8 results about "Conversion equation" patented technology

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

The application discloses a kind of based on ST-GAN's multi-source data dynamic risk early warning method and system, the method includes the following steps: S1. constructing the spatiotemporal generation confrontation network suitable for spatiotemporal data characteristics, utilize the network to generate extreme precipitation data, realize spatiotemporal unbalanced data reduction, obtain the equalization data of final output;S2. the equalization data of final output with high-dimensional space variable is carried out multi-source data fusion, and nonlinear spatiotemporal information conversion equation, and by local linearization obtains linear approximation model, to predict future time series;S3. under the present situation that extreme rainfall data amount is relatively insufficient, neural network based on dual learning theory accurately learns the parameter of nonlinear spatiotemporal conversion, estimates extreme weather event.The application is through spatiotemporal generation confrontation network (ST-GAN) and multi-source data fusion engine, significantly improves the precision and efficiency of natural disaster warning.

The invention discloses a predictive control method and system for guide vane opening and exciting current of a hydroelectric generating set. The method comprises the following steps: collecting operation signals of a water turbine, a generator, an excitation system and a power grid system, and performing multi-time scale characteristic decomposition by adopting VMD and WPT; a water turbine energy conversion equation, a generator electromagnetic equation and an excitation system dynamic equation are embedded into a physical information neural network, a four-component loss function including structural loss, boundary loss, recursive loss and measurement data loss is introduced, and an improved PhyPINN-TI physical constraint prediction model is constructed; time-varying input is processed through an SSF algorithm, and SSF time window parameters are optimized through a chaos evolutionary algorithm; future evolution tracks of the guide vane opening and the exciting current are predicted in a rolling mode based on the prediction model, a prediction result is subjected to control constraint mapping to generate a control instruction, the control instruction is output to an electro-hydraulic servo system and an excitation system to be executed, and closed-loop prediction control over the guide vane opening and the exciting current of the hydroelectric generating set is achieved.

The application discloses a large-landscape-depth high-precision microscopic three-dimensional appearance scanning method and system and application. The method comprises the following steps: 1) establishing an imaging model based on the intersection imaging principle; 2) obtaining the depth direction information and the information of the object surface size of two dimensions of the collected image according to the imaging model, and deducing the conversion equation of the image surface and the object surface; 3) calibrating the parameters in the system object-image relationship equation through experiments; 4) scanning the object by using a line laser, calculating the spatial position coordinates of the sampling points through the calibration results, and completing three-dimensional reconstruction. The system comprises an illumination unit, an imaging unit, a displacement unit and an information control unit; the imaging plane of the imaging unit is inclined, and the line laser plane and the lens plane intersect at a straight line, so that the line laser plane is clearly imaged. The application has high efficiency and high precision, and has application value in the fields of automatic processing and part surface detection.

The invention discloses a tool state prediction method based on multi-sensor fusion, and the method comprises the steps: 1, determining a monitoring quantity and a state quantity sensed by a tool, and collecting a data set of the monitoring quantity; step 2, respectively constructing a conversion equation of each monitoring quantity; and step 3, based on the conversion equation of each monitoring quantity, constructing a multi-sensor fusion tool state prediction model based on Kalman filtering so as to obtain the prediction quantity of the tool state through the tool state prediction model. According to the method, the problem that the explanatability and accuracy of a simulation result are limited due to the fact that a tool design deformation error is usually obtained according to simulation calculation in an existing tool deformation monitoring mode is solved.

The application relates to the technical field of mobile robots and discloses a complex under-actuated robot full-dynamics decoupling servo control system and method, wherein the control system comprises a calibration target module, a feature sensing module, a data processing module, a position control module and a posture control module; the control method comprises the following steps: energy equations and potential energy equations are established by analyzing the force conditions of each moving component of a robot body; a robot dynamics model is established by substituting a Lagrange function into a Lagrange equation; a conversion equation representing the conversion relationship between robot control variables and self-state variables is established by analyzing the mapping relationship between the robot control variables and the self-state variables; and a control model is obtained based on the conversion equation, a control algorithm is designed, and a control signal is generated. On the basis of ensuring that the robot self-model can fully reflect the dynamics characteristics of the robot, the posture and position dynamics of the robot are decoupled, the accuracy and stability of the body control are improved, and the maneuverability and sensitivity of the robot are effectively exerted.

The invention relates to the technical field of vertical shaft type gravity energy storage systems, in particular to a vertical shaft type gravity energy storage system overall energy efficiency analysis and calculation method which comprises the steps that the complete charging and discharging circulation of a vertical shaft type gravity energy storage system is divided into a plurality of stages according to the movement path of a gravity medium; aiming at the charging state, establishing a kinetic equation and an energy conversion equation of the gravity medium in the horizontal transportation and vertical lifting process, solving to obtain an energy change value of each stage, and obtaining the total energy of the charging process; aiming at the discharge state, establishing a kinetic equation and an energy conversion equation of the gravity medium in the horizontal transportation and vertical descending processes, solving to obtain an energy change value of each stage, and obtaining the total energy of the discharge process; and obtaining the overall energy conversion efficiency of the system based on the total energy of the discharging process and the total energy of the charging process. The calculation method provided by the invention realizes the quantitative analysis of the whole process of the vertical shaft type gravity energy storage system from the power grid side input energy to the power grid side output energy.

The application provides a cross-scale scaled model test design method for a transient strong nonlinear process, belongs to the technical field of structural impact dynamics model test, and is based on a scale similarity conversion model, introduces similarity conversion coefficients and an uncertainty control index therein, and constructs a scale similarity conversion equation from model test results to prototype responses.Combining self-similarity and scale invariance of the strong nonlinear system, discrete constraint is applied to a scaledown ratio of the cross-scale test, scale levels are defined, three types of cross-scale model conversion, i.e., large-middle-large, large-small and middle-small, can still realize cross-scale similarity conversion of strong impact response time histories such as acceleration and strain under the condition that medium parameters, material parameters and boundaries inevitably distort; and the method is suitable for model test data compensation deduction of prototypes of various strong impact response structures such as explosion impact, collision, drop, throwing into water / into soil and impact vibration.