the vertical displacement following expectation as control targets, establishing a corresponding three-dimensional error equation and a constraint equation, and converting the constraint equation into a matrix form; and finally, designing a control strategy of the vehicle based on the constraint following error, and calculating a servo control force and an additional control force in combination with the real-time state of the vehicle so as to obtain an active control vector. According to the method, the pitching and roll coupling control effect of the vehicle can be remarkably improved, and the dynamic response speed and the control precision of the system are improved.

The invention relates to the technical field of structural engineering, in particular to a stable friction damper with segmented positive and negative stiffness characteristics and a modeling method of the friction damper. The friction damper comprises supports, and a pre-compression spring assembly, a lever assembly, a viscoelastic damper assembly and a rotating friction assembly which are arranged between the supports; the pre-compression spring assembly is used for achieving the negative stiffness effect, the lever assembly plays a role in increasing the force and the negative stiffness effect, and the pre-compression spring assembly and the lever assembly form a stable triangular deformation structure. The rotating friction assembly is used for providing friction damping force and guaranteeing the stability of the structure when the pre-compression spring assembly and the lever assembly rotate relatively. The viscoelastic damper assembly is used for applying vibration reduction control force to the structure when small-amplitude vibration of the structure is not enough to drive the friction surface to slide. The invention further provides a corresponding modeling analysis method, and the dynamic behaviors of the device in different working stages are accurately described.

The invention relates to the technical field of ship manipulation and control, and discloses a self-propelled model test system for multi-tug collaborative operation simulation, and the system comprises at least one tug self-propelled model which is provided with a propulsion system and an inertial navigation integrated positioning system; the cargo ship self-propelled model is used as a guided target; and a shore-based control system. The shore-based control system exchanges data with each ship model in real time through a wireless communication network, receives ship model state information, calculates required total control force and torque based on expected movement of the cargo ship self-propelled model and a mathematical model, executes a self-adaptive collaborative thrust distribution strategy, distributes the total control requirement to each tug self-propelled model, and controls the ship model to move. And determining the target thrust magnitude and direction of each tug. According to the invention, high-precision cargo ship guidance can be realized in a simulated environment, the adaptability to the change of the simulated environment is enhanced, the potential of energy conservation and consumption reduction is explored, and an effective technical research and verification means is provided for actual complex port operation.

The invention provides a seismic isolation structure AMD control system based on the seismic energy storage principle, and relates to the technical field of structural engineering and damping control. The bottom of the building dissipates energy through the shock insulation support and the hydraulic inerter damper, earthquake input is converted into gravitational potential energy, mechanical energy and electric energy, and the energy storage module supplies energy to the active tuned mass damper arranged on the top of the upper structure. The system monitors structural response in real time through the acceleration sensor and the force sensor, the AMD intelligent control unit calculates and outputs control force capable of reducing upper vibration and generating reverse overturning bending moment, and therefore structural vibration is restrained and the shock insulation support is prevented from being pulled under the strong shock working condition, and the overall anti-seismic performance of the shock insulation structure is remarkably improved.

The invention relates to the technical field of motor control, and discloses a bearingless composite rotor cage type asynchronous motor vibration real-time compensation control method, which comprises the following steps: acquiring and preprocessing a rotor displacement signal to obtain a filtered displacement signal; processing the filtered displacement signal based on a second-order generalized integrator, and extracting a fundamental frequency harmonic component synchronous with the mechanical angular velocity of the rotor; adopting a simplified LMS algorithm to dynamically optimize the amplitude weight and the phase weight of the compensation force, and generating a feedforward compensation force according to the optimized weights; a two-channel control framework is constructed, and total control force is synthesized; the suspension force winding is driven by the inverter to generate corresponding radial suspension force, so that unbalance vibration of the rotor is counteracted; according to the invention, the second-order generalized integrator harmonic observer is adopted to realize high-precision extraction of the fundamental frequency component, and the mechanical angular velocity change of the rotor can be tracked in real time in cooperation with a frequency adaptive adjustment mechanism.

The invention discloses a prestress tension control method and system based on a multi-parameter coupling loss law, a medium and a processor, and relates to the technical field of prestress tension control. Common and specific parameters of a bridge and a tunnel are collected and preprocessed, and a scene-divided multi-parameter coupling loss law model is constructed; friction resistance, retraction, aging and environment loss rate are accurately quantified; determining a tension control force sequence in combination with an effective pre-stress target value, and constructing by adopting a hierarchical regulation and control strategy; and through post-construction effective prestress detection and deviation verification, parameter iteration and closed-loop management are realized. The problems that in the prior art, multi-parameter coupling loss quantization is insufficient, scene adaptability is deficient, and construction-detection closed loop fracture occurs are solved, the tensioning control precision is greatly improved, the method is adaptive to multiple scenes of bridges and tunnels, and the safety and stability of an engineering structure are guaranteed.

The present application belongs to the technical field of robot control, and particularly relates to a stability judgment method of a robot system variable impedance model using a variable augmented matrix, which enables the robot to verify its stability offline when the stiffness changes. Impedance control is a general force control scheme suitable for various manipulator tasks, one of which is human-robot collaboration: the manipulator performs force-position hybrid control on the object according to the impedance control law, while the operator applies control force to the object or the robot to realize human-robot collaboration and complete work such as assembly, carrying, etc. According to different manipulator tasks, variable stiffness parameters can be used to reflect flexibility and compliance. Not only can the dynamic relationship between external force and robot motion be controlled, but also these dynamic behaviors can be flexibly changed in a continuous manner during the task. Impedance control can be implemented in joint coordinates, Cartesian coordinates or other task-specific coordinates. Impedance targets can be achieved in different ways.

The invention provides an intelligent ship digital twinning motion modeling and parallel anti-interference path tracking controller. The intelligent ship digital twinning motion modeling and parallel anti-interference path tracking controller comprises a guidance signal module, a speed optimization module, a parallel path tracking controller module, a data-driven learning predictor module and an actual controller module. The data-driven learning predictor module receives position information, course angle information and speed information from the actual intelligent ship system module, and the data-driven learning predictor module receives parallel path tracking control force and torque from the parallel path tracking controller module; the data driving learning predictor module sends estimation information of the position and course angle of a virtual intelligent ship and estimation information of the speed of the virtual intelligent ship to the guidance signal module and the parallel path tracking controller module. According to the method, the self-adaptive capacity of the ship under the complex sea condition is enhanced, the collision risk is reduced fundamentally, and an effective solution is provided for the navigation scene with the high safety requirement.

The invention relates to the technical field of vehicle active suspension control systems, in particular to a vehicle roll-forward control method for an active suspension, which comprises the following steps of: constructing a roll state prediction unit, deducing a roll moment for causing roll of a vehicle body during steering of the vehicle, and predicting the roll degree of the vehicle body; constructing a control moment calculation unit, calculating the deformation resistance moment of the vehicle suspension, and determining the moment generated by the ground friction force on the vehicle chassis; a torque distribution calculation unit is constructed, and the total torque borne by the chassis during vehicle steering and the distribution proportion of the total torque between the front chassis and the rear chassis are determined; constructing a control force calculation unit, calculating active suspension target acting forces at four wheels required for realizing the front and rear suspension control moment, converting the target control moment into a target control force, and providing a specific control instruction for rear-end execution; according to the method, the roll degree of the vehicle body can be quickly predicted, the control target can be calculated in time, the control instruction is sent out before the vehicle body actually has large roll, and the stable control effect is achieved.

This invention relates to the field of engineering structure performance prediction and optimization technology, specifically disclosing an engineering full life cycle performance prediction and optimization system. The system collects time-series data of load, acceleration, and strain of engineering structures under extreme loads; constructs a physical consistency mapping operator based on real-time input data and finite element prior information, outputting a predicted response field; performs intrinsic orthogonal decomposition on the finite element prior information to extract the basis vector and integral point subset, trains the time-series evolution rule of the basis coefficients, and outputs low-dimensional basis coefficient prediction values; compares the real-time input data with the predicted values, and triggers online basis assimilation update when the deviation exceeds a threshold, assimilating the low-dimensional basis coefficients to output a corrected stiffness field; substitutes the corrected stiffness field into the time-series evolution rule to extrapolate the future response field, generating a smooth control force command for the active mass damper; this invention achieves real-time closed-loop optimization control of engineering structures under extreme loads.

Embodiments of the present application disclose a control method and device of a strength trainer, the strength trainer and a storage medium, wherein the method comprises: controlling the strength trainer to perform a return-to-origin movement according to a return-to-origin instruction to obtain a return-to-origin result; if the return-to-origin result is successful, controlling the strength trainer to enter a point-of-origin unloading state; and controlling the strength trainer to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-point-of-origin threshold, a preset out-point-of-origin threshold and the point-of-origin unloading state until a training stop signal is obtained, wherein the in-point-of-origin threshold is less than or equal to the out-point-of-origin threshold. Thus, the strength trainer is controlled to perform strength training in combination with a mechanical structure and the method of the present application, the accuracy of the strength training is improved, and the response time is shortened.

The clamping device comprises a clamping mechanism, a stop mechanism, a push rod, a limiting mechanism, a base and an elastic mechanism, by applying downward pressure, the clamping device is changed from a folded state to an unfolded state so as to clamp a target ornament, and after the downward pressure disappears by loosening the clamping device, the target ornament is clamped by the elastic mechanism. The clamping device automatically clamps a target ornament by means of deformation restoring force of the elastic mechanism, linear pressing motion of the push rod is converted into control force to the interior of the clamping piece through the limiting mechanism, and resetting of the elastic mechanism is converted into control force to the exterior of the clamping piece through the push rod. The opening and closing states of the clamping pieces are precisely regulated and controlled through the internal and external synergistic effect; the interactive design conforming to the operation intuition of the user that opening is achieved after pressing is conducted and closing is achieved after loosening is conducted brings pleasant operation experience and reliable psychological expectation to the user.

The invention relates to a method for controlling a force feedback system (30) for a steering system (50) or a vehicle, wherein the method comprises the following steps: - Receiving (S1) an input variable (7), - Determining (S2) a target feedback variable (801) based on the input variable (7), - Performing (S3) a state assessment, - Controlling (S4) the first feedback variable generation unit (3) to generate a first partial feedback variable (5) and the second feedback variable generation unit (4) to generate a second partial feedback variable (6) based on the target feedback variable (801), wherein the control of the first feedback variable generation unit (3) and the second feedback variable generation unit (4) is weighted according to the state assessment. The invention further relates to a force feedback system (30), a steering system (50), and a vehicle (100).

The application provides a robot system distributed formation control method and device based on U-K theory, which comprises the following steps: establishing a dynamic model of a networked robot system by adopting a Newton-Euler mechanical method according to system parameters in the networked robot system moving in a two-dimensional space, establishing a communication relationship between robots according to a preset algebraic graph theory strategy, setting a communication topological graph of a directed weighted graph with a directed spanning tree, converting an expected formation control target into a constraint equation, combining the dynamic model with a U-K equation to calculate a servo control force required by a non-complete constraint robot system to complete the expected formation control target, and designing a distributed formation controller in a leaderless case based on the servo control force by adopting a preset distributed formation control algorithm. The technical scheme solves the technical problem of lack of universality in the related art, expands the application range, is more general and universal, and guarantees the formation control stability on the basis of simplifying the calculation of the control force.

The invention discloses an aircraft tilting flight control method and system based on virtual acceleration, and relates to the technical field of aircraft control, and the method comprises the steps: generating a model based on virtual acceleration, and calculating virtual acceleration vectors of an aircraft in different flight modes; generating a correction coefficient based on a modal-error coupling correction algorithm, and performing online correction on the virtual acceleration vector in the current modal; generating an expected control force and an expected control moment based on the corrected virtual acceleration vector; the expected control force and the expected control moment are converted into a tilt angle instruction and a power device output instruction; and tracking the tilting attitude and the actual acceleration of the aircraft in real time. The control precision and the response speed can be effectively improved, the multi-mode flight adaptability is enhanced, and internal and external disturbance is inhibited.

The application discloses a multi-power unit high-speed train control method, and relates to the technical field of train control.The method comprises the following steps: performing stress analysis on a multi-power unit high-speed train to determine a high-speed train dynamics model; determining a discrete-time nonlinear model based on the high-speed train dynamics model; constructing control force and control force change rate constraints; converting the discrete-time nonlinear model to obtain a dynamic linearization data model; designing a parameter estimation algorithm and an adaptive extended state observer; designing a discrete-time terminal sliding mode function and a hyperbolic curve type reaching law; determining a data-driven terminal sliding mode control scheme based on the dynamic linearization data model, the parameter estimation algorithm, the adaptive extended state observer, the discrete-time terminal sliding mode function and the hyperbolic curve type reaching law; and performing tracking control operation on the multi-power unit high-speed train by using the data-driven terminal sliding mode control scheme.The application improves the control precision of high-speed train operation while reducing the sliding mode chattering.

Embodiments of the disclosure relate to a method and apparatus for controlling a robot, a device, a robot, and a medium. The method for controlling a robot according to the embodiments of the disclosure includes determining, based on a real-time image captured by the robot at a first moment, a reference motion parameter and a reference control force corresponding to the real-time image. The method further includes determining a target pose and a target control force of the robot at a second moment after the first moment according to the reference motion parameter and the reference control force. The method further includes determining a target action of the robot at the second moment according to the target pose and the target control force.