14 results about "Double pendulum" patented technology

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.

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 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.

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 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 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.

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.