29 results about "Euler equations" patented technology

The invention discloses a curve determination method for a centrifugal pump point-by-point integration method, and belongs to the technical field of centrifugal pumps. The curve determination method of the centrifugal pump point-by-point integration method is a parameterized modeling method based on an Euler equation and momentum conservation, the inlet and outlet boundaries of a vur curve are calculated according to design requirements, after a smooth transition curve is constructed in combination with runner geometry and attack angle constraint, the curve is constructed through nonlinear interpolation according to the dynamic correlation streamline arc length, and the curve is determined. The relation between the streamline arc length and the curve is established; according to the method, when the centrifugal pump blade molded line is designed, the curve can be quickly obtained through a parameterization method according to the given design condition and the streamline arc length s.

The invention discloses a freight spaceship reentry recovery attitude cooperative control method. The method comprises the following steps: S1, determining key attitude indexes in a freight spaceship reentry recovery process; s2, collecting atmospheric environment parameters in a reentry process, and meanwhile, obtaining earth gravitational field distribution data to provide environment input for a subsequent attitude control algorithm; s3, based on the Newton's second law and the Euler equation, establishing a kinetic model of the freight spaceship, establishing an attitude kinematics model by adopting a quaternion method or an Euler angle method, and establishing an execution mechanism model for a propulsion system of the freight spaceship; through sub-filter local estimation and main filter global weighting, noise and abnormal values are effectively filtered, attitude estimation precision is improved, instruction distribution adopts a pseudo-inverse method in combination with a weighted least square method, an initial instruction is obtained through the pseudo-inverse method, then secondary optimization is performed in combination with execution mechanism constraints, instruction oversaturation is avoided, and attitude estimation accuracy is improved. Extra redundant execution mechanisms are not needed, and the hardware cost is reduced.

The invention discloses a multiphase fluid compressible and weak compressible mode mutual conversion numerical simulation method, and relates to the technical field of underwater explosion bubble full-time-history simulation, the method adopts a compressible Euler equation to carry out numerical simulation at the initial stage of underwater explosion, i.e., the initial stage of condensed phase charge detonation and bubble expansion; at the later stage of bubble expansion, converting a compressible Euler equation into a weak compressible hypothesis method for processing by judging whether the density change of a fluid grid unit exceeds a set threshold value or not; and in the bubble shrinkage stage, the compressible Euler equation is adopted again for numerical simulation, and underwater explosion bubble full-time-history numerical simulation is achieved. A volume fraction method is adopted in the equation solving process, the MUSCL reconstruction format and the HLLC numerical flux calculation format are coupled, and the prediction precision, stability and robustness of the overall numerical calculation method are improved.

The invention relates to a four-axis unmanned aerial vehicle PID control system parameter setting method based on a Harris eagle optimization algorithm, and belongs to the field of embedded systems. According to the method, the limitation that traditional PID parameter setting depends on artificial experience, efficiency is low and global optimum is difficult to approach is broken through, and autonomous and efficient optimization of the parameters of the PID controller of the unmanned aerial vehicle is achieved by introducing the Harris eagle optimization algorithm and utilizing the collaborative hunting strategy and the self-adaptive escape energy mechanism of the Harris eagle optimization algorithm. The method comprises the following steps: firstly, establishing a six-degree-of-freedom kinetic model of the four-axis unmanned aerial vehicle based on a Newton-Euler equation, taking parameters of an inner ring PID controller and an outer ring PID controller as optimization variables, and designing a multi-target fitness function fusing ITAE indexes, overshoot and adjustment time; then, executing intelligent search in a parameter space by utilizing a Harris eagle algorithm; dynamically switching global exploration and local development through escape energy, and gradually approaching an optimal parameter; and finally, the optimized parameters are deployed to a flight control system, and high-precision robust control over the attitude and the position in the complex disturbance environment is achieved.

This invention discloses a transient control method for compound-wing unmanned aerial vehicles (UAVs) based on fractional-order sliding mode control, specifically relating to the field of compound-wing UAV flight control. It employs the Newton-Euler equations to perform integrated modeling of the transient process of the compound-wing UAV, deriving a longitudinal nonlinear mathematical model. Based on the traditional exponential power reaching law, a novel fractional-order reaching law is designed by combining a double power reaching law and the concept of fractional-order calculus. A fractional-order sliding mode controller is constructed for pitch angle, airspeed, and quadrotor altitude. An airspeed weighted control allocation strategy is used to distribute the forces and torques between the quadrotor system and the fixed-wing system, thereby solving for the actuator output. This invention applies sliding mode variable structure control to the transient control of compound-wing UAVs. The proposed fractional-order sliding mode control method improves the dynamic quality of the system, reduces steady-state control errors, enhances the robustness of the compound-wing UAV flight control system, and achieves smooth control of the transient process.

The application provides a method for testing and visualizing analysis of sound wave generation and propagation process, comprising the following steps: S1, installing acceleration sensors at different positions of a mechanical structure generating intense vibration, measuring vibration state of the mechanical structure, and characterizing vibration features of the mechanical structure based on vibration acceleration data of the acceleration sensors at different positions and interpolation; S2, calculating normal sound wave speed variables of particles at the surface of the mechanical structure in air or water medium based on normal acceleration fluctuation variables of the vibration features of the mechanical structure; S3, using linear Euler equation to describe evolution states of energy dissipation, sound scattering and sound reflection of the normal sound wave speed variables in the propagation process; and S4, performing data visualizing analysis based on the evolution states. The application improves the design capability of noise suppression of mechanical equipment, and enables intuitive observation of the generation and propagation states of sound waves by using visualizing analysis.

The application provides a sound flow coupling calculation method and device based on a Galbrun equation. The method provided by the application comprises the following steps: obtaining a Galbrun equation based on Euler equations of an ideal fluid under no external force, in combination with Euler disturbance, Lagrange disturbance and mixed disturbance relationship; the Galbrun equation represents the coupling effect of a flow field and a sound field; obtaining flow field data of a non-uniform flow field based on Navier-Stokes equations, in combination with a k-ε turbulence model in a RANS model; introducing a perfect matched layer for sound wave propagation simulation in an unbounded region, and constructing boundary conditions suitable for the Galbrun equation through geometric transformation, complex variable definition and coordinate conversion; performing weak transformation on the Galbrun equation, embedding the boundary conditions, combining the flow field data, adopting triangular finite elements for discretization processing, constructing a global linear algebraic equation group and solving, and obtaining discrete solutions of sound field parameters.

The invention belongs to the technical field of robot control, and particularly relates to a preset performance control method of a mechanical arm with output constraint based on a self-adaptive sliding-mode observer, which comprises the following steps: obtaining a first system model of a kinetic equation of the mechanical arm according to a Newton-Euler equation; a nonlinear part in the first system model is represented as one item in a concentrated manner, so that the first system model of the kinetic equation is rewritten into a more concise form, and a second system model of the kinetic equation of the mechanical arm is obtained; aiming at the problem that the speed of the second system model of the mechanical arm cannot be measured, designing a self-adaptive sliding-mode observer to estimate the speed of the mechanical arm on line; a system tracking error is defined based on estimated position and speed signals, and a novel construction method of a time-varying preset boundary based on priori knowledge of output constraint is designed for the output position constraint problem and the preset performance control problem of a second system model of the mechanical arm. In combination with an inversion control method and a novel preset performance boundary, a barrier Lyapunov function is constructed, and then an intermediate virtual control signal and a system input control law are derived. According to the technical scheme, breakthrough is achieved in the field of robot control, the problems of unobservable speed state, output constraint and preset control of the mechanical arm are considered and processed at the same time, and the industrial problems of transient response and steady-state precision in global tracking control of the mechanical arm with the output constraint are effectively solved.

The application provides a shock wave front capturing method and system based on a physical information neural network, and relates to the technical field of computational fluid dynamics. The method comprises the following steps: obtaining target space-time coordinate data corresponding to a target explosion wave in a propagation process; inputting the target space-time coordinate data into an explosion shock wave front prediction model to obtain shock wave front information corresponding to the target explosion wave in the propagation process, which is output by the explosion shock wave front prediction model, wherein the explosion shock wave front prediction model is constructed based on an improved physical information neural network; and a physical loss function of the improved physical information neural network is constructed according to the Rayleigh-Hugoniot relation and compressible Euler equations with an artificial viscosity term. The application reduces the calculation complexity of the shock wave front while ensuring the prediction accuracy.

The application discloses a curve determination method for point-by-point integration of a centrifugal pump and belongs to the technical field of centrifugal pumps. u The curve determination method for point-by-point integration of the centrifugal pump is a parameterized modeling method based on Euler equation and momentum conservation, the inlet and outlet boundaries of the v r curve are calculated according to design requirements, a smooth transition curve is constructed by combining flow channel geometry and angle of attack constraints, the curve is constructed by dynamic correlation of streamline arc length through nonlinear interpolation, and the relationship between the streamline arc length and the curve is established; the centrifugal pump blade profile can be designed according to the given design conditions and the streamline arc length s through the parameterized method.

The invention discloses a parafoil system flight path tracking and anti-interference control method based on constant period sliding mode control, and the method comprises the steps: carrying out the stress analysis of a parafoil system, building a translation three-degree-of-freedom model and a rotation three-degree-of-freedom model of the parafoil system according to a Newton-Euler equation, and taking the models as a flight path tracking control basis; based on a sliding mode control principle, designing a basic sliding mode controller of the parafoil system, and obtaining a sliding mode control law by constructing a sliding mode surface and designing an approaching law so as to realize finite time stable tracking of a system state variable; for the inherent buffeting and overshoot problems of sliding mode control, a saturation function is introduced to replace a sign function, and a continuous and smooth switching law is designed in a sliding mode surface neighborhood to realize sliding mode control law optimization; and designing a constant period disturbance observer, estimating and compensating the total disturbance of the system in real time, and performing feedforward compensation on an observation value to a sliding mode control law, thereby enhancing the robustness and anti-interference performance of the system. The method has good trajectory tracking performance and anti-interference capability.

The invention discloses a compressible multi-component flow high-precision algorithm based on a pharmacology format, and the algorithm comprises the steps: S1, building an Euler equation as a control equation for a compressible multi-component flow problem, and introducing mixture parameters to describe a multi-phase interface; s2, a C-GKFS based on a simplified Maxwellian distribution function is adopted to carry out discretization on an Euler equation; and S3, reconstructing the non-viscous flux and the viscous flux in the C-GKFS by adopting a WENO-THINC format to obtain a high-order non-oscillation result. According to the compressible multi-component flow high-precision algorithm based on the kinematics format, by adopting the high-order target basically-oscillation-free hyperbolic tangent interface capture (TENO-THINC) format, the C-GKFS calculation precision is improved, and the compressible multi-component flow problem can be accurately and efficiently simulated.

This invention relates to a method and system for predicting the time-domain acoustic load on the surface of an aircraft, belonging to the field of aircraft detection technology. To address the problem of high-precision calculation of acoustic scattering in aircraft, this invention establishes a flow field calculation grid and an acoustic field grid; initializes the grid; calculates the Jacobian determinant and grid cell metric, and completes the grid coordinate system transformation; determines the convergence of the numerical solutions of the grid cells; iteratively solves the linear Euler equations at each time step using the Runge-Kutta method; obtains the flow field data and acoustic field data for each grid cell; performs filtering using a spatial filtering format to eliminate numerical artifacts, obtaining the filtered flow field data and acoustic field data for each grid cell; iteratively updates the flow field data and acoustic field data over time until the acquired acoustic load data stabilizes, outputting the time-domain data of the acoustic load on the aircraft surface, a flow field acoustic field cloud map, and a flow field cloud map. This invention balances computational efficiency and accuracy.

The invention discloses a lower limb exoskeleton control method with preset event triggering times, and belongs to the technical field of intelligent control and robots. The method comprises the following steps: according to a single-degree-of-freedom lower limb exoskeleton, constructing a kinetic model of the lower limb exoskeleton based on a Newton-Euler equation, and converting the kinetic model into a second-order nonlinear system; defining tracking error and auxiliary error variables; designing an event triggering mechanism with preset triggering times, constructing an ideal triggering interval, and introducing average residence time to constrain the upper bound of the triggering times, so that the triggering frequency is controllable; a fuzzy logic system is combined to approach system uncertainty, and a backstepping method is adopted to design an adaptive control law, an adaptive law and an adaptive threshold law; and the system is ensured to be consistent and finally bounded and stable by setting an average residence time condition. While the trajectory tracking precision is ensured, the communication burden is remarkably reduced, the triggering times can be preset and regulated, the method is suitable for a lower limb exoskeleton system with limited communication resources, and the practicability and the energy efficiency of the system are improved.

The invention relates to the technical field of centrifugal pumps, in particular to a centrifugal pump blade wrap angle determining method based on hydromechanics numerical integration. The centrifugal pump blade wrap angle determining method is a numerical integration method based on a fluid mechanics equation, equal-interval point division is conducted on a shaft surface streamline in an impeller shaft surface projection drawing through combination of a differential equation and numerical integration, and the arc length and the radius between every two adjacent equal division points are calculated; after the axial surface fluid velocity vm is calculated based on the one-dimensional flow theory, a curve of vm changing along an axial surface streamline is drawn; establishing a linear distribution model of the tangential velocity moment vur according to an Euler equation; after the integral coefficient K is calculated, K.si accumulated integral is calculated point by point, the centrifugal pump blade wrap angle value is directly obtained, and the effectiveness of the centrifugal pump blade wrap angle value is obtained through verification with an example verification method; according to the method, the centrifugal pump blade wrap angle can be designed through parameterization, and the situation that the centrifugal pump blade wrap angle can only be obtained depending on experience is avoided.

The invention discloses a quad-rotor unmanned aerial vehicle autonomous landing method based on time optimal trajectory planning. The method comprises the following steps: firstly, establishing an inertial coordinate system, a body coordinate system and a mobile platform coordinate system, establishing kinematics and dynamics models of the quad-rotor unmanned aerial vehicle based on a Newton-Euler equation, and establishing a pose motion model of a differential driving mobile platform by adopting a dynamics analysis method; and an MPC-PID composite control mode is designed, MPC realizes dynamic optimization to generate an optimal control input sequence, and PID control realizes high-frequency quick response compensation. Based on a Hamilton function and a Pontryagin minimum principle, in combination with collected landing platform information, a time optimal trajectory and a bang-bang control rate are derived, in order to improve the stability of flight control, adaptive threshold adjustment, a smooth transition mechanism and a saturation compensation link are introduced, frequent switching of the control rate is avoided, and the stability of flight control is improved. And the safety and effectiveness of the landing track are ensured. Besides, a landing state machine composed of an error detection module and a landing selection module is designed and used for selecting a proper landing state in real time, and the safety of the whole landing process is guaranteed. And finally, verifying the feasibility and robustness of the flight control system through a simulation experiment.

The invention discloses a hinge constraint internal force solving method based on a Newton-Euler equation, relates to the technical field of structural dynamics numerical simulation analysis in engineering, and aims to solve the problems of insufficient constraint precision and unstable constraint calculation in finite element analysis in the prior art. The method comprises the following steps: simplifying a hinge structure, and constructing an equivalent constraint equation; solving a rigid body kinetic equation; solving the constraint equation, and calculating the constraint internal force. According to the method, the calculation stability is remarkably enhanced while the calculation precision is effectively improved. According to the hinge force calculation method provided by the invention, introduction of manual parameters is avoided theoretically, so that a calculation result is not influenced by parameter selection.

The invention discloses a flow-sound-control integrated active noise reduction simulation system and method, and belongs to the technical field of active noise reduction simulation. The system comprises a flow-sound coupling solving module, an ANC control algorithm embedding module and a closed-loop control coupling interface, the flow-sound coupling solving module is used for achieving native coupling simulation of a flow field and a sound field based on a linear Euler equation, and flow-sound coupling solving comprises grid topology construction, background flow field mapping, acoustic equation discrete solving and boundary condition construction; wherein the background flow field mapping is used for converting an original background flow field physical quantity into a physical quantity adaptive to the acoustic grid; the ANC control algorithm comprises an LMS algorithm and an FxLMS algorithm; and the closed-loop control coupling interface realizes real-time data interaction between the streaming sound coupling solving module and the ANC control algorithm embedding module to form a closed-loop system of sound field solving-control calculation-feedback regulation.

The present invention provides a trajectory planning method based on the dynamic model of a deformable quadrotor aircraft, comprising the following steps: establishing a dynamic model of the deformable quadrotor aircraft based on the Newton-Euler equations; constructing an objective function; setting constraints; the constraints including waypoint constraints, continuity constraints, differential constraints, and corridor constraints; time allocation; using uniform time allocation, that is, the time used for each segmented trajectory is the same; solving a quadratic programming problem; setting the coefficients of the piecewise polynomial as parameters to be optimized, converting the objective function into a quadratic programming problem, adding waypoint constraints, continuity constraints, and differential constraints as equality constraints, adding corridor constraints and related extreme value constraints as inequality constraints, and obtaining the optimal trajectory using MATLAB. Simulation results of the present invention show that the present invention can achieve the optimal trajectory path of the deformable quadrotor.

This invention provides a numerical solution method for weakly compressible aeroacoustics based on Roe Riemannian calculations, comprising the following steps: establishing a sound field computational domain; obtaining the ground-state flow field of the weakly compressible flow; mapping the ground-state flow field to the sound field computational domain; interpolating the center values ​​of the cells in the sound field computational domain to the interface between the cell and adjacent cells; calculating the mean value at the interface using Roe averaging; calculating the flux at the interface; and solving the acoustic control equations established using linearized Euler equations. This invention can be widely applied in the field of aerodynamic noise calculation technology.

The invention relates to the technical field of robot control, in particular to a rope-driven hyper-redundant robot double-closed-loop self-adaptive control method which comprises the following steps: (1) establishing a forward kinematics model and an inverse kinematics model of a redundant robot, and calculating a relation between a joint angle and a rope length; (2) analyzing the angle, the angular velocity and the angular acceleration of the joint, solving the linear velocity, the linear acceleration and the angular acceleration of the mechanical arm rod piece of the redundant robot, and establishing a Newton-Euler equation; (3) separating equation parameters established in the step (2) to obtain a linearization equation; (4) designing an adaptive law to adaptively adjust linearization parameters, and solving a control torque; (5) solving a minimum tension solution in a rope tension range through quadratic programming; and (6) combining and solving the final control torque in combination with the tension calculated by a PD controller controlled by a rope, and ensuring that the robot has higher positioning precision and stability when executing complex tasks so as to meet various high-precision operation requirements.

The application discloses a kind of active power distribution network real-time random scheduling method and system of fuzzy neural network predecision fusion.It is described that the uncertainty of photovoltaic output and the randomness of load are corresponding prediction error uncertainty based on the rederivation of power flow model based on Euler equation, and the probability distribution of uncertain variable is obtained by data-driven method;Random optimization power scheduling model of active power distribution network is established;Fuzzy neural network is used to describe the uncertainty of random optimization scheduling model, and historical data is used for training;The scheduling strategy is pre-decided by using trained neural network to input current time power distribution network information;The initial value of the solver optimization is obtained by using the pre-decision value, and then accurate solution is carried out, so as to ensure the accuracy of the solution result while accelerating the model solving process.The application overcomes the defect that the power flow model based on second-order cone relaxation may violate the relaxation condition and cause error, and ensures the real-time of scheduling strategy.

The invention provides an acoustic streaming coupling calculation method and device based on a Galbrun equation. The method provided by the invention comprises the steps of obtaining a Galbrun equation based on an Euler equation of ideal fluid under the condition of no external force and in combination with Euler disturbance, Lagrange disturbance and a mixed disturbance relation; the Galbrun equation represents the coupling effect of the flow field and the sound field; based on a Navier-Stokes equation, in combination with a k-epsilon turbulence model in the RANS model, solving to obtain flow field data of the non-uniform flow field; a perfect matching layer is introduced for sound wave propagation simulation of an unbounded region, and boundary conditions suitable for the Galbrun equation are constructed through geometric transformation, complex variable definition and coordinate transformation; and carrying out weak transformation on the Galbrun equation, embedding the boundary condition, combining the flow field data, carrying out discretization processing by adopting a triangular finite element, constructing a global linear algebraic equation set, and solving to obtain a discrete solution of sound field parameters.

The invention provides a shock wave front capturing method and system based on a physical information neural network, and relates to the technical field of computational fluid mechanics, and the method comprises the steps: obtaining corresponding target space-time coordinate data of a target explosive wave in a propagation process; and inputting the target space-time coordinate data into an explosive shock wave front prediction model to obtain shock wave front information corresponding to the target explosive wave output by the explosive shock wave front prediction model in the propagation process, the explosive shock wave front prediction model is constructed based on an improved physical information neural network; the physical loss function of the improved physical information neural network is constructed according to a Rayleigh-Rayleigh Newton relationship and a compressible Euler equation with an artificial viscosity item. According to the method, the calculation complexity of the shock wave front is reduced, and meanwhile, the prediction precision is ensured.

This invention discloses a method for generating waves with accurate dispersion, comprising: determining model calculation parameters based on the basic parameters of the ocean region to be simulated; constructing a numerical model of ocean waves with accurate dispersion based on the model calculation parameters; and generating ocean waves with accurate dispersion using the numerical model of ocean waves. The numerical model of ocean waves includes: obtaining an integral-differential governing equation set based on the Euler equations and free surface boundary conditions through continuous Taylor expansion and Fourier transform; the governing equation set includes a continuity equation and a momentum equation; embedding physical process correction terms into the momentum equation based on the governing equation set with embedded physical process correction terms; and performing numerical discretization using the finite difference method based on the governing equation set after embedding the physical process correction terms, wherein time discretization uses a prediction-correction scheme and spatial discretization uses a higher-order difference scheme to achieve the generation of waves with accurate dispersion.

The present application discloses a method for predicting underwater explosion bubble motion based on the discontinuous Galerkin method, which relates to the field of explosion technology. The method comprises: setting the viscous term and the source term in the unsteady viscous uniform two-phase flow Euler equation to 0, multiplying them by a smooth function, and integrating them over the fluid unit, introducing the divergence theory to construct a system control equation, and then using basis functions to perform polynomial expansion on the flux and the smooth function respectively, and then inserting the latter into the system control equation to obtain the discrete control equation corresponding to each basis function, and then obtaining the polynomial expansion form of the flux, and then inserting the latter into the semi-discrete equation of the unsteady viscous uniform two-phase flow Euler equation to solve and obtain the two-phase flow state at each time step, thereby predicting the propagation of the shock wave in the early stage of underwater explosion bubble motion and the bubble motion process, realizing the interface capture of the underwater near-field explosion process, and providing solid theoretical support for the in-depth study of the underwater explosion impact dynamics and bubble dynamics characteristics.

The present disclosure relates to the technical field of compressor analysis, and particularly provides a method and device for evaluating the flow stability of a compressor under thermal shock distortion, the method comprising: constructing Euler equations of a compressor to be evaluated; obtaining small disturbance equations of the compressor based on small disturbance assumption and the Euler equations, and solving the small disturbance equations based on flow field data in a thermal shock process to obtain small disturbance solutions of the compressor, the small disturbance equations being determined based on an assumption that disturbance amplitude variation of small disturbance is consistent with thermal shock distortion disturbance variation or an assumption that thermal shock distortion disturbance is periodic disturbance; determining boundary conditions of blades in the compressor based on a disk model and parallel compressor theory, and determining a system stability characteristic equation of the compressor according to the boundary conditions and the small disturbance solutions; and determining a flow stability evaluation result of the compressor according to a solving result of the system stability characteristic equation. The present disclosure reduces the difficulty of evaluating the flow stability of the compressor under thermal shock distortion.

A passive control method for a DC-DC boost converter based on an adaptive unscented Kalman filter belongs to the technical field of power systems. In order to develop a more accurate and real-time passive control method for a boost converter, the present invention includes constructing an average dynamic model of the DC-DC boost converter, then designing it into a state-space expression, and then using the Euler equation to discretize the state-space expression to obtain a discretized state-space expression; designing an adaptive unscented Kalman filter, performing two unscented transformations based on the discretized state-space expression, predicting the mean and covariance of the system state quantities, and obtaining estimated values of the input voltage and constant-power load power; constructing a passive controller; inputting the estimated values of the input voltage and constant-power load power into the passive controller, generating a PWM signal to drive the switch tube to work, and controlling the DC-DC boost converter. The present invention improves the robustness of the system.

The invention provides a dynamic base airborne photoelectric tracking system frame deep coupling dynamics modeling method, and belongs to the technical field of automatic control, and the method comprises the steps: building a machine body coordinate system, an outer frame coordinate system and an inner frame coordinate system, and building a conversion relation between the coordinate systems through the rotation around a shaft; the space-time mapping relation of the multi-stage motion of the machine body, the outer frame and the inner frame under different coordinate systems is constructed, and an airborne photoelectric tracking system kinematics model is established by representing the angular rates and the angular acceleration rates of the inner and outer frames; on the basis of a Newton-Euler equation, representing a stress motion law of the inner and outer frames, and establishing an airborne photoelectric tracking system dynamics model; and finally, distinguishing known items and unknown items of multi-source interference according to sensor measurement information, and obtaining a deep coupling frame model of the airborne photoelectric tracking system under the movable base through coordinate transformation. According to the invention, precise visual axis control of a photoelectric tracking system carried by a high-dynamic aircraft under multi-stage motion coupling is facilitated.