20 results about "Generalized forces" patented technology

This invention belongs to the technical field of magnetic levitation motion control and conveying systems. It provides a method and system for real-time distribution of six-degree-of-freedom generalized forces in a magnetic levitation planar motor. First, a physical model of the magnetic levitation planar motor is established, and the real-time position coordinates of the mover in the stator coordinate system are obtained. A constraint coefficient matrix representing the balance of the six-degree-of-freedom generalized forces is constructed. A quadratic convex optimization projection model is used, with minimizing coil copper loss as the objective function and generalized force balance as the constraint condition. Based on the Lagrange multiplier method, the forces on each coil in the model are optimized to obtain the minimum force on each coil group at any position of the mover throughout its stroke, thereby reducing the coil current and achieving low power consumption for the six-degree-of-freedom motion of the mover. This invention has the advantages of low computational complexity, real-time processing of force distribution tasks at any position of the mover throughout its stroke, and effective reduction of system heat dissipation.

The application discloses a robot joint reducer dynamics modeling method, device, equipment and medium, and relates to the technical field of transmission systems. The method comprises the following steps: acquiring double circular arc tooth profile parameters; obtaining multi-tooth meshing force distribution under different load conditions based on the double circular arc tooth profile parameters and a finite element method; calculating multi-tooth comprehensive meshing stiffness according to the multi-tooth meshing force distribution; establishing a multi-coordinate system framework during joint movement of an industrial robot; deducing an absolute acceleration expression of a harmonic reducer in a rotating non-inertial coordinate system based on the multi-coordinate system framework; constructing a generalized force excitation model according to the absolute acceleration expression; and establishing a harmonic reducer dynamics equation considering pose changes according to the multi-tooth comprehensive meshing stiffness and the generalized force excitation model. The method can more accurately predict transmission errors and dynamic responses of the harmonic reducer under high dynamic conditions.

The application discloses a kind of wheeled biped robot motion control method and system, comprising: model predictive controller is based on the motion control instruction of input and outputs the generalized force moment F that needs to be applied to trunk;Solving the distance Δx of the trunk centroid and wheel center point in x-axis direction of robot;Based on centrifugal force compensation strategy, calculate the trunk roll angle, based on terrain adaptation strategy, calculate the wheel position under the trunk coordinate system;After inverse kinematics is solved, the expected leg joint angle, leg joint speed and swing bar pitch angle are obtained as state input;Whole body controller is based on the generalized force moment F obtained by model predictive controller and the state input obtained by inverse kinematics solving, fusion dynamics feedforward and joint feedback, finally obtain the leg joint torque and wheel joint torque for controlling robot motion.The application enhances the robustness of robot when high-speed steering, to prevent rollover.

The invention provides a coupled six-degree-of-freedom elastic aircraft flight simulation method. The method comprises the following steps: step 1, modeling a kinematic equation of an aircraft; 2, according to the virtual work principle, modeling is conducted on a kinetic equation of the aircraft on the basis of the kinematic equation; 3, performing elastic correction on the airflow angle of the aircraft, and calculating aerodynamic force borne by the aircraft and corresponding aerodynamic torque according to the airflow angle subjected to elastic correction; calculating an external force, an elastic deformation generalized force and a moment borne by the aircraft; 4, substituting the external force, the torque and the elastic deformation generalized force borne by the aircraft into the kinetic equation in the step 2 to obtain a kinetic equation after elastic correction of the aircraft, and calculating flight parameters of the aircraft according to the kinetic equation so as to realize flight simulation of the aircraft; according to the method, flight simulation considering the aeroelastic effect and the rigid-elastic coupling effect at the same time can be achieved, and finally more accurate flight simulation is provided for the elastic aircraft.

The application provides a concrete vibration table parameter determination method based on a same-direction multi-machine self-synchronization, and specifically comprises the following steps: S1: obtaining kinetic energy, potential energy and a generalized force equation of the concrete vibration table according to a dynamic model of the concrete vibration table; S2: obtaining a motion differential equation of the concrete vibration table in combination with a Lagrange equation; S3: substituting an average phase angle, an angular velocity and an angular acceleration of an exciter into the motion differential equation of the concrete vibration table to obtain a dimensionless coupling equation of the concrete vibration table; S4: obtaining a synchronization condition in combination with the dimensionless coupling equation of the concrete vibration table and a limitation condition of an electromagnetic torque; and S5: obtaining a stability condition in combination with the dimensionless coupling equation of the concrete vibration table under the condition of meeting the synchronization condition. The method increases the vibration intensity of the multiple exciters in the concrete vibration table, thereby ensuring the vibration intensity of the concrete vibration table and improving the quality of the concrete prefabricated part.

The invention discloses a theoretical model for spiral self-feeding shape correction of a pipe, which comprises the following steps of: establishing a theoretical formula of total kinetic energy T of the pipe on the basis of a thin-wall hypothesis under the conditions that a rotating shaft of the pipe is assumed to coincide with a bent plane and axial rolling of the pipe is ignored; establishing a simplified theoretical formula of potential energy V of the pipe on the basis of a reciprocating bending unified curvature theorem and a bidirectional effect under the condition of neglecting plastic dissipation of the pipe; modeling is conducted on the movement track of the pipe on the basis of the Lagrange equation so as to obtain a movement track equation set, and the movement track equation set comprises a coupling relational expression among the circumferential bending angle of the pipe, the spiral azimuth angle of the pipe and the axial self-feeding displacement s; wherein the Lagrange equation is as follows: Qq is the generalized force applied to the pipe, L is the Lagrange quantity, and q is the generalized coordinate system and is a first derivative of q.

The embodiment of the invention provides a multi-body system control method, equipment and a medium. The method comprises the steps that a pre-trained generalized force estimation model is called, the predicted generalized force of the multi-body system is obtained according to the system state of the multi-body system at the current moment, and the generalized force estimation model is a model which is trained based on a physical information neural network in advance and predicts the generalized force borne by the system according to the system state; adopting a variational integrator to calculate the system state at the next moment according to the system state and the predicted generalized force; and outputting the system state at the next moment to an actuator of the multi-body system. The method is used for achieving the effects of improving the stability of a simulation process and the precision of a simulation result in a complex multi-body system dynamics analysis scene, and further improving the stability and the precision of multi-body system control.

The present application relates to a kind of drive-by-wire chassis key parameter active identification and control collaborative optimization method and system, for the low precision of parameter identification caused by insufficient regular driving excitation, and active excitation exists strong intervention, the problem of vehicle stability decline, establish the mapping relationship of target motion state and generalized force, construct the control distribution constraint of redundant actuator, realize the whole vehicle multi-objective motion control in the main space of constraint model, in the zero space, design the estimator of active enhancement of excitation condition, and using the orthogonality of main space and zero space, realize the collaborative optimization of control and estimation task through completely decoupled hierarchical control framework.For model uncertainty and zero space projection error, construct lumped disturbance compensation mechanism, improve the robustness of system under complex environment.The present application can quickly and accurately identify the key parameters of vehicle-road under the premise of not changing the trajectory and attitude of vehicle, ensure vehicle stability and trajectory tracking performance.

The embodiment of the invention provides a software actuator control method and device, equipment and a storage medium, and relates to the technical field of software mechanical control. According to the method, generalized force of the software actuator is obtained at least based on geometric parameters and pressure parameters, axial strain parameters are obtained at least based on the geometric parameters, strain energy of the software actuator is obtained according to the axial strain parameters and the geometric parameters, and equivalent mass of the actuator in an execution environment is obtained. Gravitational potential energy and kinetic energy of the software actuator are obtained based on the equivalent mass, total potential energy is obtained by subtracting the strain energy and the gravitational potential energy from the kinetic energy, an initial Lagrangian model is constructed according to the total potential energy and generalized force, the initial Lagrangian model is simplified based on Taylor series expansion, and an equivalent Lagrangian model is obtained; and performing numerical solution on the equivalent Lagrange model according to a preset boundary condition to obtain control parameters of the software actuator. The model is simplified, the calculation efficiency is improved, and the motion control accuracy and real-time control are realized.

The invention relates to the technical field of wind resistance of engineering structures, in particular to a T-shaped tower generalized force spectrum calculation method based on an eccentricity effect, which comprises the following steps of: establishing numerical models of different geometric eccentricity rates, acquiring three-component force time-history data by adopting large eddy simulation, and combining with wind tunnel test verification to calculate a generalized force spectrum of a T-shaped tower. The influence rule of the eccentricity rate on aerodynamic characteristics and wind pressure distribution is systematically analyzed; a normalized force spectrum model is constructed based on fast Fourier transform and nonlinear fitting, the coupling effect of resistance, lift force and torque is quantified, and finally a generalized force spectrum expression considering the eccentricity rate influence is formed through the modal superposition principle. The three-component coupling effect systematic evaluation system for the eccentric T-shaped tower is established for the first time, the technical problem that flow field asymmetry and torque sudden change are difficult to accurately predict under the high eccentricity rate working condition is solved, collaborative analysis of downwind, crosswind and torsional wind loads is achieved, and the evaluation reliability of structural wind vibration response is remarkably improved.

The application discloses a kind of dynamic base mechanical arm end load mass online estimation method, belong to robot control technical field.The method of the application includes: the estimated value of load mass is handled to obtain six-dimensional virtual generalized force, six-dimensional pose feedback signal of trunk is collected and handled to obtain trunk actual stress, thrust and trunk actual stress are compared, the estimated value of current load mass is handled to obtain the estimated value of new load mass using load mass adaptive iterative speed sliding mode control model, until trunk actual stress and thrust are equal.The dynamic base mechanical arm end load mass online estimation method provided by the application can estimate the load at the end of the arm in real time based on the dynamic base thrust constructed and applied based on the current parameters and the actual thrust prediction value of the trunk to adjust the controller model parameters and improve the system control performance.

The application discloses a robot joint reducer dynamics modeling method, device, equipment and medium, and relates to the technical field of transmission systems. The method comprises the following steps: acquiring double circular arc tooth profile parameters; obtaining multi-tooth meshing force distribution under different load conditions based on the double circular arc tooth profile parameters and a finite element method; calculating multi-tooth comprehensive meshing stiffness according to the multi-tooth meshing force distribution; establishing a multi-coordinate system framework during joint movement of an industrial robot; deducing an absolute acceleration expression of a harmonic reducer in a rotating non-inertial coordinate system based on the multi-coordinate system framework; constructing a generalized force excitation model according to the absolute acceleration expression; and establishing a harmonic reducer dynamics equation considering pose changes according to the multi-tooth comprehensive meshing stiffness and the generalized force excitation model. The method can more accurately predict transmission errors and dynamic responses of the harmonic reducer under high dynamic conditions.

This invention discloses a theoretical model for spiral self-feeding straightening of pipes, including, under the assumption that the rotation axis of the pipe coincides with the bending plane and axial roll of the pipe is ignored, establishing the total kinetic energy of the pipe based on the thin-wall assumption. T The theoretical formula is derived; neglecting the plastic dissipation of the pipe, a simplified potential energy model for the pipe is established based on the unified curvature theorem of reciprocating bending and the bidirectional effect. V The theoretical formula is used to model the motion trajectory of the pipe based on the Lagrange equation, thereby obtaining a set of motion trajectory equations. These equations include the circumferential bending angle of the pipe, the helical azimuth angle of the pipe, and the axial self-feed displacement. s The coupling relationship between them; where the Lagrange equation is, Q q For the generalized forces acting on the pipe, L For Lagrange units, q For a generalized coordinate system, , for q The first derivative.

The present application relates to the field of offshore floating platform safety assessment, and discloses a method, system, medium and equipment for inverting QTF based on multi-source response data, comprising: collecting multi-source response data of a mooring platform in a pool test; establishing a mooring dynamics model consistent with the pool test, taking the six-degree-of-freedom motion response of the platform as input to solve the mooring dynamics model to obtain the dynamic tension of each mooring cable, checking the mooring dynamics model and calculating the instantaneous generalized force of the mooring system acting on the platform; based on the six-degree-of-freedom time-domain motion equation of the platform, using the platform acceleration response, the instantaneous generalized force and the preset hydrodynamic parameters to invert the environmental load acting on the platform; based on the incident wave height time history and the environmental load, extracting the equivalent low-frequency slow-drift environmental load component, and using the cross-bispectrum analysis method to identify the second-order difference frequency transfer function matrix. The present application can improve the accuracy of mooring floating platform low-frequency slow-drift load identification.

This invention discloses an intelligent control optimization method for ship hybrid propulsion based on deep neural networks. By setting a generalized force control target, constructing a supervised training dataset, and establishing a deep neural network model with an encoder and decoder structure, the encoder maps the target generalized force to the thrust and angle commands of the propeller. The decoder outputs the generalized force inversely based on the control commands. During training, a multi-objective loss function with six sub-items is introduced to construct the physical constraints related to the propeller into the form of a loss function. The optimal propeller command that satisfies various constraints is found. The model receives real-time control command input and can quickly output propeller control commands that meet the constraints, realizing optimized thrust allocation. While ensuring that the physical constraints of the propeller are met, the method balances thrust allocation accuracy and energy consumption, accurately tracks while reducing energy consumption and excessive use of actuators, solves the ship thrust allocation problem under complex constraints, and efficiently completes the ship trajectory tracking task.

The invention relates to the technical field of robot control and simulation, and particularly discloses an underwater robot multi-thruster thrust distribution method based on motion simulation, a program, equipment and a storage medium. The core of the method is to construct a high-fidelity physical simulation verification environment decoupled from a control algorithm to form a closed-loop test process. The method comprises the following steps: setting an expected pose of the underwater robot; acquiring the current pose and speed state from the simulation environment; calculating a required generalized force vector based on the difference between the two; by solving an optimization problem with constraints (the target is to minimize energy consumption, and constraints comprise a thrust distribution equation and thrust limits of the propellers), the generalized force vector is optimally distributed to the propellers, and an optimal thrust vector is obtained; applying the thrust to a robot model in a simulation environment through a standardized interface; and the simulation engine updates the state of the robot based on the integrated hydrodynamic model, and feeds back the new state to the control end to realize closed-loop verification.

The application discloses a kind of fast modeling methods of launch vehicle rigid-elastic-slosh coupling model, the motion equation of launch vehicle is established: the motion equation of launch vehicle is established; Force, torque and its generalized force are solved; Propellant sloshing is analyzed using spring-mass-damper equivalent model; The nonlinear full-quantity dynamic model of launch vehicle six degrees of freedom is established: the inertia force, inertia torque and generalized force generated by propellant sloshing are substituted into the motion equation of launch vehicle, and the motion equation of centroid, the motion equation around centroid, the elastic vibration equation of rocket in pitch, yaw and roll three directions are obtained; Launch vehicle rigid-elastic-slosh coupling model is solved.The application can realize the fast numerical simulation of launch vehicle rigid-elastic-slosh coupling model, and analyze the influence of solution result on the attitude change of launch vehicle, and lay the foundation for the navigation and attitude control design of launch vehicle.

The invention discloses an excitation point optimization selection and aerodynamic force equivalence implementation method in a ground flutter test, and relates to the technical field of aeroelasticity tests of aircrafts. The method comprises the following steps: constructing a system modal matrix, introducing a weighting coefficient matrix based on a prior aeroelasticity analysis result, and constructing a weighting effective independent matrix; calculating diagonal elements of the weighted effective independent matrix, and gradually removing candidate measuring points which contribute the minimum linear independence of the modal vector by adopting an iterative deletion method until a preset number of optimal excitation points are left; and estimating modal coordinates of the structure based on response data of the optimal excitation point, and realizing aerodynamic equivalence through generalized force condensation. A traditional measuring point arrangement method is often difficult to give consideration to measuring point representativeness and global recognition precision, and according to the method, excitation points are optimally selected by introducing a weighting coefficient matrix, so that a limited number of excitation points can reflect a main vibration mode of a structure to the maximum extent, the measurement precision of a key flutter mode is ensured, and thus the estimation precision of modal coordinates is improved.

The invention relates to the technical field of human body behavior analysis, in particular to a human body tumble behavior recognition method and system. The method comprises the following steps: modeling a human body into a structure taking a middle hip point as a dynamic center, and reconstructing a speed spiral matrix of each rigid body section at each moment based on a quaternion of a mass center in each rigid body section at each moment relative to the middle hip point and a position coordinate of the mass center in each rigid body section at each moment; based on the reconstructed speed spiral matrix and generalized inertia matrix of all rigid body segments at each moment, obtaining a generalized external force spiral resultant force vector suffered by the human body at each moment; scalar generalized force components of dimensions; and constructing human body tumble behavior characteristics at each moment according to the scalar generalized force response quantity at each moment and the scalar generalized force component of each dimension, and obtaining a human body tumble behavior recognition result. The human body tumble behavior recognition precision is improved.

The invention relates to an improved MPC unmanned aerial vehicle dynamics control method. The method comprises the following specific steps: S1, establishing an unmanned aerial vehicle dynamics model; firstly, an unmanned aerial vehicle kinetic model is established, and motion is described by adopting an Euler-Lagrange equation based on kinetic energy, potential energy and generalized force of an unmanned aerial vehicle; s2, establishing a PD controller for the dynamic model of the unmanned aerial vehicle established in the S1; s3, performing parameter identification on the PD controller in the S2 by adopting nonlinear dynamic sparse identification; and S4, carrying out torque optimization on the unmanned aerial vehicle torque obtained by the PD controller in the S3 by adopting MPC. According to the method, unmanned aerial vehicle input modeling based on PD control is adopted, simple and efficient approximation is provided for control input, and a practical tool is provided for control-oriented dynamic modeling; a nonlinear dynamic sparse identification method is adopted, an explainable model is directly derived from data to enhance an MPC framework, and the control accuracy and adaptability of the unmanned aerial vehicle in an uncertain environment are improved.