68 results about "Control force" patented technology

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.

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.

Aircraft performance modification system including a center-of-gravity (CG) subsystem and processor system(s) operatively integrated with components of the aircraft. The CG subsystem is configured to adjust the location of the aircraft CG within, and at times outside, a range of CG locations specific to the aircraft. The processor system(s) is / are configured to manage and concurrently adjust the aircraft CG, aircraft flight controls settings, and aircraft engine power control settings to manipulate control forces about one or more axes of the aircraft, and for automatically or autonomously controlling adjustments to (i) the aircraft CG such that the CG location is within, and at times outside, the range of CG locations, (ii) movement and positions of aircraft flight control surfaces, and (iii) aircraft engine(s) output power, to reduce drag by providing / controlling aircraft configurations that result in adjusted drag, yielding flight performance improvements attributable to decreased drag, and to prevent a stalled condition.

This application relates to a control method, apparatus, flexible parallel robot, and storage medium for a flexible parallel robot. The method includes: acquiring the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot; determining the position adjustment amount corresponding to the control force of the robot based on the force deviation or torque deviation between the target force and the current output torque; determining the velocity control amount corresponding to the control position of the robot based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount; and controlling the drive components of each flexible drive joint based on the velocity control amount to drive the robot's flexible motion. This method simplifies control complexity, improves control stability, absorbs impact energy, and achieves flexible actuation in both mechanics and kinematics.

This application relates to the field of vehicle suspension control technology, and more specifically to a fully active suspension control method, an electronic device and a computer-readable storage medium capable of implementing the method. The method includes: receiving road surface elevation information of the road ahead of the vehicle; filtering the road surface elevation information to obtain a desired vertical motion trajectory of the vehicle body; calculating a feedforward control force for controlling the fully active suspension based on the road surface elevation information and the desired vertical motion trajectory of the vehicle body; detecting the actual vertical motion state of the vehicle body and calculating a feedback control force based on the actual vertical motion state of the vehicle body; and superimposing the feedforward control force and the feedback control force to obtain a total control force, and outputting it to the actuator of the fully active suspension.

The application discloses a three-arm space robot multi-modal shared teleoperation system and method, which comprises at least a master teleoperation system, a communication module and a slave robot system, the master teleoperation system comprises at least two force feedback hand controllers, a microphone array and upper computer software, and the slave robot system comprises two end work arms equipped with grippers, an observation arm with a double-eye camera at the end, a vision unit, a force sensor and lower computer software; an operator controls two work arms of the extravehicular robot to perform a task, and controls the observation arm to obtain a better local visual angle; the method fuses the multi-modal teleoperation control method comprising pose control, voice control and force control with the robot autonomous control through a shared control algorithm, can realize the position, posture and contact force of the robot controlled by the operator and the robot autonomously performing other relatively simple tasks according to the demand of the operator, reduces the operation burden of the operator and improves the control efficiency.

This invention relates to a method, device, and electronic equipment for underwater vehicle formation control. The method includes: constructing a formation configuration maintenance framework based on rigid graph theory, and determining the relative positional relationships between vehicles through distance constraints; establishing an obstacle avoidance control model based on the artificial potential field method, calculating the potential field force based on the distance between the vehicle and the obstacle and the distance between vehicles, thereby achieving obstacle avoidance and collision prevention between vehicles; performing online identification and compensation of unmodeled dynamics and external disturbances in the vehicle dynamics model based on a radial basis function neural network, using a Gaussian function as the activation function; and vector-fusing the formation maintenance control force, potential field force, and compensation output of the radial basis function neural network to generate control commands for each vehicle, thereby achieving formation control. This invention can achieve high-precision formation maintenance, effective obstacle avoidance, and adaptive disturbance compensation capabilities in complex underwater environments.

This invention belongs to the field of multi-agent cooperative intelligent control technology, specifically relating to a multi-manipulator cooperative control method for unknown disturbances. The method includes: establishing a dynamic model of a strictly feedback nonlinear multi-manipulator cooperative system; constructing the system's communication topology through a virtual coupling mechanism; building a unified system cooperative error model; introducing a preset time function and a globally preset performance function to map errors to an adjustable constraint performance space, ensuring dynamic convergence of all error signals within the user-defined performance range; designing task-level shape control forces and pose control forces within a distributed gradient descent framework to construct an overall task-level control force, driving the multi-manipulators to move cooperatively and maintain a stable formation in the task space; and designing a joint-level distributed adaptive control law under unknown disturbances using the passive characteristics of the nonlinear system. This invention enables multi-manipulator systems to achieve cooperative convergence and stable control within a preset time under unknown disturbances.

This invention discloses a fuzzy PID control method for suppressing the rebound of a tethered towed system, belonging to the field of spacecraft dynamics and control. The implementation method involves: constructing a simplified model of the tethered towed system; introducing fuzzy control into the PID control; and calculating the control force to be applied to the tether by observing the error and rate of change between the distance between the tether and the space debris and the desired distance. This control force is then applied to the tether to actively control the tethered towed system, bringing the distance between the tether and the space debris closer to the desired state, thus suppressing the rebound of the tethered towed system. This invention can calculate the control force to be applied to the tether simply by observing the error and rate of change between the distance between the tether and the space debris and the desired distance, offering advantages such as simple control method, low computational load, high operability, and strong robustness. This invention can suppress the rebound of the tethered towed system, ensuring its safe and stable operation.

The embodiment of the application provides a vehicle control method, a vehicle and a readable storage medium, the method comprises the following steps: acquiring a road surface height sequence corresponding to a wheel track, wherein the road surface height sequence is used for representing the geometric profile of a road; determining a road excitation sequence corresponding to the wheel track according to the road surface height sequence, wherein the road excitation sequence is used for representing the actual load borne by a vehicle suspension system; determining a feedforward control force according to the road excitation sequence, wherein the feedforward control force is used for offsetting a known forward disturbance; determining a feedback compensation force according to the feedforward control force, wherein the feedback compensation force is used for compensating for the prediction error of the feedforward control force and a random disturbance; and determining the working state of the vehicle suspension system according to the feedforward control force and the feedback compensation force. The application solves the technical problem of poor ride comfort of a vehicle when passing through a bumpy road in the prior art.

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 application discloses a kind of unified impedance control method and system of redundant mechanical arm, control method includes: obtaining the state data of each joint of redundant mechanical arm and the desired pose of end effector, and calculating end actual pose;Task mapping matrix and task space impedance control quantity are obtained by solving;Zero space base vector is constructed, and corresponding zero space control quantity is calculated;Task mapping matrix and zero space base vector are fused to construct generalized mapping matrix, and task space impedance control quantity and zero space control quantity are fused to construct generalized control force vector;Generalized jacobian matrix and seven-dimensional generalized control force vector are calculated by matrix multiplication operation to obtain each joint control moment, and after limiting, it is output to servo driver.In the application, by constructing generalized space, joint torque can be directly output by once matrix multiplication, task and zero space are decoupled, calculation efficiency is improved, and high control precision and motion stability are obtained.

The application discloses a ROV opening position anti-disturbance control system and method based on long baseline integrated navigation, and the system comprises a long baseline positioning auxiliary module, a disturbance observation and control module and an execution module; the long baseline positioning auxiliary module obtains an absolute position through a transponder array, obtains a relative position through a strapdown inertial navigation system and a Doppler velocity meter, and outputs a position through an adaptive unscented Kalman filter; in the disturbance observation and control module, an extended state observer takes the fused position as input to observe total disturbance, a sliding mode controller generates control force based on position deviation and corrects feedforward through disturbance estimation, and a thruster dynamic compensation unit compensates cavitation and dead zone characteristics; the execution module distributes the compensated control force to a vector thruster through a construction-analysis method. The application solves the problems of navigation accuracy and frequency contradiction in deep opening operation, observer miscompensation and instability caused by non-ideal characteristics of a thruster.

This invention relates to the field of smart logistics infrastructure technology, and more particularly to a smart logistics unmanned operation and delivery system. The system includes a docking terminal with a magnetorheological tensioned integral structure. A multi-dimensional spatiotemporal sensing module collects vehicle data to determine the target static equilibrium configuration; a construction evolution and reconstruction module drives the pre-displacement of the compressed spine to form a flexible funnel-shaped or rigid tray-shaped docking interface for drones or unmanned delivery vehicles, respectively; an energy shaping and control module applies active control force at the moment of contact to construct a suitable flexible potential energy trap or rigid support potential energy barrier; a nonlinear damping injection module adjusts the yield stress of the magnetorheological fluid according to the impact momentum, providing nonlinear physical damping to dissipate kinetic energy; and a steady-state locking flow module achieves rigid interlocking using a universal magnetic flux coupler in the system's steady state. This invention effectively solves the problem of mechanical impedance mismatch during the docking of heterogeneous vehicles.

This invention provides a trajectory planning and intelligent control method for a three-stage swing-type overhead crane, relating to the technical field of intelligent overhead crane systems. The method includes: defining a planar coordinate system and determining the position coordinates of the crane's trolley, hook, frame, and load within the planar coordinate system; obtaining a dynamic model using the Lagrange equation based on the position coordinates; designing a controller based on the dynamic model; setting up a two-layer radial basis function neural network and determining the control force; and determining the overall control law based on the position coordinates, the controller, and the control force. According to this invention, intelligent anti-sway control of the three-stage swing system improves control quality, enhances the system's anti-interference capability, and improves the overall system safety level.

The present application relates to the technical field of active suspension system control, and particularly relates to a gain scheduling pulse control method for vehicle suspension under network delay. The method first establishes a dynamic equation and a state space model of vehicle active suspension containing network delay, and constructs a linear time-invariant state space model based on dynamic integral quadratic constraint; a corresponding gain scheduling pulse controller is designed, an equivalent form of the suspension state space model is established through an uncertain operator, and a pulse feedback interconnection system is derived; a stability condition of the control system is given under the dynamic integral quadratic constraint framework, a controller design method is proposed, a gain matrix is solved, and software simulation and hardware-in-the-loop experiment verification are performed. The method effectively simplifies the model processing flow and reduces the calculation complexity, can realize the stability control of the vehicle active suspension under network delay, and at the same time, takes into account the safety constraints of suspension displacement and actuator control force, and improves the ride comfort and control stability of the vehicle.

This invention discloses a wave-damping wave tank system and control method, relating to the field of wave testing technology. The system includes a constraint device, a water tank, a wave-generating device, a wave-damping device, and a control system. The wave-generating and wave-damping devices are configured to have identical structures. The control system is configured to apply different control strategies to the wave-generating and wave-damping devices, and calculates the target thrust command based on the displacement and velocity feedback of the wave-generating and wave-damping floats. The wave-damping device applies an external control force to the floats. This invention, by setting up a wave-generating and wave-damping device, relies on the wave-generating device to generate waves by performing reciprocating linear motion in the vertical direction to induce oscillation in the working fluid. The wave-damping device employs an active wave-damping algorithm with nonlinear restoring force compensation, effectively improving wave-damping efficiency under large amplitude conditions.

This application discloses a motion control method for a mobile imaging device and the mobile imaging device itself. The method includes: in motion mode, acquiring control force signals through a force detection device to control the drive motors and steering mechanisms of each drive wheel unit, thereby driving the device to move; upon receiving a mode switching command, locking the brakes, controlling each support leg to extend and contact the ground, and dynamically adjusting the support force of each support leg to raise the chassis until the wheels are off the ground; during scanning in support mode, analyzing the projection data output by the detector to obtain image quality indicators; when vibration interference is detected, real-time compensation and adjustment of the support force of each support leg based on the characteristic parameters of the vibration interference to suppress the transmission of vibration interference to the image chain. This method improves imaging stability by using support legs instead of wheels for support and performing active vibration compensation based on image quality indicators.

A kind of spool valve assembly for pressure servo valve, valve core is located in valve body, and valve sleeve is sleeved on valve core.The bushing is between the outer surface of the oil inlet end of valve core and the inner surface of valve sleeve.The valve core oil inlet control cavity is formed between the inner end surface of shaft sleeve and the end surface of the oil inlet end of valve core.The valve core oil return control cavity is formed between the inner end surface of valve sleeve plug and the end surface of valve core.The invention receives two-way pressure from pilot stage through two control cavities, generates control pressure difference at both ends of valve core, moves valve core to valve core oil return control cavity, gradually closes the oil return pressure hole R of valve core, gradually opens brake pressure hole S, gradually increases output port pressure, until the control force acting on valve core, brake cavity pressure feedback balance, thus output a brake pressure proportional to input current, so that the stability of the output pressure of servo valve is improved from 5% to 3%, the processability of pressure servo valve is improved, and the stability of pressure servo valve is improved.

The present application relates to the field of suspension control, and discloses a roll control method and device, computer equipment and a storage medium, the method comprising: obtaining a vehicle state measured value; determining vehicle state estimation data according to the vehicle state measured value; determining a total suspension control force according to the vehicle state estimation data; distributing the total suspension control force to obtain a target control signal of each suspension actuator; and sending each target control signal to the corresponding suspension actuator to enable the suspension actuator to output an actuating force according to the target control signal. The roll control method provided by the present application improves vehicle handling and ride comfort, enhances safety and reliability, and reduces the upgrade cost of the vehicle.

The present application relates to the technical field of calligraphy robot, and particularly relates to a calligraphy robot writing control method and system based on paper self-adaptation. The method comprises a paper ink absorption model construction step, a control mechanical arm driving brush pen to perform stepwise pressure pressing in the blank area of the paper, collecting the pressure value, pressing duration and final stable ink width of each pressing, fitting to obtain the ink absorption coefficient and constructing the paper ink absorption model; a writing control step, based on the model to perform writing control: force sense stable pressure control dynamically adjusts the tip pressure according to the preset target pressure and the actual pressure; visual calibration control dynamically corrects the preset target pressure according to the actual stroke width, and uses the corrected target pressure as the input of the force sense stable pressure control; model prediction control predicts the ink diffusion width based on the paper ink absorption model, and actively adjusts the tip pressure in advance when the prediction exceeds the preset width boundary. The setting can automatically adapt to paper with different ink absorption characteristics and realize accurate writing.

The embodiment of the application provides a kind of active suspension posture control method, system and vehicle, method includes: based on the dynamics model of vehicle, according to the driving force, braking force and inertia force of vehicle at least one, determine the steady-state control force of active suspension;Identify the current working condition of vehicle, based on current working condition, determine dynamic compensation force;According to steady-state control force and dynamic compensation force, determine the target control force of active suspension.The method provided in the embodiment is based on the dynamics model of vehicle, and the posture is adjusted by feedforward control dominance, instead of the dependence of traditional feedback control on angle sensor, and a dynamic compensation strategy is designed for dynamic scene, to improve the performance of active posture control under transient state.

This application provides a vehicle control method and a vehicle, relating to the field of vehicle chassis technology. The method includes: when it is detected that the vehicle's body posture is about to become unstable, acquiring the vehicle's current motion data and the current height of each wheel; based on the vehicle's current motion data and the current height of each wheel, determining multiple control forces of the suspension system for each wheel, wherein different control forces have different control directions on the vehicle's posture; fusing the multiple control forces of each suspension system to obtain a target control force for each suspension system; and controlling each suspension system to output the target control force to maintain vehicle posture stability. Based on the above scheme, the stability of the vehicle's body posture can be improved.

This invention relates to the field of mechanical control technology, and more particularly to a spatial truss vibration control method and system based on deep reinforcement learning. The method utilizes Automatic Reinforcement Learning (ATMD) to control the truss, and during the control process, it collects the displacement and velocity at the truss nodes, as well as the displacement and velocity output by ATMD. A state vector is formed using the four currently collected data points, and a reward function is constructed using the displacement and velocity at the truss nodes and the control force output by ATMD. Reinforcement learning is then performed to output the control force generated by ATMD in the next time step. This invention proposes an innovative multimodal vibration control method by combining deep reinforcement learning and ATMD control technology, effectively overcoming the limitations of existing methods in multimodal vibration control, system adaptability, real-time optimization, and energy efficiency optimization. This technical solution can achieve efficient vibration suppression in dynamic and complex environments, ensuring the robustness and high efficiency of the system.

The application provides a mechanical system constraint following control method based on a history state information neural network, relates to the technical field of automatic control, and specifically comprises the following steps: a dynamic model of a mechanical system containing constraints is established, and a nominal control part is designed based on U-K theory; a lumped disturbance model of the mechanical system is established, a feature vector including a history state of the mechanical system is constructed, and an offline training data set is acquired; an inverse dynamics mapping is learned offline by using a multilayer perception neural network, and a lumped disturbance estimation model is established; original prediction of the multilayer perception neural network is subjected to low-pass filtering smoothing processing, and a total control law is formed in combination with a nominal control force and applied to the mechanical system; and the mechanical system is simulated and verified. The technical scheme of the application overcomes the problems of strong robust control conservativeness, high gain easy to cause chattering, and feature mismatch and signal jitter in a pure data driven method in the prior art.