133 results about "Inertia" patented technology

The present application relates to a kind of inertial energy storage methods.A kind of inertial energy storage method uses inertial energy storage device, with the cavity of fluid being contained, kinetic energy recovery device and the transmission member driven by the pressure of fluid in cavity, the method includes: fluid in cavity is accelerated;Fluid in cavity is applied deceleration resistance by kinetic energy recovery device, so that fluid in cavity is decelerated;During the deceleration of fluid in cavity, the kinetic energy of fluid deceleration is recovered by kinetic energy recovery device;Wherein, using the acceleration effect of fluid in cavity, the pressure of fluid in cavity is increased from first pressure to second pressure according to the velocity variation rate and movement state of fluid;Before the step of kinetic energy recovery device recovery kinetic energy ends, additionally by transmission member, the fluid pressure energy generated by fluid under the action of second pressure is obtained, wherein, first pressure is less than second pressure.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

This application provides a reversing mechanism and a robot. The reversing mechanism includes: a first transmission wheel and a second transmission wheel, whose rotation axes intersect; at least one of the first and second transmission wheels has a groove on its outer peripheral surface; a first flexible transmission member and a second flexible transmission member, each having a first end fixedly connected to the first transmission wheel and a second end fixedly connected to the second transmission wheel; at least one of the first and second flexible transmission members is wound around the groove. The first and second transmission wheels of this application can achieve flexible transmission and reversing through the first and second flexible transmission members, effectively reducing the inertia of the end load and the overall weight of the machine, facilitating maintenance, and significantly reducing the space occupied by the equipment. The groove can accommodate and prevent interference with at least one of the first and second flexible transmission members, increasing the stroke of the reversing mechanism, enhancing transmission stability, and reducing design complexity.

The application discloses a heading information determination method, which comprises the following steps: utilizing a rotation mechanism built in a strapdown inertial navigation system, and according to a preset rotation sequence of a fixed period, performing rotation adjustment on a prism normal of an inertial measurement unit of the strapdown inertial navigation system; utilizing a real-time prism normal of the inertial measurement unit to correct a posture matrix collected by the strapdown inertial navigation system and a speed collected by an odometer; and taking the corrected posture matrix and the corrected speed as heading information. Thus, the rotation modulation of a gyroscope and an accelerometer can be realized by utilizing the rotation mechanism built in the strapdown inertial navigation system, a long-time heading keeping method of a vehicle-mounted inertial / odometer based on the rotation modulation is realized, the constant error source except for the axial (rotation axis direction) error can be automatically offset, the long-time heading precision of the system is improved, and the heading information precision is improved.

The present application relates to the technical field of nonlinear dynamics experimental equipment, in particular to a V-shaped spring oscillator programmable excitation device and method based on reference frame transformation. The device comprises a V-shaped spring structure, a driving module, a control module and a measurement module. The V-shaped spring structure comprises two springs, one end of each spring is connected to a movable suspension point, and the other end is connected to a mass. The driving module is used to drive the two movable suspension points to move synchronously. The control module is used to generate a control signal according to a target external force waveform to control the motion trajectory of the movable suspension points. The measurement module is used to collect the motion data of the mass. By transforming the reference frame to a non-inertial reference frame with the movable suspension point as the origin, the mass is subjected to an equivalent inertial force in the non-inertial reference frame, which is the programmable external force applied to the mass.

This invention discloses a control method and system for stage equipment, comprising: establishing a global spatial coordinate system with the starting point of the slide rail as the origin and calibrating the static coordinates and geometric center coordinates; real-time acquisition of pressure distribution data and motion feature sets; performing Fourier transform on the pressure distribution data to generate a smooth pendulum length and obtaining the audience's center of gravity offset and offset direction; generating a safety zone based on the motion speed and smooth pendulum length, and generating a vertex coordinate sequence based on the center of gravity offset and offset direction; publishing the vertex coordinate sequence to each peripheral device based on a publish-subscribe mechanism, and obtaining the verification distance between each peripheral device and the boundary of the safety zone; comparing the verification distance with preset warning thresholds and emergency thresholds to generate control commands; and performing differentiated control on the mobile platform based on the control commands. This invention achieves unified safety interlocking between the mobile platform and peripheral devices, solving safety problems caused by the high center of gravity of standing audiences, edge gathering, and individual inertia differences.

The application discloses a kind of asymmetric configuration satellite attitude maneuvering process coupling compensation method, comprising: establishing the satellite attitude dynamics model including the non-diagonal item of moment of inertia matrix;Read current attitude sensor data, and calculate deviation quaternion and deviation angular velocity;According to the attitude dynamics model and current angular velocity data, calculate coupling compensation feedforward control torque;Based on the coupling compensation feedforward control torque, deviation quaternion and deviation angular velocity, the control torque after compensation is calculated;The control torque after compensation is limited and priority torque distribution, and the final control torque is obtained;Final control torque is sent to actuator drive satellite and carries out attitude maneuvering.Solve the problem that coupling effect caused by inertia product cannot be effectively compensated when asymmetric configuration satellite is in large-angle attitude maneuvering in prior art, and then affect control precision and stability.

This invention discloses an adaptive inertial navigation solution method and system based on motion feature recognition, comprising: extracting multidimensional features reflecting the motion state of the carrier based on angular velocity and specific force data collected by the inertial measurement unit, and constructing a feature matrix; performing dimensionality reduction processing on the feature matrix to obtain low-dimensional feature vectors; performing cluster analysis based on a clustering algorithm that initializes cluster centers using prior samples to identify the motion state of the carrier; and adaptively selecting an appropriate combined navigation filtering strategy for navigation solution. This invention effectively suppresses the accumulation of inertial navigation errors, improving the autonomous navigation accuracy and long-term stability of the system in scenarios of satellite signal rejection or visual failure; it can finely distinguish different motion modes such as hovering, uniform motion, and transitional states, avoiding the shortcomings of traditional threshold methods that are susceptible to noise interference and have poor adaptability; by introducing continuous frame mode voting and physical anti-jump mechanisms, it further eliminates single-frame misjudgments, ensuring the continuity and robustness of state recognition.

The application provides an underwater vehicle optimization cooperative detection array position method, a target optimization function of an AUV cooperative detection array position is constructed by coupling AUV detection error and AUV position error, and the optimization object is minimization of global average detection error, so that passive detection AUVs construct an array position according to maximum cooperative detection accuracy; an improved HS-DPSO fusion algorithm is adopted to iteratively optimize the target optimization function; in the local optimization process, a dynamic inertia weight adjustment strategy combining normal distribution randomness and an adaptive expectation mechanism is adopted, so that the inertia weight regularly and dynamically fluctuates in each iteration, and the ability of the algorithm to jump out of a local optimum is enhanced; and a random number is used to dynamically adjust the adaptive random weight expectation value, so that the limitation of a manually preset fixed random weight expectation value is avoided, and the adaptability of the algorithm to different detection scenes is improved. The method makes each passive detection AUV quickly obtain an optimal cooperative detection position, and improves the cooperative detection efficiency and detection accuracy of the AUV formation.

The application discloses a two-roller reverse rotation device for open mill after emergency stop, which comprises a moving module, a deceleration module and a reverse rotation module. The moving module comprises a frame arranged on the machine body and a flange arranged inside the frame. The flange can be controlled to carry a second gear and a second roller body away from a first roller body. The reverse rotation module is used for driving the first roller body and the second roller body to rotate in a second direction. The application relates to the technical field of open mill equipment, and combines roller body separation, inertia deceleration and automatic reverse rotation. After the machine body is suddenly stopped, the moving module first separates the two roller bodies to avoid continuous extrusion; the deceleration module then automatically brakes the driven roller to prevent foreign matters from continuing to be wound in. The whole process does not need manual intervention, and the risk of secondary injury is avoided. By separating the two roller bodies first and then reversing, impact load is relieved in the separation process, and equipment parts are effectively protected.

The present invention provides a hydraulic pressure control unit capable of diagnosing whether an abnormality is present or absent in a component for controlling the hydraulic pressure of a brake fluid. A hydraulic pressure control unit 10 comprises: a hydraulic pressure control mechanism including a base body 60 in which a fluid passage for a brake fluid is formed and a component which is incorporated in the base body 60 and which includes solenoid valves 40a-40d for controlling the hydraulic pressure of the brake fluid; a control board 70 including a control unit 71a that controls operation of the component; and an inertial measurement unit 74 that measures inertial motion. The control board 70 includes: an acquisition unit 71b that acquires an output signal Sgi of the inertial measurement unit 74 as inertial information pertaining to a measurement result from the inertial measurement unit 74; and a diagnostic unit 71c that executes diagnostic processing to diagnose whether an abnormality is present or absent in the first to fourth solenoid valves 40a-40d as the component, on the basis of the inertial information.

The application discloses a pose measurement and motion control device for a spacecraft simulator, comprising a three-degree-of-freedom air floating table, the three-degree-of-freedom air floating table comprising an air floating table base and an air floating table mounting seat; a momentum wheel, a first inertia measurement unit and a momentum wheel unloading fan are arranged on the air floating table mounting seat; a pose adjustment fan and a second inertia measurement unit are arranged on the air floating table base; the pose measurement and motion control device further comprises an optical motion capture system for measuring the pose and linear velocity of the air floating table base and an industrial computer for controlling the running of a program algorithm and the issuing of component control instructions. The application can realize high-efficiency and high-precision control of the attitude angle, position of the three-degree-of-freedom air floating table and the rotation angular velocity of the spacecraft simulator, and can simultaneously measure and control multiple targets.

The application provides a construction method and device of a feedforward torque model of a coupling span driven joint, and the method comprises the following steps: constructing an initial dynamics equation of each joint according to a steel wire rope torque between coupling span driven joints of a target object, an effective torque of each joint of the target object, and a motor torque corresponding to each joint; establishing a friction force model of each joint according to an actual speed of each joint and an actual friction force of each joint, and constructing a gravity model of each joint according to a low-speed reciprocating motion state quantity of each joint; constructing a target feedforward torque model of each joint according to the initial dynamics equation of each joint, the friction force model of each joint, the gravity model of each joint, and an optimal trajectory, wherein the target feedforward torque model comprises an observation matrix and a minimum parameter inertia set; and controlling the motion of each joint in the target object based on the target feedforward torque model of each joint. The accuracy of tendon coupling span driven joint parameter identification is improved.

The application discloses a closed-chain operation hydraulic double-arm trajectory planning and motion control method considering multiple physical constraint limitations. The method comprises the following steps: establishing a hydraulic double-arm trajectory planner, modeling the physical constraints of the hydraulic double-arm, and generating a new expected trajectory according to an input instruction; establishing a hydraulic double-arm motion controller, receiving the expected trajectory from the trajectory planner, adaptively updating object inertia parameters for estimation of the physical constraint boundary, and performing motion control on the double arm. The application can be used for closed-chain operation of the hydraulic double-arm object, ensures that the object motion does not exceed the multiple physical constraint limitations of the system, so that the object does not deviate from the expected path, reduces the double-arm position error and internal force, and thus avoids the occurrence of unexpected accidents.

A gradio-gravimeter comprising at least two vehicles (V1, V2), each with an inertial measurement unit (IMU1, IMU2) and a control unit (COM1, COM2) for guiding the vehicles along trajectories with separate segments for performing IMU flips and coupled segments for exchanging inertial measurements. At least one of the electronic control units is configured to determine, notably from the exchanged measurements: a transition matrix between inertial frames, a correction of linear acceleration measurements using an observed accelerometric model, a correction of angular velocity measurements using an observed gyrometric model, and a gravitational field gradient. Navigation system comprising such a gradio-gravimeter. FIGURE IN ABRIDGED DIAGRAM: Fig. 1

The application relates to the field of engineering machinery and discloses a cooperative control method, a cooperative control system and an engineering machinery group. The cooperative control method comprises the following steps: predicting a relative motion trend between a first joint of a first device and a second joint of a second device; in the case that the relative motion trend indicates that the two joints have an approaching trend, determining a control strategy for the first joint and the second joint according to the speeds of the first joint and the second joint and the joint relative distance between the first joint and the second joint; and controlling the first joint to execute a first sub-control strategy and the second joint to execute a second sub-control strategy according to a construction method avoidance principle, so as to prevent the first device and the second device from colliding. The application can automatically control the cooperative work of devices, can ensure that engineering machinery with large motion inertia can detect collision risks in time and take safe avoidance measures.

This invention relates to the field of construction site safety technology, and particularly to an active safety protection method and system for construction sites based on dynamic projection of a crane boom. This solution utilizes the boom length and elevation angle parameters to map its geometric envelope on the work surface in real time, and introduces inertial compensation based on motion state variables and environmental compensation based on wind speed and direction. This ensures that the generated dynamic danger zone can realistically cover the swaying space of the hoisted object caused by physical inertia or external interference. This follow-up modeling method effectively eliminates blind spots in safety supervision caused by boom extension, retraction, and rotation, reducing false alarm and missed alarm rates.

This utility model provides a projectile device and a corner reflector launching system, relating to the field of corner reflector launching technology. By installing a slow-descent device and a corner reflector device respectively in a first cavity and a second cavity formed inside the projectile casing, after the launching device launches the projectile casing, when it reaches the designated airspace, the separation rope tightens, causing the projectile casing to stop. Due to the setting of the first connecting rope, the slow-descent device will continue to move forward due to inertia, realizing the separation of the slow-descent device from the projectile casing. After the first connecting rope is tightened, the slow-descent device stops. Due to the setting of the second connecting rope, the corner reflector device will continue to move forward due to inertia until the second connecting rope tightens, thereby realizing the separation of the corner reflector device from the slow-descent device. The gradual separation of the slow-descent device and the corner reflector device can be achieved without the need for mechanical and electrical structures.

The application relates to the technical field of aircrafts, and discloses a calculation method, equipment and medium for the multi-physical effect of ablation particles, the method comprising the following steps: acquiring equivalent inertia items induced by respective multi-physical effects; calculating a multi-physical particle dynamics process according to a particle sliding resistance item and the equivalent inertia items induced by the respective multi-physical effects; performing dimensionless processing on a radiation heat transfer equation of spherical particles in the volume of an arbitrary sampling unit to obtain a dimensionless radiation heat transfer equation; and calculating a thermal radiation particle thermodynamic process by using the dimensionless radiation heat transfer equation. The method can reflect complex physical processes under extreme mechanical environments, ensure that numerical simulation can reproduce the original appearance of ablation physics, has engineering interaction of ablation problems, automatically performs dimensionless processing, avoids numerical rigidity caused by dimensional differences of different physical problems, and fills the gap that the prior art cannot calculate complex processes of multi-physical effects of ablation particles under extreme mechanical conditions.

The application discloses a double-face polishing device and polishing method special for wandering star wheels, and relates to the technical field of wandering star wheel machining. The polishing main body is internally connected with an extension block at the center of the bottom of the inner wall, and the top center of the extension block is fixedly connected with a supporting column, and the top center of the supporting column is fixedly connected with a supporting plate. The transmission motor drives the transmission rod arranged at the output end, the synchronous belt drives the connecting rod to rotate, the bearing frame takes the connecting rod as the center, the supporting ring is driven to rotate, the supporting ring and the lower polishing disc arranged at the top thereof are slightly inclined, the problem that the cooling liquid containing grinding dust repeatedly rubs the inner wall of the through hole, the diameter of the through hole becomes larger and larger, the through hole is continuously damaged under the influence of inertia, the edge of the through hole is broken, burrs are generated, and the precision of the wandering star wheel is affected is further solved.

The application relates to a portable shock tube device with one-way reflection and a one-way reflection control method. The device comprises a tube structure with a first cavity and a second cavity; a film structure clamped between the first cavity and the second cavity; a film breaking structure capable of connecting the first cavity and the second cavity to form a channel for shock wave propagation; a detection structure for detecting a shock wave; a pressure relief structure comprising a high-speed electromagnetic direct discharge valve and a throttle orifice plate arranged in series along an exhaust direction; the effective flow area of the high-speed electromagnetic direct discharge valve is larger than the opening area of the throttle orifice plate; the film breaking structure is configured to puncture the film structure and trigger communication with the external atmosphere at the same time, so that the pressure of the first cavity and the second cavity tends to be consistent, and the pressure relief rate of the first cavity is determined by the opening area of the throttle orifice plate, thereby avoiding the influence of dynamic errors such as mechanical inertia, hysteresis, valve core shaking and the like on the pressure relief stability during the opening process of the high-speed electromagnetic direct discharge valve, and ensuring the consistency of the pressure relief rate of each test.

This invention provides a method for determining rocket guidance gain relationships based on impact analysis, comprising: acquiring rocket flight trajectory data, including the position and velocity of the first-stage rocket in the launch inertial coordinate system and the theoretical recovery landing point position, and establishing a high-precision landing point prediction model; based on the landing point prediction model, determining the influence coefficient of the shutdown point state deviation on the final landing point deviation, the influence coefficient including the position influence coefficient and the velocity influence coefficient; actively compensating for the current position deviation based on the current velocity deviation in the guidance law, and constructing a second-order equation relationship between the position influence coefficient, the velocity influence coefficient, and the position and velocity deviations, based on the principle that the combined influence of the position and velocity deviations on the landing point should tend to zero, thereby obtaining the constraint relationship between the proportional gain P and the differential gain D. This method, oriented towards determining the guidance gain relationship of the recovery landing point, can meet the requirements of high-precision rocket recovery.

The embodiment of the application provides a tension measuring device, and relates to the field of battery production equipment industry.The tension measuring component comprises a supporting seat, a tension sensor and a roller shaft component.The roller shaft component comprises a tension roller, two bearings and a supporting piece, the supporting piece is connected with the supporting seat, one end of the supporting piece is connected with the tension sensor, the two ends of the supporting piece in the axial direction are provided with bearing mounting spaces for assembling the two bearings respectively, and the two ends of the tension roller are connected with the two bearings respectively.The tension roller is used for contacting with a material line and is provided with a through hole extending along the axial direction of the tension roller.The gravity is reduced, the inertia of the tension roller is also reduced, the influence of the tension roller on the material line is smaller when the tension roller rotates, the influence of the inertia on the material line tension when the tension roller is driven to rotate is reduced, the precision of the material line tension measurement is improved, and the material line tension at any position in the whole machine material line can be conveniently measured through the magnetic attraction piece.

The utility model relates to the technical field of anti -seismic support, and disclose an angle self -adaptation's anti -seismic support, this angle self -adaptation's anti -seismic support, including upper clamp, the bottom of upper clamp is connected with lower clamp through bolt fixedly, and the bottom end surface of lower clamp is provided with damping assembly. This angle self -adaptation's anti -seismic support, when the pipeline is swung in the horizontal vibration of earthquake, the pendulum damper swings with the inertia of opposite direction, and the vibration of pipeline produces phase difference and cancels partial energy, thereby reducing the actual movement amplitude of main structure, reducing swing impact, reducing the stress that the pipeline body and interface bear, improve the anti -seismic toughness and stability of pipeline, provide positioning and limiting function for lower clamp under the state of no earthquake, prevent its displacement, keep system stable, when the earthquake occurs, the connecting rod breaks preferentially, thereby automatically releasing the constraint to lower clamp, let the device become flexible response state.