50 results about "Eulerian lagrangian" patented technology

The invention relates to the technical field of underground engineering and geotechnical mechanics, and provides an ABAQUS secondary development-based underground engineering blasting simulation method, which comprises the following steps of: 1, establishing a geometric model and dividing a calculation region into an Euler domain and a Lagrange domain; step 2, calling and realizing a JH-2 constitutive model through a UMAT user subprogram interface of the ABAQUS; step 3, modeling in an Euler domain by adopting a JWL state equation; step 4, applying a coupling Euler-Lagrange method; 5, setting boundary conditions and blasting loading parameters of the geometric model; and step 6, performing transient dynamics calculation, and outputting a result for analyzing a blasting effect. According to the scheme, a high-precision numerical test platform can be provided for underground engineering blasting design and safety control, engineering risks are reduced, blasting parameter configuration is optimized, and remarkable engineering application value and popularization significance are achieved.

The invention discloses a cooperative online and offline control method for an unmanned aerial vehicle power transmission line broken strand repairing robot, and aims to realize efficient and safe maintenance of a power transmission line. Based on Newton-Euler and Euler-Lagrange equations, establishing an eight-degree-of-freedom nonlinear dynamic model of the unmanned aerial vehicle-broken strand repair robot; and designing and optimizing an extended state observer and a nonlinear error feedback control law to suppress swinging. An airborne visual servo system is adopted to capture the posture of the robot so as to correct the trajectory of the unmanned aerial vehicle, and a double-closed-loop control strategy based on a spherical swing mechanism is applied to realize stable tracking of an arc trajectory. Nonlinear load trajectory tracking control based on a six-dimensional force sensor is introduced, suspension point tension and the position of the unmanned aerial vehicle are fused to estimate the pose of the robot, self-adaption to different load weights is achieved through a load speed observer, and real-time data exchange between the unmanned aerial vehicle and the robot is supported through a low-delay and high-reliability communication protocol.

This invention discloses a spatial domain impedance learning control method for a five-bar parallel robot, comprising the following steps: Step 1, establishing an Eulerian-Lagrange model of the five-bar parallel robot; Step 2, establishing a human-machine system interaction force model based on the trajectory tracking error of the parallel robot; Step 3, estimating impedance dynamics based on the Eulerian-Lagrange model; Step 4, designing an iterative learning strategy for human-machine interaction force based on the human-machine system interaction force model and impedance dynamics; Step 5, conducting control tests on the five-bar parallel robot using the iterative learning strategy for human-machine interaction force. The learning control method proposed in this invention ensures the convergence of tracking errors, considers the uncertainties in robot modeling, and further guarantees the safety of human-machine interaction.

The application discloses an analysis method for key local vibration of fluid-solid coupling bridges based on a substructure method, and relates to the technical field of bridge vibration analysis, and comprises the following steps: dividing a response key area in a bridge structure into substructures, performing static condensation, and obtaining a condensed substructure model; establishing a whole bridge-wave coupling model, and adopting a dynamic explicit solving strategy based on a coupling Euler-Lagrange method; independently solving the substructures by using a dynamic implicit method; coupling the substructures to the whole model by an interface coordination condition, and jointly calculating the whole explicit model and the local implicit model. The analysis method adopts an explicit method to process a strong nonlinear fluid-solid coupling process at a whole level, and establishes a fine substructure model through Guyan static condensation at a local area, so that the analysis precision is effectively improved.

The application discloses a tethered multi-robot formation deployment control method based on tension input quantization, which is composed of the following steps: step S1: a dynamics model of a tethered multi-robot formation system is established according to kinetic energy, potential energy, elastic potential energy and geometric constraint relationship of the tethered multi-robot formation system combined with an Euler-Lagrange method, step S2: an estimated value of external disturbance is obtained by estimating the external disturbance of the dynamics model by using an extended state observer, step S3: a preset time sliding mode control input value is obtained by using a sliding mode control method combined with a preset convergence time, step S4: the preset time sliding mode control input value is converted into a plurality of segmented continuous quantization input values by a quantizer, and step S5: a control method of the multi-robot formation is designed by inputting the plurality of quantization input values and the estimated value of the external disturbance into the dynamics model; the application can reduce the communication burden of the system, reduce the frequency of the actuator update, and ensure the stable deployment of the space multi-tethered robot.

A transmission conductor glaze ice coating growth modeling and simulation method comprises the steps that an air flow field control equation is established, and the local collision coefficient of water drops and the surface of a conductor is solved based on the Euler-Lagrangian method; the method comprises the following steps: dispersing the surface of an iced conductor into a plurality of infinitesimal control bodies, establishing a mass conservation equation of each infinitesimal, and carrying out partition modeling on a surface thin water film flow process; constructing an infinitesimal energy conservation equation according to a thermodynamic equilibrium principle, and calculating a water drop freezing coefficient by balancing multiple energy input and output items; combining the collision coefficient and the freezing coefficient to establish an icing growth thickness calculation model; and setting physical parameters and boundary conditions in a finite element simulation environment, and simulating an icing growth process to obtain a glaze icing three-dimensional shape. According to the method, icing key parameters can be accurately calculated, the relative error between a simulation result and actual icing is lower than 5%, the defect of a wet growth icing theory is overcome, data support is provided for torsion, galloping and other problems caused by wire icing, and power transmission line icing prediction, analysis and prevention and control can be assisted.

The application relates to the technical field of underground engineering and geotechnical mechanics, and provides an underground engineering blasting simulation method based on secondary development of ABAQUS, which comprises the following steps: step 1, a geometric model is established, and a calculation region is divided into an Euler domain and a Lagrange domain; step 2, a JH-2 constitutive model is called and realized through a UMAT user subroutine interface of ABAQUS; step 3, a JWL state equation is used for modeling in the Euler domain; step 4, a coupled Euler-Lagrange method is applied; step 5, boundary conditions and blasting loading parameters of the geometric model are set; and step 6, transient dynamics calculation is carried out, and results are output for analyzing blasting effects. The scheme not only can provide a high-precision numerical test platform for underground engineering blasting design and safety control, reduces engineering risks, optimizes blasting parameter configuration, but also has remarkable engineering application value and popularization significance.

The invention relates to the technical field of industrial dust removal equipment design and fluid simulation, and discloses a macroscopic numerical simulation and verification method for dust deposition uniformity of a metal filter bag deduster, which comprises the following steps: constructing a deduster full-size model loaded with a porous jumping medium boundary; establishing an Euler-Lagrange gas-solid coupling model to calculate a flow field and a particle trajectory; designing a diversion structure orthogonal experiment based on the flow field characteristics, and obtaining operation resistance and deposition mass data under different parameter combinations; establishing an evaluation system comprising a flow distribution coefficient and a deposition uniformity index, and screening an optimal structure; a physical experiment platform is constructed for powder coating and segmented scraping weighing, and the reliability of the method is verified by comparing relative errors of experiments and simulation data. According to the method, through macroscopic equivalent modeling and quantitative evaluation, the deposition behavior in the metal filter bag dust collector is accurately predicted, the problem of uneven load of the filter bag is effectively solved, and a reliable basis is provided for structural optimization.

The application belongs to the field of robot control, and particularly relates to a mobile robot dynamic event triggering control method based on reinforcement learning. In view of the unknown wheel slip effect of the robot and the communication resource constraint problem, a kinematics model and an Euler-Lagrange dynamics model of a four-wheel Mecanum wheel mobile robot are established, the motion deviation caused by four-wheel slip is characterized as non-matching disturbance, the trajectory tracking problem is converted into an extended dimension system adjustment problem constrained by the worst case disturbance by combining the tracking error and the expected trajectory and introducing the steady state control, a dynamic event triggering mechanism is introduced to reduce the calculation burden and transmission load, a Critic reinforcement learning algorithm is designed to solve the Hamilton-Jacobi-Isaacs equation to obtain an approximate optimal controller under the dynamic event triggering condition, and the consistent ultimate bounded stability of the closed loop system is analyzed based on the Lyapunov theory, so that the high-precision trajectory tracking performance of the robot is ensured on the premise of saving communication and calculation resources.

The invention discloses a double-collision double-tuned damper for controlling transverse vibration of a floating fan tower, which is designed by the following steps of: constructing a single-column floating fan model; describing the movement of the single-column floating fan by adopting an Euler-Lagrange method and multi-body dynamics; and finally, substituting the kinetic energy and the potential energy into an Euler-Lagrange equation and carrying out linearization to obtain a mass matrix, a stiffness matrix and a damping matrix of the floating fan. DPDTMD design: coupling the kinetic energy and potential energy of the DPDTMD with the kinetic energy and potential energy of the floating fan, and finally obtaining a mass matrix, a stiffness matrix and a damping matrix of a motion equation of the single-column floating fan under the control of the DPDTMD through an Euler-Lagrange equation; dPDTMD parameter optimization includes the mass, rigidity and damping of the two dampers, the installation position of the limiting stopper and the collision rigidity and recovery coefficient of the collision material. On the basis of ensuring the control effect and robustness of the damper, the maximum stroke of the vibration absorber is limited.

The invention discloses an analysis method for key local vibration of a fluid-structure interaction bridge based on a substructure method, and relates to the technical field of bridge vibration analysis, and the method comprises the following steps: dividing a response key region in a bridge structure into substructures, and carrying out static polycondensation to obtain a polycondensed substructure model; an integral bridge-wave coupling model is established, and a dynamic explicit solving strategy based on a coupling Euler-Lagrange method is adopted; independently solving the substructures by adopting a dynamic implicit method; and coupling the substructures into the overall model through an interface coordination condition, and carrying out joint calculation of the overall explicit model and the local implicit model. According to the analysis method, an explicit method is adopted to process the strong nonlinear fluid-solid coupling process on the overall level, a fine substructure model is established in a local area through Guyan static polycondensation, and the analysis precision is effectively improved.

The invention belongs to the technical field of robot control, and particularly relates to an anti-disturbance multi-finger cooperative grabbing control method with global preset performance, which comprises the following steps: establishing a kinetic model of a dexterous hand system according to an Euler-Lagrange equation; describing a communication topological structure of the dexterous hand system through a virtual coupling mechanism, and constructing a collaborative grabbing error of the dexterous hand system; a preset time function and a global preset performance function are introduced to convert the collaborative grabbing error, and the overall potential energy of the dexterous hand system is calculated; with the purpose of minimizing the overall potential energy of the dexterous hand system, joint control input torque is designed in combination with a distributed control architecture; designing a self-adaptive updating law for unknown disturbance according to an internal model principle, and obtaining a distributed global preset performance control law in combination with a joint control input torque; according to the method, the robustness of the system under disturbance of joints and external force is remarkably improved.

The invention discloses a railway cutting sand retaining wall design optimization method based on analogue simulation. The method comprises the steps that a three-dimensional anemograph array and a rotary vortex detector are arranged outside a sand retaining wall; establishing a three-dimensional model of the sand retaining wall based on environmental data collected by the three-dimensional anemograph array and the rotary vortex detector; based on the established three-dimensional model of the sand retaining wall, adjusting the height of the sand retaining wall, putting the adjusted environmental data into a gas-solid two-phase flow model under an Euler-Lagrange framework, and determining an optimal height; after the optimal height is selected, the porosity is adjusted, the adjusted environment data are put into an Euler-Lagrange vortex flow model, and the optimal porosity is determined; and based on the optimal height and the optimal porosity data, an optimized sand blocking wall is established, and a preset weather guarantee measure system is established. The method has the beneficial effects that the unit sand interception effect is improved, the life cycle of the railway cutting can be prolonged at low cost, and the dynamic balance between the protection strength and the energy consumption is achieved.

The invention discloses an image segmentation method of a parametric type active contour model based on Finsler-Laplacian. According to the method, an anisotropic Finsler norm is introduced under a static external force field, and a new energy minimization problem is provided and comprises a data fidelity term and a regularization term based on the Finsler norm. A corresponding Euler-Lagrange equation is derived through a variational method and is converted into a time-evolved parabolic partial differential equation for numerical solution. A comparison principle is established under the framework of the viscous solution, and the existence of the understanding, the continuity about the space Lipschitz and the continuity about the time consistency are proved. The model has the advantages of being large in capture range, insensitive to initial contours, high in noise immunity, capable of effectively retaining image edge details and the like, and shows excellent performance in medical image and natural image segmentation.

The application relates to the technical field of automatic control, in particular to an anti-interference control method and system for an Euler-Lagrange system containing unknown interference, the method comprising the following steps: establishing an Euler-Lagrange dynamics model containing unknown interference and model uncertainty, unifying the unknown interference and the model uncertainty into a bounded and differentiable lumped disturbance term, constructing a preset time disturbance observer to perform specified time estimation on the lumped disturbance term; defining a system tracking error, designing a non-singular preset time synchronous sliding mode surface fused with a time-varying scaling function; and based on the output value of the preset time disturbance observer and the non-singular preset time synchronous sliding mode surface, designing a preset time synchronous controller with disturbance feedforward compensation. Under the premise of considering unknown interference and system uncertain dynamics, the system interference and uncertainty can be effectively reconstructed, the anti-interference capability of the system is improved, and vibration suppression and attitude stabilization are realized.

This invention belongs to the field of robotic arm control and provides a robust control method and system for a lifting robotic arm. It includes determining five nonlinear motion equations of the robotic arm dynamics using the Euler-Lagrange equations and representing them in matrix form. The robotic arm dynamics matrix form is divided into driven and non-driven forms, and after reduction processing, a reduced-mode dynamic model of the robotic arm is obtained. A robust controller is constructed by building a second-order sliding mode controller and a fast terminal sliding mode controller. The robotic arm dynamics matrix form is transformed into a state-space form to obtain a state observer. The state observer is subtracted from the state-space form to obtain the estimation error dynamic equation. The dynamic state of the robotic arm is inferred using the state observer. The control mode of the robust controller is determined based on the estimation error dynamic equation corresponding to the dynamic state, and the corresponding control signal is generated based on the robust controller. This invention significantly improves the safety and efficiency of robotic arms in practical applications.

The application belongs to the technical field of motor system control, and discloses a motor feasible task design method based on motor performance parameters and controller structure, which comprises the following steps: first, determining two types of motor performance parameters of the maximum torque and the peak power of the selected motor; second, based on Euler-Lagrange equation, establishing motor dynamics differential equation containing unknown rotational inertia, unknown friction resistance, and describing the characteristics of motor generalized speed; third, designing an adaptive controller to realize speed tracking control and online estimation of unknown rotational inertia, unknown friction resistance and unknown external disturbance; fourth, based on motor performance parameters and adaptive controller structure, establishing task feasibility constraint inequality, and determining motor feasible task in combination with the task load condition. The application can realize the analysis and determination of motor feasible task based on the control strategy and the maximum speed and the maximum torque of the motor without experimental test.

This invention discloses a data-driven method for reconstructing the flow field in a water-fish coupled scenario, relating to the intersection of fluid mechanics and artificial intelligence. The method includes the following steps: using a CFD model to simulate the water-fish coupled flow field under various scenarios, constructing a water-fish coupled flow field dataset; based on the water-fish coupled flow field dataset, constructing dynamic meshes for the fish body and background using a convolutional neural network prediction method via a Lagrangian module; constructing convolutional neural network models for both the fish body and background dynamic meshes; and constructing a rapid flow field reconstruction model based on the convolutional neural network model and the Eulerian-Lagrangian method to accurately predict the water-fish coupled flow field. This invention solves the problems of high cost, low efficiency, low accuracy, and unsuitability for widespread application of traditional flow field numerical simulation methods.

This application provides a numerical simulation method, system, and medium for erosion wear of titanium alloy pumps and valves. The method includes: acquiring the internal flow channel geometric parameters of the titanium alloy pump and valve, and constructing a three-dimensional geometric model of the internal flow channel; performing mesh generation to generate a computational mesh model; setting titanium alloy material property parameters and flow field boundary conditions; analyzing the fluid medium and solid particles inside the pump and valve using the Euler-Lagrange coupling method based on the computational mesh model, titanium alloy material property parameters, and flow field boundary conditions; analyzing the solid particle parameters based on the motion trajectory information of the solid particles in the flow field, calculating the erosion rate data at different locations on the pump and valve wall, and generating an erosion wear distribution cloud map of the pump and valve inner wall; by using the Euler-Lagrange coupling method, the motion characteristics of individual particles and their impact behavior on the wall can be accurately captured, the erosion rate data can be accurately analyzed, and thus the erosion wear of the pump and valve can be accurately analyzed.

This invention discloses a NOx control method for a chain grate rotary kiln based on multi-source fuel utilization. This method, targeting different levels of environmental warnings and ultra-low emission requirements, first establishes a solid fuel combustion characteristic database including anthracite, bituminous coal, and their blends based on industrial analysis, elemental analysis, and thermogravimetric experiments. Simultaneously, it employs CFD numerical simulation technology, coupling an Eulerian-Lagrange multiphase flow model and a P-1 radiation model, to analyze the flow field and NOx formation patterns under pulverized coal and natural gas co-firing conditions. Upon receiving control commands, it calculates the inlet concentration threshold based on the real-time efficiency of the denitrification system, intelligently recommends the optimal fuel ratio using the multi-source database, and outputs corresponding kiln tail temperature, combustion air volume, and raw material structure control parameters. This invention, through a dual approach of "experimentation + simulation," achieves the suppression of fuel-type and thermal NOx formation at the source, meeting differentiated environmental indicators while ensuring stable production.

The application discloses an unmanned ship scheduled time trajectory tracking method based on asymmetric preset performance, which comprises the following steps: S1, a kinematics model and a dynamics model of a three-degree-of-freedom unmanned ship are established based on an Euler-Lagrange method, and the kinematics model and the dynamics model are expressed as a state equation of the unmanned ship system; S2, a system structure with scheduled time convergence characteristics is constructed, and stable convergence of the state of the unmanned ship system within scheduled time is realized; and S3, an asymmetric preset performance function is designed, trajectory tracking errors of the unmanned ship system are constrained, a dynamic evolution process of the errors is limited, and the errors are guaranteed to meet preset performance indexes. The application has the beneficial effects that a novel asymmetric preset performance function is constructed, the dynamic evolution process of system errors can be effectively constrained, the state errors of the system are always kept within preset performance boundaries, and therefore, the stability and control precision of the trajectory tracking process of the unmanned ship are improved.

The application relates to a fixed-time fault-tolerant control method for a space tethered combination under actuator failure, a dynamic motion equation of a tethered robot capturing a target and forming a tethered combination with the target is established according to an Euler-Lagrange method; a learning model of internal uncertainty and actuator failure of the tethered combination system is constructed, an observer with a fixed-time convergence characteristic is designed to accurately estimate the lumped uncertainty composed of the internal uncertainty and the failure; in order to ensure that the system state has a fast convergence characteristic under the lumped uncertainty, a fixed-time non-singular terminal sliding mode surface is designed; finally, in combination with the characteristics of the sliding mode control and the observer, a fixed-time fault-tolerant control scheme based on the observer is proposed, the system state can realize fixed-time stable convergence under the internal uncertainty, and high-performance tracking effect can still be maintained when the actuator has failure.

The invention discloses a rotary kiln temperature field real-time numerical simulation method based on deep learning, and the method comprises the following steps: S1), building a numerical simulation model of a rotary kiln based on an Euler-Lagrange discrete phase model, a coupled radiation model and a chemical reaction model through a computational fluid dynamics method; s2) determining boundary conditions and working condition parameters of the rotary kiln; s3) processing the temperature field sample data set obtained in the step 1) by using an intrinsic orthogonal decomposition method; s4) constructing a deep neural network of the gating circulation unit; s5) in a deployment application stage, obtaining a corresponding intrinsic orthogonal decomposition modal coefficient; s6, the internal temperature field of the rotary kiln is reconstructed, and real-time prediction.The prediction efficiency is greatly improved, computing resource consumption is remarkably reduced, the bottleneck of an existing numerical simulation technology in the aspect of real-time performance is broken through, and rapid and continuous thermal state evaluation and operation optimization decision support can be provided for an industrial site.

The invention discloses a segmented co-pyrolysis tobacco straw hydrogen production system based on an Al-Ni bimetallic fluidized bed, which is characterized by comprising the following modules: (1) a catalytic co-pyrolysis module: a catalyst is composed of an Al-Ni bimetallic catalyst, and the mass ratio of Al / Ni to tobacco straw powder is 1: 1; the pyrolytic reaction module comprises a fluidized bed reactor and a multi-physical field coupling model, an Euler-Lagrange framework and a k-epsilon turbulence model are adopted to simulate gas-solid heat transfer and reaction kinetics, and the prediction error is smaller than or equal to 5%; and (3) the optimization control module is used for dynamically adjusting process parameters through a response surface method (RSA), wherein the process parameters comprise the temperature of 973K, the total flow of N2 (main N2 is 6L / min, and biomass N2 is 1.5 L / min) and the particle size of 70-mesh particles.

A control method for a lower limb rehabilitation exoskeleton robot includes: establishing a single-leg lower limb exoskeleton dynamic model using motor output torque as the system control input signal, and transforming it into a second-order differential equation of the lower limb exoskeleton robot using the Euler-Lagrange method to complete system modeling; designing a non-singular terminal sliding surface based on the lower limb rehabilitation exoskeleton robot model; designing a super-torsional sliding mode control algorithm based on the constructed non-singular terminal sliding surface for the established lower limb rehabilitation exoskeleton robot dynamic model; furthermore, initializing the lower limb exoskeleton robot is required, and the exoskeleton's motion mode is determined through a signal input device; simultaneously, the signals collected by the joint motor encoders are input to the super-torsional terminal sliding mode controller, which calculates the motor output torque that has a good tracking effect on the desired gait trajectory based on the information returned by the sensors and according to the current exoskeleton joint angle and the set joint angle.

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.

The invention provides a lithium strip extrusion forming finite element simulation method and system. The method comprises the steps that S1, a model is built based on a Lagrange description method and an Euler description method, and grid division is conducted; s2, defining material attributes of the lithium metal and the model, and setting a viscoplastic constitutive relation of the lithium metal; s3, establishing a dynamic display analysis step, setting a contact mode and a constraint condition, and simulating an extrusion process; and S4, evaluating the stress distribution uniformity and fluctuation characteristics of lithium strip forming according to the stress nephogram output by the model and the stress fluctuation data of the preset fixed point of the extrusion port. Based on the coupling Euler-Lagrange method, the plastic deformation behavior of the lithium metal in the mold and the internal stress distribution and fluctuation characteristics of the lithium strip are simulated; material attributes are defined by introducing a viscoplastic constitutive model, and the hardening behavior of the lithium strip in a mold runner is described; a symmetric modeling method is adopted and a local mesh refinement technology is combined, so that the model calculation efficiency and the simulation precision are improved.

This invention discloses a multi-hub motor Euler-Lagrange torque dynamic vector distribution system and its control method. The system treats the four hub motors of a distributed drive electric vehicle as a multi-hub motor electromechanical system. The torque distribution system of the multi-hub motor electromechanical system includes an integrated Euler-Lagrange torque controller and a driving assistance system. The method includes: pre-processing modeling of the four hub motors; pre-setting the Euler-Lagrange torque distribution control law; sampling the state variables of the multi-hub motor electromechanical system; determining the desired equilibrium point of the multi-hub motor electromechanical system; calculating the injection of dynamic interconnection coefficients and injection of friction damping coefficients; outputting the optimal given torque by the Euler-Lagrange torque distribution controller; and coordinating the modulation controller and the multi-half-bridge arm group driver to drive each hub motor. This invention can effectively adapt to various complex road conditions and improve the handling stability of distributed drive electric vehicles.

The invention relates to the technical field of automatic control, and discloses a self-adaptive predefined time tracking control method for an Euler-Lagrange system, which comprises the following steps: establishing a kinetic model of the Euler-Lagrange system of a double-joint mechanical arm, and constructing a reinforcement learning framework comprising an evaluation neural network and an execution neural network; calculating a position error according to a joint position in the kinetic model and a given reference signal; generating a predefined time virtual control law containing predefined convergence time parameters, and calculating a speed error in combination with the joint speed; generating a practical predefined time control law containing predefined convergence time parameters based on the speed error, the position error and the control compensation amount output by the execution neural network; and constructing a weight updating law, applying a practical predefined time control law to the dynamical model, and updating the weight according to the weight updating law. By introducing explicit predefined convergence time parameters, an error convergence time upper limit can be set according to task requirements.

The invention discloses a GLS-based vibroseis-near-surface unified modeling method, relates to the technical field of geophysical exploration and vibroseis, constructs a near-surface pore elastic model, and improves the interaction simulation precision among a heavy hammer, a substrate and pore fluid. According to the method, a generalized coordinate system based on a heavy hammer, ground and fluid displacement and velocity is used, an energy structure function constrained by a sweep frequency signal is established under the GLS theory, an Euler-Lagrange equation is substituted, and a kinetic equation considering near-surface pore structure characteristics is derived; and then solving the equation by adopting a Newmark-Beta method to finish the simulation experiment of the input and output signals of the vibroseis. According to the model, near-surface pore structure characteristics and a vibration energy attenuation mechanism thereof are fully considered, the modeling capability of an existing vibroseis system on porous medium response is remarkably improved, and a parameter matrix definitely represents the mass, rigidity and damping coupling relation of a heavy hammer, a base plate, a ground framework and pore fluid.