82 results about "Coriolis force" patented technology

The invention discloses a method for judging an RTK abnormal value in an automatic driving integrated navigation system, and relates to the technical field of automatic driving high-precision integrated navigation, and the method comprises the steps: collecting RTK observation data, inertial measurement unit data, a wheel speed pulse signal and LiDAR point cloud data, carrying out timestamp alignment and coordinate system unification, and generating a fusion data value; calculating a carrier-to-noise ratio weight signal quality index of the satellite through the fused data value, and generating a signal quality report; and combining the signal quality report, the current satellite geometric accuracy factor and the vehicle motion acceleration, calculating a residual threshold, constructing a coriolis force compensated double-integral prediction model by using inertial measurement unit data, and predicting the position of the vehicle at the current moment. According to the method, multi-dimensional features such as satellite signal quality, vehicle motion state and residual analysis are fused through multi-source decision, and the anomaly detection capability of complex scenes such as urban canyons is effectively improved.

The invention discloses a high-precision well deviation and azimuth measurement method based on a multi-axis sensor, and the method comprises the steps: 1, building a local navigation coordinate system of an underground environment in consideration of the influence of the earth curvature and the earth rotation, and obtaining a reconstruction signal; 2, based on the sensor mass of the four-axis sensor, considering the Coriolis force influence caused by earth rotation, and calculating a Coriolis force compensation vector; 3, calculating the projection of the geomagnetic field in the local navigation coordinate system to obtain a geomagnetic field projection vector; and 4, according to the gravity compensation value, the Coriolis force compensation vector and the geomagnetic field projection vector, in combination with the reconstruction signal, calculating a corrected hole drift angle and a corrected azimuth angle. According to the invention, the precision of well deviation and azimuth measurement is obviously improved.

The invention relates to the field of multiphase numerical simulation, and discloses a numerical simulation method for solid and liquid phases in a rotating flow channel based on multiple reference systems, which comprises the following steps of: firstly, acquiring a rotating flow field generated by a multiple reference system method, and extracting rotating domain information as well as particle information and fluid computational domain grid information in a current time step; secondly, particles in a rotation domain and particles outside the rotation domain are determined according to the rotation domain information and the particle information; in combination with the particle information and the fluid calculation domain grid information, the final flow field speed and the reconstructed porosity of the particles in the rotation domain and the particles outside the rotation domain are calculated respectively, and then the drag force is calculated according to the final flow field speed, the reconstructed porosity and the particle information; meanwhile, according to the particle information and the rotation domain information, the Korotkoff force and the centrifugal force of the particles in the rotation domain are calculated. Finally, drag force, Korotkoff force and centrifugal force are calculated through iteration, particle information and grid information of the next time step are obtained, and therefore numerical simulation calculation of particle motion in the rotating flow channel under the fixed grid is achieved.

The invention discloses a numerical weather forecast deviation correction method and system based on physical conservation optimization. The method comprises the following steps: acquiring a specified prognostic variable in a numerical weather forecast system; inputting the prognostic variable into a prediction deviation correction model pre-trained by a loss function based on physical conservation optimization so as to obtain a deviation correction prediction result of numerical weather prediction; in the loss function of the physical conservation optimization, the physical conservation optimization refers to adding part or all of Coriolis force and barometric gradient force loss, static equation constraint derivation loss and vertical integral loss to the loss function of the value weather forecast deviation correction model. The invention aims to solve the problem of systematic deviation correction in mid-term numerical forecasting, better capture the complex dependency relationship in meteorological data, quantify the uncertainty of numerical weather forecasting and improve the forecasting precision.

The utility model provides a Coriolis flow meter, the upstream end and the downstream end of a flow guide pipe in a chamber of a meter shell are respectively connected with an opening and closing valve and a liquid outlet pipe, the midstream section of the flow guide pipe is an expanding section, a sensing device is arranged at the position close to the free end of a vibration rod in the flow guide pipe, vibration signal output of the vibration rod is collected, and a flow value is obtained. According to the scheme, the diameter expanding section increases the Coriolis force which is generated by the fluid in the flow guide pipe and is perpendicular to the vibrating rod, so that a vibration signal generated by the vibrating rod under the same flow is more easily measured by a sensing device, and the measuring sensitivity of the flowmeter is further improved.

The invention belongs to the technical field of robots, and particularly relates to a friction identification method based on a moss growth algorithm. The method comprises the steps of 1, designing a movement track; 2, executing the motion trail in the step 1 in a position control mode, collecting the speed and moment data of the robot, and extracting the friction moment of the robot; step 3, filtering the collected friction torque; 4, establishing a friction force and Coriolis force coupling model; 5, identifying parameters of the friction force and Coriolis force coupling model by using a moss growth algorithm; and 6, removing the Coriolis force model to obtain a final friction model. According to the method, the problem that a traditional genetic algorithm is prone to falling into a local optimal solution in the parameter identification process is solved, and the identification efficiency and precision are improved.

The invention discloses a critical parameter prediction method for a vertical cantilever fluid conveying pipe comprising a water injection pump and a Y-shaped nozzle, and relates to the field of fluid conveying pipe critical parameter calculation. The prediction method is based on an Euler-Bernoulli beam model and a momentum theorem, bending force, centrifugal force, Coriolis force, inertia force, gravity and additional force generated by an elbow are comprehensively considered, and an oscillatory differential equation of the fluid conveying pipe is established. The method comprises the following steps: performing dimensionless processing on an oscillatory differential equation by introducing dimensionless parameters, deducing a characteristic equation, a characteristic function and a characteristic value under a cantilever boundary condition, converting a partial differential equation into an ordinary differential equation set, and performing matrix solution; and finally, accurate prediction values of the critical flow velocity and the critical frequency can be obtained. The method can effectively reflect the influence rule of the nozzle and the concentrated mass on the vibration characteristics of the fluid conveying pipe, and realizes the accurate prediction of the critical parameters of the vertical cantilever containing the concentrated mass belt Y-shaped nozzle fluid conveying pipe.

The invention relates to the technical field of ocean science education, in particular to an ocean current motion science popularization simulation system. Comprising a power simulation unit, a water flow control unit, a visualization unit and an interaction control unit, wherein the power simulation unit is used for comprehensively simulating various power sources and interaction of ocean current motion through a multi-power coupling simulation system and a green energy-saving driving device. By arranging the wind power simulation module, the thermohaline driving module and the earth rotation force simulation module, main driving force influencing ocean current in nature and interaction of the main driving force can be comprehensively simulated. Especially, a dual ground rotation force simulation mechanism based on a rotating platform and algorithm correction is introduced, so that the abstract Coriolis force effect is visually presented, and the teaching authenticity and scientific interpretation strength of the ocean phenomenon are remarkably improved.

A distributed high-fidelity simulation system for large-scale high-speed AUVs based on real disturbance data is proposed. Through a large-scale AUV virtual test vehicle subsystem, the system simulates the motion state of a real large-scale high-speed AUV physical prototype under the interaction of rigid body inertia, gravity, buoyancy, inertial hydrodynamic forces, centripetal force, Coriolis force, drag, thrust, rudder force, and external environmental disturbances. Collision attributes are added to the prototype through a physics engine. The system also utilizes an underwater 3D virtual environment subsystem to render a large-scale underwater environment, build dynamic and static obstacle visualization models, and simulate the generation of realistic ocean currents and wave disturbances with high fidelity. The simulation presents a realistic underwater environment for a large, high-speed AUV. A motion solution subsystem describes the transformation relationships between the fixed coordinate systems of all objects in the underwater virtual environment and solves the motion equations of the large AUV, synchronously updating its pose and velocity states. A data management subsystem manages various data generated during the simulation, supporting write and read data operations, and also manages and coordinates data communication between nodes, supporting receive and send data operations. A visualization subsystem loads and dynamically displays the underwater 3D environment and the large AUV virtual test vehicle model, synchronously updating real-time data curves and visualizing the AUV's motion trajectory.

The invention relates to the technical field of Coriolis inertia force experiment equipment, and discloses an angle adjusting bracket for a Coriolis inertia force experiment, which comprises a bottom plate, a rotation angle driving mechanism and a linear module, the rotation angle driving mechanism is installed on the bottom plate, the module fixing structure is installed at the output end of the rotation angle driving mechanism, and the rotation angle driving mechanism is used for driving the module fixing structure to rotate; the linear module is mounted at the top of the module fixing structure, a test module is slidably connected to the linear module, and the linear module is used for driving the test module to move; the driving mechanism, the linear module and the test module are electrically connected with a control system. According to the invention, automatic adjustment can be realized, the displacement parameter of the test module at a specific angle can be accurately controlled, the Coriolis force of an object moving in different directions can be tested, and the experiment efficiency can be improved.

The present invention discloses a high-precision well inclination and azimuth measurement method based on a multi-axis sensor. The method includes: Step 1: Considering the influence of the earth curvature and the earth rotation, establish a local navigation coordinate system for the downhole environment to obtain a reconstructed signal; Step 2: Based on the sensor quality of the four-axis sensor, considering the influence of the Coriolis force caused by the earth rotation, calculate the Coriolis force compensation vector; Step 3: Calculate the projection of the geomagnetic field in the local navigation coordinate system to obtain the geomagnetic field projection vector; Step 4: According to the gravity compensation value, the Coriolis force compensation vector and the geomagnetic field projection vector, combined with the reconstructed signal, calculate the corrected well inclination angle and the corrected azimuth angle. The present invention significantly improves the accuracy of well inclination and azimuth measurement.

The application discloses a rotating wing type variable cross-section crack blade fault characterization and dynamics analysis method, belongs to the field of rotating wing type variable cross-section crack blade fault characterization and dynamics analysis, and comprises the following steps: according to the finite element theory and the plate shell theory, based on centrifugal rigidification, rotation softening and the coriolis force effect, a motion differential equation of the wing type variable cross-section blade is established; according to the motion differential equation of the wing type variable cross-section blade, based on the crack existing in the blade, the breathing effect between crack surfaces is equivalent by adopting a spring unit, a rotating wing type variable cross-section crack blade dynamics model containing the breathing effect is established, vibration energy theory is adopted to convert the displacement response into energy response, based on the rotating crack blade crack diagnosis index with the breathing effect, the crack characteristics of the blade are obtained, and the application is more effective and accurate in analyzing the rotating crack blade fault, and can provide theoretical guidance for detection and diagnosis of the rotating crack blade.

The invention discloses a robot self-adaptive trajectory control method based on a radial basis function neural network, belongs to the field of intelligent equipment control, remarkably reduces huge calculation burden in a traditional optimization strategy, avoids time and operation space cost caused by the huge calculation burden, does not need to depend on a model training learning process before control, and improves the control precision. Therefore, the trajectory tracking control precision of the continuum robot is effectively improved. The method mainly comprises the following steps: constructing a continuum robot nominal dynamic model through a Lagrange algorithm; designing a radial basis function neural network function for approximation estimation of Coriolis force, gravity, elastic force and external interference in subsequent controller design; subtracting the actual output from the ideal output of the system to form a tracking error z1, and constructing a first error variable; designing a Lyapunov candidate function for the integral of the first error variable, and designing a first virtual controller; the method is mainly used for track control of the continuum robot.

The present invention provides an angular velocity sensitive unit and an angular velocity sensor, which include: a base, a first straight sensing arm, a second straight sensing arm, a first connecting arm, a second connecting arm, a pair of first straight driving arms, and a pair of second straight driving arms; a first connecting arm groove is provided on the relative main surface of the first connecting arm, a first connecting arm groove electrode is provided on the first connecting arm groove, and a first connecting arm sidewall electrode is provided on the side of the first connecting arm; a second connecting arm groove is provided on the relative main surface of the second connecting arm, a second connecting arm groove electrode is provided on the second connecting arm groove, and a second connecting arm sidewall electrode is provided on the side of the second connecting arm. The present invention can reduce the energy dissipation caused by thermoelastic damping, thereby improving the Q value, and the groove is provided on the connecting arm to reduce its sectional inertia moment, so that the Coriolis force transmission effect is more obvious, thereby improving the sensitivity of the angular velocity sensitive unit, which is conducive to the miniaturization of the device.

This invention relates to a method for analyzing the turning stability of a truncated cone thin-walled structure, belonging to the field of machining technology. First, based on shell theory, a vibration differential equation considering the rotational effects of centrifugal force, Coriolis force, and initial ring tension is established. The cantilever-free boundary condition expression is substituted into the equation, and the natural frequencies and modal parameters of the rotating truncated cone thin-walled structure are obtained by solving the equation using a generalized differential quadrature method. Then, considering the vibration of the tool along the generatrix of the shell and the vibration of the workpiece perpendicular to the generatrix, a flexible workpiece-tool coupled turning dynamics model is established. This model simultaneously considers the influence of shell rotation and multi-mode vibration, achieving a more accurate prediction of the turning process of the truncated cone thin-walled structure.

The utility model provides a Coriolis force flowmeter which is characterized in that the upstream end and the downstream end of a flow guide pipe in a chamber of a meter shell are respectively connected with an opening and closing valve and a liquid outlet pipe, a sensing device is arranged close to the free end of a vibration rod in the flow guide pipe, a magnet is connected to a valve plate on the side of an isolation cavity, and a magnetic induction coil is arranged on the shell wall close to the magnet. The magnet is arranged on the valve plate, the magnet vibrates along with vibration of the valve plate, and the vibrating magnet cuts magnetic induction lines of the magnetic induction coil to generate electricity, so that the flowmeter can automatically supply energy in the measurement process.

The utility model discloses a Coriolis force effect demonstration device based on double visual angles, and belongs to the technical field of Coriolis force effect demonstration devices. Comprising a small ball for simulating a mass point; a base; a horizontally arranged rotating assembly is arranged on the base plate; a supporting plate is horizontally arranged on the rotating assembly; a simulation disc is horizontally arranged on the supporting plate, and the top surface of the simulation disc is provided with a paraboloid. The driving assembly drives the rotating assembly to rotate, the supporting plate is driven to rotate, and then the simulation disc is driven to rotate. Wherein the top surface of the simulation disc is provided with a paraboloid, so that simulation of an earth rotation environment is realized. When the Coriolis force effect demonstration device is used, the driving assembly drives the simulation disc to rotate, then the small balls are placed in from the edge of the simulation disc at a certain speed, the small balls are affected by Coriolis force, the motion trails of the small balls are changed, and therefore the purpose of Coriolis force effect demonstration is achieved. And the image or video data of the motion trail of the small ball on the simulation disc is acquired by the camera assembly, so that subsequent comparative analysis work is facilitated.

The present invention belongs to the field of robotics. The present invention discloses a mechanism that moves along the instantaneous rotation axis of a spherical 4R mechanism, comprising a fixed platform, a movable platform, and three motion branches arranged between the fixed platform and the movable platform. The fixed platform is respectively provided with an eleventh rotation pair, a fourteenth rotation pair, a twenty-first rotation pair, and a twenty-fourth rotation pair. In the process of adjusting the direction of the moving motion, the movable platform moves spatially along with the rotation of the spherical 4R mechanism. When the moving platform moves faster along the instantaneous rotation axis, a larger Coriolis force is generally generated. Therefore, when the mass of the movable platform is large and the mass of the motion chain is small, the Coriolis force applied to the movable platform is almost zero, which can improve the stability of the moving platform's motion and solve the problems of low efficiency when the movable body changes its axis direction during movement and low positioning and orientation accuracy due to the impact of the Coriolis inertial force.

The present invention discloses a method for dynamic control of an excavator arm, wherein the dynamic model of the excavator arm is linearized, the parameters of the dynamic parameter matrix of the excavator arm are identified, and the identified dynamic feedforward model of the excavator arm is obtained. The feedforward signal output by the dynamic feedforward model of the excavator arm is input into a pre-built three-loop PID control system, and the three-loop PID control system outputs the control results of each joint of the excavator arm. The method for dynamic control of an excavator arm provided by the present invention adopts a control mode of dynamic feedforward + three-loop PID feedback, calculates in real time the inertial force, Coriolis force, centripetal force, gravity and friction force generated when the excavator arm moves, and designs an excavator arm control system, which can improve the dynamic accuracy of the excavator arm during movement and improve the reliability and stability of the excavator during movement.

The invention provides a modular rotating water tank typhoon simulation system based on a similarity law, and the system comprises a basic rotating platform, a driving assembly of which drives a horizontal platform surface provided with a transparent water tank to rotate, so as to provide a Coriolis force background field; an inclined bottom plate with an adjustable inclination angle and a three-dimensional terrain model fixed on the inclined bottom plate are used for simulating a terrain effect; the vortex generation module is mounted through a detachable interface, comprises a stirring type vortex generation module, a suction type vortex generation module and a double-vortex generation module, and is used for generating controllable cyclone type vortexes; and the data acquisition control module is used for system control and experimental data recording. A controllable Coriolis force background field is provided through the basic rotating platform, and a reliable hardware basis is provided for application of the dynamic similarity law through physical cooperation of the terrain simulation module and the replaceable vortex generation module, so that a parameter design process based on the theoretical similarity law can be accurately executed in an entity system, and the design efficiency is improved. Therefore, the experiment can consider both simulation precision and operation efficiency.

A MEMS gyroscope may include a drive system configured to impart a drive motion on a plurality of proof masses within a device plane of the MEMS gyroscope, including first and second in-plane proof masses that are driven in anti-phase and first second out-of-plane proof masses that are driven in anti-phase via the movement of the in-plane proof masses. The out-of-plane proof masses include a separate driven mass and sense mass such that the sense mass does not move in the device plane in response to the drive motion but does move in the device plane in response to an angular velocity about the out-of-plane axis based on a Coriolis force imparted on the drive mass. A coupling link connects the sense masses, thereby synchronizing an anti-phase translation of the sense masses due to the sensed Coriolis force.

The invention discloses a multi-suspended-span elastic bearing fluid conveying pipe stability parameter prediction method, and relates to the technical field of fluid conveying pipe vibration characteristic analysis. A multi-suspended-span pipeline is divided into a plurality of independent pipe sections at the supporting position, vibration control equations for describing all the suspended-span pipelines are established respectively, and the vibration control equations only consider the coupling effect of bending force, centrifugal force, gravity, Coriolis force and inertia force of the pipeline and do not contain any middle supporting constraint term; the intermediate support constraint is completely written into the cross-coupling boundary condition, so that the defects that the traditional Dirac function method is fuzzy in significance and the numerical calculation is difficult to converge are avoided; carrying out dimensionless processing on an oscillatory differential equation by introducing a dimensionless parameter, deducing to obtain a characteristic equation, a characteristic function and a characteristic value under the complex boundary condition by combining the end elastic boundary and the cross coupling constraint, converting a partial differential equation into an ordinary differential equation set, and carrying out matrix solution, so as to obtain an oscillatory differential equation set; and finally, an accurate prediction value of the inherent frequency can be obtained.

The invention provides a motion decoupling MEMS (Micro Electro Mechanical System) gyroscope sensor structure, which solves the adverse effects caused by the fact that the driving mass bodies and the detection mass bodies are in motion coupling and the coupling between the driving mass bodies is in a rotating mode in the existing gyroscope sensor structure. The involved mass body is connected with the driving mass body and the detection mass body through the combined decoupling beam, when an angular velocity signal is input, the involved mass body drives the detection mass body to move, the detection shaft electrode performs stable detection, closed-loop control is achieved through a force feedback control signal, transmission of Coriolis force is achieved when the angular velocity is input, and the detection precision is improved. And the detection mass body is driven to move to measure the angular velocity. According to the combined decoupling beam structure, the purpose that the driving mass body drives the involved mass body to achieve driving motion is achieved, meanwhile, the influence on the detection mass body is avoided, and the good motion decoupling effect is achieved.

According to the method, the geophysical effect and the continuous casting process are correlated for the first time, Coriolis force is actively counteracted through the rifling structure, and the traditional thought that only a local flow field is optimized is broken through. A zero-energy-consumption solution is provided, flow field correction is achieved through a pure mechanical structure, the continuous spiral rifling structure is arranged on the inner wall of the nozzle body, the earth rotation Coriolis force effect of a hemisphere where a pouring position is located is counteracted, and the crystallizer flow field is stabilized.

The present invention discloses a slicing coupling dynamic modeling method for a high-speed thin-walled gear transmission system, which divides the dynamic model of the high-speed thin-walled gear transmission system into a meshing force solution model and a finite element condensation model, respectively establishing a meshing force solution model and a finite element condensation model, wherein the finite element condensation model is obtained by coupling a box finite element condensation model with a gear body condensation model, and then coupling the meshing force solution model with the finite element condensation model to obtain a slicing coupling dynamic model of a high-speed thin-walled gear transmission system. The beneficial effect is that by coupling a high-speed thin-walled gear box, the idea of ​​slicing method is introduced to consider the influence of high-speed gear thin-wall flexibility, centrifugal force, inertia force, Coriolis force and box flexibility on the dynamic characteristics of the system in the dynamic system, and the calculation accuracy is higher.

The present invention discloses a path planning method, device, dredger and storage medium for a dredger. The method includes: decomposing the current second-order force, wind force, flow force and pulling force of the dredger to obtain each component load in the external coordinate system and performing vector superposition on them to obtain the current external total external load; performing equally spaced sampling within the optional range of the ship thrust component in the internal coordinate system according to a preset sampling interval to obtain each candidate ship thrust component; based on the current external total external load, rotation matrix, mass matrix, Coriolis force matrix, damping force matrix and each candidate ship thrust component, calculating each candidate speed in the external coordinate system; calculating the path points corresponding to each candidate speed at each time point based on a preset time series and each candidate speed, and connecting the path points corresponding to the same candidate speed at each time point to obtain each candidate path; calculating the driving cost of each candidate path, and determining the candidate path with the minimum driving cost as the target path of the dredger.

The application discloses an optical-mechanical gyroscope based on parametric resonance and a working method thereof, and belongs to the technical field of optical inertial sensing. The light source module is used for emitting a coherent light field; the mechanical oscillator is used for generating periodic vibration or displacement on a moving platform; the optical resonant cavity is used for converting the displacement of the mechanical oscillator into an optical signal; the stiffness modulation module is used for applying periodic modulation to the equivalent stiffness of the mechanical oscillator; and the signal detection module is used for detecting the optical signal output by the optical resonant cavity and acquiring a detection signal related to angular velocity. The application applies periodic modulation to the equivalent stiffness of the mechanical oscillator, introduces parametric resonance effect, amplifies the mechanical vibration signal induced by the Coriolis force, and thus improves the signal-to-noise ratio and angular velocity resolution of the optical-mechanical gyroscope.

The objective is to reduce the effects of Coriolis force in an artificial gravity generator. [Solution] An artificial gravity generating device comprising: a driving source 1; a rotating shaft member 2 that is rotated by the driving source 1; an arm 3 attached to the rotating shaft member 2; and a first box-body 6 that can accommodate a person and is connected to the arm 3 via a joint member 4 that can rotate in any direction and can be tilted in any direction by the joint member 4, thereby reducing the effects of the Coriolis force acting during rotation; and wherein the rotation of the rotating shaft member 2 causes the first box-body 6 to rotate around the rotating shaft member 2, thereby generating centrifugal force.

The invention belongs to the technical field of analytical chemistry and physical instruments, and discloses a mass spectrometry system and a mass spectrometry method.The system comprises an ion optical subsystem used for applying target acceleration voltage to ion pulses generated after ionization of a target analysis sample injected through an ion inlet; the rotating subsystem is used for providing a target angular velocity corresponding to a mass spectrometry mode for the ion pulse with the target radial velocity, so that the accelerated ion pulse freely flies in the rotating subsystem, and the accelerated ion pulse is impacted to the position sensitive detector after generating a deflection angle under the action of a Coriolis force in the free flight process; the position sensitive detector is used for acquiring the impact deflection angle position of each ion in the ion pulse and the ion strength corresponding to the impact deflection angle position; and the control subsystem is used for constructing a mass spectrum of the target analysis sample. According to the scheme, wide-range and high-resolution analysis can be flexibly balanced.

A flow sensing device, a manufacturing method thereof, and a fluid property measurement system are disclosed. Embodiments of a Coriolis force-based flow sensing device and embodiments of a method for manufacturing the Coriolis force-based flow sensing device include the following steps: forming a drive electrode; forming a first sacrificial region on the drive electrode; forming a first structural portion on the first sacrificial region, in which a second sacrificial region is buried; forming an opening for selectively etching the second sacrificial region; forming a porous layer having pores in the opening; removing the second sacrificial region through the pores of the porous layer to form a buried channel; growing a second structural portion on the porous layer and not in the buried channel, the second structural portion and the first structural region forming a structure body; selectively removing the first sacrificial region, thereby suspending the structure body on the drive electrode.