24 results about "Double pendulum" patented technology

The invention provides a double-pendulum dynamics guided pedestrian motion track generation type prediction method, and belongs to the technical field of automatic driving scene prediction. Comprising the following steps: establishing a pedestrian motion nonlinear dynamic model based on double-pendulum dynamics, and defining a mapping relation from an attitude space to a double-pendulum state space; establishing a high-degree-of-freedom pedestrian motion nonlinear dynamic state prediction model for predicting the motion state of the pedestrian at the future moment in the double-pendulum state space; establishing a conditional diffusion model for reconstructing the human body posture of the pedestrian at the future moment in the double-pendulum state space; the past state track of the pedestrian, the reconstructed human body posture of the pedestrian at the future moment, the past track of the adjacent pedestrian and semantic map information serve as guiding conditions of a conditional diffusion model, and generation of a future motion track of the pedestrian is guided. The motion state space of the double-pendulum system represents the non-linear dynamic change space of human body motion, and accurate prediction of the pedestrian motion track is realized by utilizing the generation of the conditional diffusion model.

The invention provides a delay compensation control method for a double-vibrator wave energy conversion device, which comprises the following steps of: performing numerical modeling and hydrodynamic analysis on the double-vibrator wave energy conversion device, establishing a time domain motion equation of the double-vibrator wave energy conversion device, and introducing a time delay function into the time domain motion equation to simulate control signal transmission delay; simulating the execution delay of the brake by using a partial differential equation; establishing a state-space equation of the device, replacing a convolution term of the time-domain motion equation with the state-space equation, and calculating to obtain a motion state of the device; a Hamiltonian function is defined to convert a constrained optimization problem into an unconstrained optimization problem, and the Hamiltonian function is solved to obtain an optimal control criterion considering control delay so as to realize maximization of energy capture under the optimal control criterion. According to the method, the operation characteristics of a physical system are truly reflected by introducing control delay, so that the locking control method is effectively implemented in an actual physical device, and the energy capture efficiency of a wave energy conversion device and the reliability of system operation are effectively improved.

The application provides a delay compensation control method for a double pendulum wave energy conversion device, which comprises the following steps: numerical modeling and hydrodynamic analysis are performed on the double pendulum wave energy conversion device, time domain motion equations are established, a time delay function is introduced into the time domain motion equations to simulate control signal transmission delay, and partial differential equations are used to simulate the execution delay of the brake; state space equations of the device are established, the convolution items in the time domain motion equations are replaced by the state space equations, and the motion state of the device is calculated; a Hamilton function is defined to convert a constrained optimization problem into an unconstrained optimization problem, the optimal control criterion considering the control delay is obtained by solving the Hamilton function, and the maximization of energy capture under the optimal control criterion is realized. The application truly reflects the operation characteristics of the physical system by introducing the control delay, so that the closed-loop control method is effectively implemented in the actual physical device, and the energy capture efficiency of the wave energy conversion device and the reliability of the system operation are effectively improved.

The application belongs to the field of automatic control technology of aircraft, and proposes a quadrotor double pendulum finite time swing elimination method based on full drive mapping and active anti-disturbance, which is applied to a quadrotor unmanned aerial vehicle double pendulum hoisting system. The method adopts a hierarchical control structure composed of an outer ring position and swing elimination control module and an inner ring bottom layer flight control module. The method comprises the following steps: establishing a quadrotor double pendulum horizontal plane block matrix dynamics model; full drive state mapping and dynamic reconstruction facing the controller; Y-axis full drive space isomorphic expansion; UDE-based finite time control law design; closed loop system stability and finite time convergence analysis based on Lyapunov theorem. The application can improve the waypoint tracking accuracy, swing angle suppression effect and robust flight capability of the quadrotor double pendulum hoisting system under the working condition that discrete waypoints are switched and external wind disturbance exists simultaneously.

The invention discloses an anti-swing control method for a self-adaptive double-swing bridge type crane, and belongs to the technical field of intelligent control. According to the method, a double-pendulum dynamic model containing mass coupling of a trolley, a lifting hook and a load is constructed through an Euler-Lagrange equation, and a hybrid strategy combining PD control and RBF neural network layered sliding mode control is provided; and designing a composite sliding mode surface and a smooth saturation function by combining layered sliding mode control, and coordinating position tracking and double pendulum to suppress multiple targets and buffeting. According to the method, the problems of modeling deviation, insufficient nonlinear control precision and multi-target coordination of a traditional simple pendulum are solved, the system robustness and the engineering practicability are remarkably improved, and a novel technical scheme is provided for intelligent anti-swing control of the crane.

This invention belongs to the field of crane automatic control technology, and provides a control method and system for a mast crane oriented towards distributed loads. The method includes: acquiring a double-pendulum dynamic model of the mast crane oriented towards distributed loads; analyzing the coupling relationship between state variables in the double-pendulum dynamic model to determine the control objective of the mast crane; determining the lumped uncertainty term of the mast crane based on the acquired double-pendulum dynamic model and the control objective; performing online estimation of the determined lumped uncertainty term of the mast crane based on time delay estimation to obtain a time delay estimation compensation term; performing non-singular terminal sliding mode control on the mast crane in combination with the obtained time delay estimation compensation term to obtain the control torque of the mast crane boom drive motor; and completing the closed-loop control of the mast crane based on the obtained control torque and the real-time attitude of the mast crane.

The invention relates to the technical field of anti-swing control of bridge cranes, in particular to a double-swing bridge crane integrated control method and system which comprises an equation calculation unit, a shaping design unit, a target setting unit, a convolution operation unit, an integral operation unit, an error calculation unit and a control calculation unit. By arranging a double-pendulum bridge crane system mathematical model with a double-pendulum effect and introducing an input shaper, the swing suppression and anti-interference performance of the system disclosed by the invention is improved based on the control of the control system on the double-pendulum bridge crane, and by arranging the multi-loop control system and the nonlinear PID integrated control system, the system has the advantages of high reliability and high reliability. Through the synergistic effect of input shaping and the controller, the vibration frequency characteristic and full-state real-time information of the double-pendulum bridge type crane system are fully considered, so that the double-pendulum bridge type crane system has good response speed and stability, the residual swing of the double-pendulum bridge type crane system is reduced, and the service life of the double-pendulum bridge type crane system is prolonged. And the engineering transportation efficiency of the double-pendulum bridge crane system is improved.

The invention aims to provide an orthogonal double-pendulum counter weight parameter optimization method for ice disaster prevention of a power transmission line in a high altitude area, and the method comprises the steps: carrying out the finite element modeling through the actual parameters of the power transmission line and the actual environment parameters, and obtaining the maximum surface electric field intensity of an orthogonal double-pendulum counter weight and the maximum electric field intensity of the power transmission line through simulation; and then, constructing a corresponding fitness function, and determining optimal parameters of the orthogonal double-pendulum heavy hammer by adopting a genetic algorithm, so that the obtained orthogonal double-pendulum heavy hammer can adapt to an actual operating environment of a high-altitude region, and safe and stable operation of a power transmission line is ensured.

The present application belongs to the field of wave energy generation, and particularly relates to a wave power generation device based on symmetric double pendulums and return springs and a power generation method. The device comprises a floating shell, the bottom of which is moored by an anchor chain. A double pendulum system that can rotate around a central main shaft is arranged in the shell, the double pendulum is constrained by a return spring, and is provided with a bidirectional driving pawl. The reciprocating motion of the pendulum is converted into unidirectional rotation through a ratchet-wound spring mechanism, and the wound spring plays a role of gentle energy and buffering energy storage. The rotary motion drives a generator to generate electricity through a speed increasing transmission chain composed of a conical gear, horizontal and vertical double gear. The device is provided with a lock mechanism, which locks the gear and stores energy in the wound spring when the wave is high, and releases the energy to realize intermittent power generation when the energy accumulates to a threshold value. When the wave direction is not perpendicular to the balance position of the double pendulum, the asymmetric swing torque will drive the entire central main shaft to rotate through the return spring and the limiting device, so that the double pendulum automatically aligns with the incoming wave direction, realizing omnidirectional self-adaptation.

The invention discloses a double-pendulum crown block adaptive control method based on online reinforcement learning, and relates to the technical field of crown block motion control, and the method comprises the following steps: S1, employing an Euler-Lagrange method to establish a dynamic model of a crown block according to the specific parameters of the crown block; s2, converting the kinetic model into a linearized system model; s3, designing a self-adaptive control system framework based on RL; s4, solving the weight of the AN through the iteration of the RL; s5, the weight of the AN is output in real time through the updated AN to serve as the optimal gain parameter generated at the next moment, online reinforcement learning is directly applied to the physical double-pendulum crown block system, an accurate model and offline training are not needed, the complex coupling effect between a lifting hook and goods is effectively overcome, and the reliability of the physical double-pendulum crown block system is improved. And meanwhile, the problem of performance degradation of a traditional reinforcement learning method from simulation to practical application is avoided, so that the control system can keep stable and reliable performance under various working conditions, and the control precision is improved.

To provide a novel crane capable of suppressing double pendulum load swing of a suspended load and a hook.SOLUTION: A crane has a crane model calculation unit that calculates the load speed from a speed of the horizontal movement device based on a double pendulum model consisting of a hook and a load, a first sway suppression control unit that calculates a first speed command value for the horizontal movement device that suppresses the crane's first-mode sway from the target speed of the load and the load speed of the crane model calculation unit, and a notch filter that calculates a second speed command value from the first speed command value, using the crane's second-mode sway frequency as the cutoff frequency, to suppress the crane's second-mode sway. The second speed command value from the notch filter is output to the crane model calculation unit and the horizontal movement control unit.SELECTED DRAWING: Figure 11

The invention discloses an interphase energy consumption anti-galloping system based on self-adaptive double pendulums and intelligent pneumatic thrust, and belongs to the technical field of disaster prevention and reduction of power transmission lines. The system integrates four functional modules, namely an intelligent monitoring control module, a self-adaptive double-pendulum module, an intelligent pneumatic thrust module and an energy consumption module. The intelligent monitoring control system is composed of a sensing monitoring integration, a sensing energy-taking CT, a super capacitor bank, a backup battery and a connecting assembly, senses the galloping state of the wire in real time and achieves coordination control of the system. According to the self-adaptive double-pendulum system, the pendulum length is dynamically adjusted through a pendulum shaft, a micro winch, a sliding guide rail, a swing arm, a pendulum bob and other assemblies so as to be matched with the galloping frequency, and efficient energy transfer and suppression are achieved through the resonance principle; the energy consumption system fuses magneto-rheological damping and eddy current damping mechanisms, and the risks of power impact and structural damage are reduced through a parallel cooperative working mode. The system has the comprehensive anti-galloping capability of perception prediction, self-adaptive adjustment and multi-mode intervention.

The invention belongs to the field of wave power generation, and particularly relates to a wave power generation device and method based on symmetrical double pendulums and reset springs, the device comprises a floating shell, and the bottom of the floating shell is moored through an anchor chain. A double-pendulum system capable of rotating around a central main shaft is arranged in the shell, and double pendulums are restrained through a reset spring and provided with a bidirectional driving pawl. Reciprocating motion of the pendulum is converted into one-way rotation through a ratchet wheel-vortex spring mechanism, and a vortex spring plays a role in smoothing energy and buffering and storing energy. And the rotating motion passes through a speed-increasing transmission chain formed by a conical large gear and horizontal and vertical duplicate gears, and finally drives a generator to generate electricity. The device is provided with a locking and stopping mechanism, the gear is locked and stopped when the wave height is small, energy is stored in the vortex spring, and the energy is released after being accumulated to a threshold value to achieve intermittent power generation. When the wave direction is not perpendicular to the balance position of the double pendulums, asymmetric swinging torque can drive the whole center main shaft to rotate through the reset spring and the limiting device, so that the double pendulums are automatically aligned to the wave incoming direction, and omnidirectional self-adaption is achieved.

The invention provides a human body motion prediction method, system and device and a storage medium, and belongs to the field of artificial intelligence, and the method comprises the steps: building mapping between a human body and a double-pendulum model, and obtaining a human body motion state and a corresponding motion parameter under the double-pendulum model; fitting a three-dimensional non-linear motion track of the double-pendulum model in a state space by using a cubic Bayesian spline according to the human body motion state at the historical moment and the corresponding motion parameters to obtain a non-linear kinetic equation; and predicting the motion state of the double pendulum at the next moment according to the nonlinear kinetic equation. Based on a conditional diffusion model, taking the human skeleton data and the double-pendulum motion state at the next moment as constraint conditions, and establishing a motion prediction model; and predicting a prediction result of the human body action of each part of the human body at the next moment through the motion prediction model. And the accuracy of human motion prediction is improved.

The invention relates to the technical field of bridge crane control, in particular to a deep reinforcement learning-based self-adaptive control method and system for a double-pendulum bridge crane, and the system comprises a model building unit which is used for carrying out the modeling of the friction of a trolley, the damping of a lifting hook and the damping of goods in the movement process of the double-pendulum bridge crane, establishing a mathematical model of the double-pendulum bridge crane; the target setting unit is used for setting target position data of a trolley in the double-pendulum bridge crane and respectively inputting the target position data into the PID controller and the reinforcement learning algorithm; a PID (Proportion Integration Differentiation) controller of the crane driving unit receives the target position data and outputs driving force of a trolley to a mathematical model and a reinforcement learning algorithm of the double-pendulum bridge crane to drive the double-pendulum bridge crane to move; a data optimization unit, an error calculation unit and an error judgment unit; according to the self-adaptive control method, rapid positioning and effective swing prevention can be achieved, and meanwhile the adaptability of the system to parameter perturbation and external disturbance is improved.

The application belongs to the technical field of quad-rotor double-swing unmanned aerial vehicle (UAV) swing elimination control, and provides a trajectory tracking and swing elimination control method for a quad-rotor double-swing system based on dynamic deep coupling. First, a dynamic model of the quad-rotor double-swing system is established, and a driving part in the dynamic model is simplified. Second, an energy coupling and nonlinear coupling controller is designed for trajectory tracking and swing elimination. Third, an uncertainty and disturbance estimator is designed for compensating model errors and external disturbances. Finally, the stability of a closed-loop system for tracking a time-varying reference trajectory is analyzed by using a Lyapunov method, and the trajectory tracking and swing elimination capability of the controller is analyzed by using a LaSalle invariance set principle. The application can realize trajectory tracking of a UAV body and elimination of double-swing swing of a load in the quad-rotor double-swing system.

A system (2) configured for generating power from waves (4), such as ocean waves, is provided. The system (2) includes a float (10); a generator including an input shaft adapted to rotate relative to the float (10); a first arm (30) coupled to the generator; a second arm (32); a pivot joint (34) rotatably joining the second arm (32) to the first arm, the pivot joint (34) being distal from the input shaft along the first arm (30). The first arm connects the second arm to the generator. The series of arms forms a double pendulum system (2) to power an autonomous floating oceanographic station.

The invention provides an orthogonal double-pendulum counter weight and phase-to-phase spacer arrangement optimization method for suppressing deicing vibration of a power transmission line. The method comprises the following steps: S1, acquiring parameters and meteorological parameters of a target large-span power transmission line; s2, determining the arrangement mode of phase-to-phase spacers according to the parameters of the target large-span power transmission line; s3, inputting the parameters of the target large-span power transmission line and the meteorological parameters into a finite element model for power transmission line simulation modeling; arranging phase-to-phase spacers in the power transmission line simulation model according to the phase-to-phase spacer arrangement mode determined in the step S2; s4, carrying out vibration mode and vibration frequency analysis on the power transmission line by the finite element model, and determining a preliminary arrangement mode of an orthogonal double-pendulum counter weight based on a vibration frequency result; and S5, simulating a vertical jump vibration frequency and a transverse jump vibration frequency of the large-span power transmission line in the set deicing scene by using the finite element model, and determining an orthogonal double-pendulum counter weight-phase-to-phase spacer arrangement mode score of the power transmission line based on the vertical jump vibration frequency and the transverse jump vibration frequency. And selecting an orthogonal double-pendulum counter weight-phase-to-phase spacer arrangement mode with the maximum score as an optimal arrangement scheme.

The utility model discloses a double pendulum motion demonstration instrument, comprising a support frame; the pair of fixed seats is arranged at the upper part of the support frame; the upper ends of the pair of swing rod structures are rotationally connected with the pair of fixed seats respectively; the pair of swing rod driving structures is used for driving the pair of swing rod structures to swing relative to the pair of fixed seats respectively; each oscillating bar structure comprises an oscillating bar of which the upper part is rotationally connected with the corresponding fixed seat; a plurality of pendulum balls with different masses or the same mass are detachably mounted on the pendulum rod; each swing rod driving structure comprises a magnetic field generating assembly fixedly installed on the corresponding fixing base. And the magnet is fixedly arranged at the upper part of the swing rod and can drive the swing rod to swing relative to the fixed seat under the action of the magnetic field generated by the magnetic field generating assembly. According to the demonstration instrument, the double pendulums are adopted to more intuitively carry out a parameter comparison experiment of the influence of the pendulum length on the period for students, the pendulum length, the pendulum ball quality and the pendulum amplitude of the double pendulums can be adjusted, the demonstration effect is good, the demonstration instrument is easily observed and understood by the students, and the intuition and the effect of the experiment are enhanced.

For optimizing an anti-sway algorithm for the transport of a load by a hoisting appliance spanning a hoisting area and comprising a trolley, a reeving system and a tool handling the load, a control device is able to: record operating parameters of the hoisting appliance comprising a speed parameter of the trolley and an angle parameter of the load with respect to a vertical Z-axis; apply the recorded speed parameters to a model of a double pendulum system associated with the hoisting appliance to generate corresponding angle parameters of the load; perform a statistical identification method to iteratively determine updated values for length and mass parameters of the model which minimize a difference between the recorded and generated angle parameters; calculate primary and secondary sway frequencies of the hoisting appliance based on the updated values for length and mass parameters of the model; during operation of the hoisting appliance, filter a signal representative of a measured angle of the load by a lowpass filter designed to reject the secondary sway frequencies; and transport the load in the hoisting area by applying the anti-sway algorithm to the filtered signal.

The present invention discloses an amphibious spherical robot driven by a double pendulum and a paddle wheel, belonging to the technical field of robotic equipment. The robot comprises a left spherical shell and a right spherical shell, a land motion mechanism, a water motion mechanism, a telescopic mechanism and a sealing and waterproof mechanism. The left spherical shell and the right spherical shell are provided with symmetrical two-stage cylindrical outer cylinders, an inner cylinder is nested in the outer cylinder via a first bearing and a second bearing, the water motion mechanism and the telescopic mechanism are both arranged in the inner cylinder, a central transverse axis is provided between the two outer cylinders, the central transverse axis passes through the two outer cylinders, and the central transverse axis is connected to the land motion mechanism via a third bearing. The present invention has a simple structure and is easy to implement. The land and water mechanisms are independent of each other and their movements do not interfere with each other, thereby maximizing the motion capabilities of the land and water motion mechanisms.

The embodiment of the specification discloses a normal adjustment method and device of a BC double-swing head five-axis friction spot welding equipment. The scheme can include: determining the welding point position on the curved surface structure to be welded, moving the spot welding head of the BC double-swing head five-axis friction spot welding equipment above the welding point position, obtaining the distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded, obtaining the first distance WA', the second distance WB' and the third distance WC'; based on the selected compensation value, the first distance, the second distance and the third distance are compensated respectively, and the three distances after correction are obtained, and based on the iterative method, the angle of the BC axis of the spot welding equipment should be adjusted until the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range, and then the curved surface structure to be welded is welded.

The present invention relates to a method for optimizing an anti-swing algorithm, a lifting appliance comprising a trolley, a winding system and means for manipulating a load, a control means for recording operating parameters of the lifting appliance, including a speed parameter of the trolley and an angle parameter of the load with respect to a vertical Z-axis, applying the recorded speed parameter to a model of a double pendulum system associated with the lifting appliance, the method includes recording the length of the model to generate a corresponding angle parameter of the load, performing a statistical identification method to iteratively determine updated values of the length and the quality parameter of the model, minimizing a difference between the recorded angle parameter and the generated angle parameter, calculating a primary swing frequency and a secondary swing frequency of the lifting appliance based on the updated values of the length and the quality parameter of the model, and outputting the primary swing frequency and the secondary swing frequency. During operation of the lifting appliance, a signal representing a change over time of the measured angle of the load relative to the vertical Z-axis is filtered by a low-pass filter designed to reject the secondary wobble frequency, the load being transported over the lifting area by applying an anti-wobble algorithm to the filtered signal.