697 results about "Inertia" patented technology

The invention belongs to the field of equipment coupling monitoring, and particularly relates to a dynamic coupling compensation method for thermal expansion and axial displacement, which comprises the following steps of: calculating a first characteristic value for representing reference dynamic offset of a sensor based on a three-dimensional thermal-structure coupling model by acquiring a thermal expansion parameter and axial displacement parameter sequence of a casing; calculating a second characteristic value representing the real position change of the rotor in combination with a rotor-casing axial thermodynamic model, establishing a piecewise coupling function considering a nonlinear effect, working condition self-adaption and cross interference, and eliminating the mechanical thermal inertia and measurement system lag influence through a dynamic delay compensation mechanism; an accurate axial displacement measurement total error compensation index is generated, and grading compensation actions are intelligently triggered according to error grades; the problem of measurement distortion caused by dynamic coupling of thermal expansion and axial displacement is effectively solved, and the accuracy and reliability of state monitoring of the rotating machine are remarkably improved.

The invention relates to the technical field of camera anti-shake, and discloses a motion camera anti-shake method and system based on inertial prediction, and the method comprises the steps: collecting the three-axis acceleration original data of an IMU sensor in a motion camera, and calculating a first motion intensity value; when the first motion intensity value is smaller than an acceleration change rate threshold value, starting a first anti-shake mode, and extracting angular velocity data of the gyroscope; performing cubic spline interpolation curve fitting and time domain extrapolation prediction on the angular velocity data of the gyroscope to obtain a three-axis angular displacement predicted value and generate a first lens compensation driving signal in a first anti-shake mode; continuously monitoring the motion camera, switching to a second anti-shake mode when a second motion intensity value exceeds the acceleration change rate threshold value, acquiring three-axis acceleration sudden change data, and generating a second lens compensation driving signal in the second anti-shake mode, compared with a traditional single-mode anti-shake method, the method improves the adaptability and compensation precision in a complex motion environment.

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

A method for simultaneous localization and mapping underwater. A robot is equipped with an IMU inertial unit and a sonar unit. When the robot submerges underwater, a buoy connected to the robot floats on the water surface, and the buoy moves in coordination with the movement of the robot. The position and observed velocity of the buoy are obtained by a shore-based lidar. During motion estimation in a SLAM algorithm, when an angular velocity is below a preset angular velocity threshold, the observed velocity of the buoy is decomposed into x-axis velocity and y-axis velocity, and updated as the two-dimensional operating velocity of the robot. The polar coordinates of an obstacle in a map under the coordinate system of the robot are associated with the polar coordinates of sonar data of a current frame by using the Mahalanobis distance. The polar coordinates of a new obstacle are converted to the world coordinate system and added to the map. The present invention has the advantages of not relying on underwater visibility, not requiring pre-installed devices, and possessing good generalization and stability.

The invention provides a multivariable decoupling control method and system for an air inlet system of a high-altitude simulation cabin, and the method comprises the steps: firstly building a precombustion chamber cavity thermodynamic differential equation, and building a state equation in combination with a regulating valve first-order inertia model and an engine model; constructing a decoupling matrix by using a differential flatness theory, and converting a pressure and temperature coupling system into an independent control channel; monitoring a system state in real time by using an extended state observer, uniformly estimating internal and external disturbances as total disturbances, and generating a compensation signal; the model prediction controller performs rolling optimization on future time domain control quantity according to deviation between a set value and an actual value, generates an initial instruction in combination with the compensation signal, and converts the initial instruction into an independent valve control signal through a decoupling matrix; the high / low-temperature airflow mass flow is controlled through the opening degree of the adjusting valve, the engine model outputs actual parameters to form closed-loop feedback, and the controller updates the control quantity in each cycle. The multi-variable strong coupling, the dynamic disturbance and the model uncertainty are effectively overcome, the control precision and the parameter robustness are both achieved, and the complex working condition requirements are met.

The invention provides an MEMS inertial three-dimensional displacement monitoring method and system, and relates to the technical field of MEMS sensors, and the method comprises the steps: obtaining acceleration and angular velocity signals of an inertial measurement unit, and generating a dynamic acceleration after attitude calculation, error compensation and gravity removal; updating a group of state variables containing position and speed information in real time through integral operation so as to obtain continuous first displacement information with drifting; under a preset condition, measuring the absolute position of the object by using an external acoustic positioning system so as to obtain accurate and drifting-free second displacement information; the state variable is corrected by a fusion process using a deviation between the first and second displacement information, and position information is extracted from the corrected state variable as a final output. The advantages of inertial measurement and external positioning are combined, integral drift is effectively inhibited, and the precision and reliability of long-term monitoring are remarkably improved.

In all applications of force, all components, internal or external, moving or otherwise, have inertia associated with their mass and geometry. The inertia of the components, internal or external, moving or otherwise, is detrimental to the precision and / or accuracy of the force being applied by and / or to the system, whether the force is applied internally or externally to the system. A motorbased system and / or a method involves mitigating and / or reducing force errors caused by the inertia of the components, internal or external to the system, moving or otherwise, in systems built for the application of force, the forces being internal or external to the system. This is achieved, in part, by addressing the inertial effects of components in the load-application path, including a motor and / or other force-generating devices, force transmitting elements, and carriers of force between a motor and those elements that contribute to force error due to inertial effects.

The invention discloses a parameter optimization method for a rotary inertia double-tuned mass damper and a vibration reduction system. The parameter optimization method comprises the steps that S1, a main structure motion equation comprising the rotary inertia double-tuned mass damper is constructed; s2, selecting combined variables from a design variable space of the rotary inertia double-tuned mass damper, adopting a genetic simulated annealing algorithm for each combined variable, and optimizing parameters by taking minimization of the maximum acceleration frequency response of a main structure as an objective to obtain an optimal parameter data set; s3, cleaning an optimal parameter data set based on an IQR criterion; s4, constructing a correction factor, and establishing a parameter correction factor nonlinear mapping model through tensor basis function expansion; and S5, multiplying the theoretical closed solution by the parameter correction factor to obtain design parameters of the rotary inertia double-tuned mass damper. Compared with an analytical formula design, the RIDTMD designed by using the corrected formula has the advantages that the vibration reduction efficiency is improved by about 10% at most, and the asymmetric three-peak phenomenon of a core frequency band can be effectively eliminated.

The invention provides a virtual reality three-dimensional space data correction method, which comprises the following steps of: firstly, acquiring an image, depth and inertia measurement data of a virtual reality terminal, and a pose, a speed and a force feedback signal of an interaction body, and carrying out time sequence alignment under a unified time reference; an interaction event is identified through collision detection, and parameters such as a contact point, a normal direction, a relative speed, a penetration depth and a contact duration are extracted. Then, physical consistency constraints including no penetration, contact stability, friction consistency, momentum conservation and energy non-increase are constructed, and geometric consistency, depth consistency and physical consistency residual functions are established in the local contact area; and solving surface normal, depth, scale, pose, calibration parameters and other corrections through a robust nonlinear optimization method so as to update the point cloud, the grid and the calibration model. According to the method, the consistency and the stability of geometric modeling and physical interaction in the virtual reality scene can be remarkably improved, and the immersion and the interaction precision are improved.

The invention discloses a synchronous adjustment control method and system for an upper roller and a lower roller of a leveler based on servo feedback, and relates to the technical field of leveler control and adjustment. The synchronous adjustment control method and system for the upper roller and the lower roller of the leveler based on servo feedback comprises the steps that S1, servo execution data, displacement feedback data and input data in the operation process of the leveler are collected and preprocessed, and a standardized servo state data set is constructed; s2, performing difference evaluation on time response and stress states of the upper roller and the lower roller, and executing differential adjustment of a lifting motor and displacement correction of a supporting screw rod; s3, performing stability analysis on synchronous execution consistency of the upper roller and the lower roller, and synchronously adjusting a driving signal; and S4, comprehensively evaluating the synchronous coordination degree of the leveling process, and dynamically adjusting the servo rotating speed pressing force and the signal triggering time sequence to keep synchronous and stable operation. The problems that in the high-frequency-rhythm feeding and leveling task, non-cooperative inertia exists in the action of the upper roller and the lower roller, and a stable closed loop cannot be formed through short-rhythm adjustment are solved.

The invention discloses a first-order linear active disturbance rejection controller parameter setting method based on a phase margin method, and the method comprises the following steps: S1, obtaining simplified first-order inertia delay object parameters through an open-loop step response curve on site, and the simplified first-order inertia delay object parameters comprise the steady-state gain K, the inertia time constant T and the delay time tau of a controlled object; and S2, discussing and setting parameters of the controller according to conditions according to the ratio theta of the delay time tau of the controlled object to the inertia constant T. According to the first-order linear active-disturbance-rejection controller parameter setting method based on the phase angle margin method, the phase angle margin of the first-order linear active-disturbance-rejection controller is subjected to theoretical analysis, and the phase angle margin of the first-order linear active-disturbance-rejection controller and a closed-loop stable system of a controlled object is directly configured; and therefore, the problem of overshoot in parameter setting of the linear active disturbance rejection controller can be solved.

The invention discloses a single-axis mechanical accelerometer and a measuring method, and relates to the technical field of accelerometer measuring equipment.The single-axis mechanical accelerometer comprises a base and a dome shell installed on the base, a first cavity is formed in the base, and an I-shaped balancing weight capable of axially sliding is installed in the first cavity; a first spring is mounted between the I-shaped balancing weight and the cavity bottom of the first cavity; a conical sleeve capable of sliding in the radial direction is installed in the dome shell, a transverse shaft is inserted into the conical sleeve in a penetrating mode, the two ends of the transverse shaft are fixedly connected to the inner wall of the dome shell, the transverse shaft is sleeved with a second spring, one end of the second spring is fixedly connected to the transverse shaft, and the other end of the second spring is fixedly connected with the conical sleeve. An alarm triggering module is installed on the dome shell, and through the synergistic effect of an I-shaped balancing weight-spring inertia system and a conical sleeve triggering mechanism, the acceleration detection and alarm functions of a pure mechanical structure are achieved.

The invention relates to the technical field of ship underwater positioning, in particular to a dynamic space positioning method and system for a sensor chain body of a ship drag chain, and the method comprises the steps: dispersing the drag chain into a plurality of hinged rigid sections in a two-dimensional inertial reference system, connecting the sensor chain body to the tail end, and taking the motion of a ship as a traction point boundary; according to the given traction speed, the initial pitch angle, depth and tension distribution are obtained through static balance; calculating local speeds in the sections according to translation and rotation states of upstream nodes of all the sections, obtaining distributed hydrodynamic loads in combination with fluid parameters, establishing moment balance equations at all the upstream nodes, and forming a second-order ordinary differential equation set with a pitch angle as an unknown quantity; and numerical solution is carried out under a unified time step length, and the mass center positions of each node and a sensor chain body are obtained according to geometric recursion, so that dynamic positioning in an inertial reference system is realized. According to the invention, the precision and reliability of underwater target motion analysis and target tracking can be improved.

The invention discloses a follow-up drag chain supporting mechanism and a working method thereof, and solves the problems that in the prior art, a drag chain support can only move in one direction along with a drag chain, and the drag chain support continues to move under the inertia effect after the drag chain stops moving. The follow-up type drag chain supporting mechanism has the beneficial effects that the follow-up movement and the braking function of a drag chain support are guaranteed, the follow-up type drag chain supporting mechanism comprises a guide rail and the drag chain support, the guide rail is fixed, the drag chain support comprises a supporting frame, the supporting frame can move in the length direction of the guide rail under the action of external force, and the supporting frame supports a first blocking piece and a second blocking piece; the second blocking piece and the guide rail are arranged in a spaced mode, the first blocking piece is bent towards the second blocking piece to adapt to bending of the drag chain, the first blocking piece and the second blocking piece are arranged in a spaced mode, and the drag chain is arranged in the length direction of the supporting frame and penetrates through the first blocking piece and the second blocking piece upwards. The drag chain can make contact with the first stopping piece or the second stopping piece in the moving process.

The invention relates to the technical field of galvanometer control, and discloses a two-dimensional galvanometer scanning system transition track generation method, system and device and a medium. The method comprises the following steps: training a strategy-based reinforcement learning model to obtain a trained model; obtaining an initial pose and a target pose; inputting the initial pose and the target pose into a trained model for reasoning to obtain poses of a plurality of intermediate nodes until the position of the target pose is reached; and forming a transition track according to the intermediate node. According to the method, a reinforcement learning mode is adopted, transition curve parameters are dynamically explored based on the trained model, and a transition curve with shorter time consumption and smaller speed change rate is given, so that the influence of the inertia of the galvanometer on a scanning track is reduced, and it is ensured that a laser beam can form a high-precision and high-quality scanning pattern on the surface of a target.

The invention relates to the technical field of hot-rolled steel plate thickness measurement, in particular to a hot-rolled steel plate thickness measurement system. Wherein the clamping assembly clamps the laser when the thickness measuring unit moves, so that the laser is prevented from shaking due to inertia. A second reference surface is arranged in one clamping block in the clamping assembly and is perpendicular to the first reference surface, when the second reference surface is attached to the laser in the vertical state at a specific position, the laser is clamped through the second clamping block, and it is guaranteed that the laser can be perpendicular to the first reference surface all the time; the second clamping block is far away from the laser before the first clamping block, the swinging angle of the laser is twice of the inclination angle, the inclination angle can be obtained by dividing the offset of a laser coordinate and a reference coordinate by two and then multiplying the offset by an energy loss coefficient when the laser swings, and the direction adjusting assembly can adjust the direction of the laser according to the calculated inclination angle. And the fixed connecting part is adjusted, so that the overall measurement time is shortened.

The invention discloses an inspection equipment motion control method and system for a dynamic disturbance environment, and relates to the technical field of anticorrosion detection, main cable swing and inspection equipment attitude data are collected to establish a dynamic corresponding relation, and according to the relation, the gravity center is regulated in a segmented manner, and the attachment direction is adjusted in real time to form inertia compensation; dynamic rhythm control is implemented in combination with an inertia compensation result to establish a time dislocation relationship; the sensing detection rhythm is synchronously regulated and controlled, and acquisition windows are unified; and dynamically rearranging a sampling sequence according to a detection time sequence, and fusing an attitude balance state and a time dislocation result to form a closed detection path. According to the invention, by dynamically sensing the swinging of the main cable and carrying out gravity center regulation and inertia compensation, the attitude stability and the advancing reliability of the inspection equipment under strong gust are improved; meanwhile, the detection rhythm and path planning are unified, a continuous closed detection path is formed, and the space-time consistency and long-term stability of anti-corrosion detection data are guaranteed.

The invention provides a one-key alignment method for heavy-load equipment in multiple scenes, which comprises the following steps of: acquiring a gravity direction component of an equipment body, and establishing a magnetic attitude reference coordinate of the equipment body by combining the reading of a tilt angle sensor and a horizontal reference plane of an optical ranging unit and a calibration point. Capturing the spatial distribution information of the mark points, calculating the offset of the current attitude of the equipment relative to the horizontal reference plane according to the geometric constraint among the mark points, and generating an initial attitude mapping matrix; and reading the angular velocity and the acceleration of the inertial navigation system, determining the deviation between the inertial attitude and the visual attitude, and generating a combined attitude calculation result. The hydraulic cylinder and the rotating table are driven to be synchronously adjusted according to the deviation value between the current attitude of the equipment and the target mounting point, the change trend of the attitude angle is monitored, and suppression feedback is triggered to adjust the fusion weight of the sensor. And calling a micro-motion mechanism to execute a fine pose adjustment instruction, monitoring a pose error in real time, and generating a pose locking report when the pose error is within a tolerance range.

The invention provides a three-dimensional degree-of-freedom clamping jaw cooperative belt conveying access method and system, and the method comprises the steps: obtaining and analyzing point cloud data of an object on a conveying belt, and generating geometric center features and motion feature parameters of the object; inputting the motion characteristic parameters into an inertia compensation mechanism of the clamping jaw to generate counter-acting force parameters; combining the geometric center characteristics and the reaction force parameters to generate stable position data of the object; motion prediction is conducted on the continuous change characteristics of the stable position data, and three-dimensional moving track parameters and a conveying belt speed adjusting instruction are generated; and the three-dimensional moving track parameters are used for controlling the clamping jaw to conduct object grabbing operation in the space displacement process, and meanwhile the speed of the conveying belt is adjusted through the conveying belt speed adjusting instruction so that object placing operation can be conducted in the adjusting process. Millimeter-level synchronization precision of grabbing and placing operation in a high-speed dynamic access scene is achieved, and the problems of positioning misalignment and sequential disorder caused by vibration are solved.

The invention discloses a thermal working time lag process ADRC design method with time lag robustness. The thermal working time lag process ADRC design method comprises the steps that 1, a transfer function model of a first-order inertia time lag process of a thermal process is established; step 2, establishing a time-delay ADRC structure based on model information driving; 3, obtaining a proportional gain with expected closed-loop dynamic representation and a corresponding observer bandwidth setting rule through low-frequency approximation; step 4, scaling control parameters of the ADRC system according to the transfer function model established in the step 1, and setting default adjustment parameters of proportional gain and observation bandwidth; 5, carrying out equivalent two-degree-of-freedom conversion on the closed-loop system, analyzing the nominal stability of the ADRC system based on a double-track method, and obtaining a nominal stability domain of the control parameters; and step 6, in the nominal stability domain obtained in the step 4, according to the regularization rule of the ADRC scaling parameter and the demand of comprehensive robustness, obtaining the time constant of the low-pass filter in the compensation channel by establishing a monotonically decreasing amplitude curve of the time-delay ADRC open-loop Bode diagram.

The invention relates to a self-adaptive fault-tolerant generalization control method for an autonomous underwater vehicle, which comprises the following steps of: considering primary and quadratic term damping effects of water, unknown constant matrixes of a mass matrix and an inertia matrix of the autonomous underwater vehicle and external interference factors; an actuator effectiveness index matrix is introduced to model the autonomous underwater vehicle into an under-actuated model, and meanwhile it is ensured that the resultant force of gravity and buoyancy is zero, and kinematics and dynamics equations of the autonomous underwater vehicle are obtained; a controller is designed based on a backstepping method, a position error and a saturation function are defined, a Lyapunov function is selected, the position error is driven to be within a preset fixed constant range, an estimation rule and a projection function are introduced for solving the problem of unknown parameters to calculate thrust and control input, and high-precision trajectory tracking control over the autonomous underwater vehicle is achieved. Compared with the prior art, the method does not need linearization or conversion dynamics, can solve the problems of fault tolerance and time-varying interference, is better in performance, and effectively improves the control precision and stability of the autonomous underwater vehicle.

The invention belongs to the technical field of petroleum and natural gas drilling engineering, and relates to a rotary steering test method and system for simulating underground drilling fluid circulation in a workshop. The method comprises the following steps: firstly, determining a dynamic fingerprint and a tolerance band of a circulation channel of a target well section, wherein the dynamic fingerprint comprises a time domain step and a frequency domain phase index; constructing a test loop of a series-connected adjustable hydraulic dynamic equivalent module, wherein the module comprises a containing cavity, a throttling unit and an inertia pipe unit to regulate and control flexibility, damping and inertia; applying flow disturbance and collecting flow pressure data to obtain a current dynamic fingerprint; comparing the tolerance band to iteratively adjust module parameters until the fingerprint reaches the standard; and after locking the parameters, carrying out function testing. The problem that traditional testing is disjointed with underground working conditions can be solved, testing accuracy and reliability are improved, testing cost is reduced, and testing requirements of different well sections are met.

The invention relates to the technical field of material conveying equipment, and discloses an intelligent anti-blocking method and system for material conveying, and the method comprises the steps: obtaining a motor current sequence, and extracting a feature vector of a current blocking state; initializing a particle swarm, carrying out particle swarm iterative optimization, and in each iteration, calculating a population distribution entropy based on the current positions of all particles; when the stagnation degree exceeds a stagnation degree threshold value, generating a disturbance term; calculating a blockage risk penalty term for each particle; the inertia weight is calculated for each particle, and the inertia weight is obtained by subtracting a blockage risk penalty term from a basic weight after the basic weight is adjusted through population distribution entropy and then adding a disturbance term; updating the speed and the position of each particle by using the inertia weight; and after iteration is ended, a control parameter corresponding to the global optimal particle is output, and a material conveying system is adjusted. According to the method, the influence that premature convergence is easy to fall into a local optimal defect in a standard particle swarm algorithm can be reduced, and the operation stability of the whole system can be improved.

The embodiment of the invention discloses a carrier integrated navigation method, device and equipment and a medium, and relates to the technical field of intelligent driving navigation, the method comprises the following steps: acquiring wheel speed data of a current epoch output by a wheel speed measurement unit, and acquiring inertia measurement data of the current epoch output by an inertia measurement unit; inputting a non-integrity constraint prediction model to obtain a non-integrity constraint component of the current epoch; and constructing a three-dimensional motion constraint observation value based on the non-integrity constraint component and the wheel speed data, performing measurement updating on a kinematics observation equation of the Kalman filter, obtaining a state estimation result obtained by updating, and outputting a positioning result in the current epoch. According to the method, the lateral and vertical velocity components are dynamically predicted through the non-integrity constraint prediction model, the three-dimensional motion constraint observation value is constructed, and the state estimation of the Kalman filter is optimized, so that the problem of carrier motion constraint performance degradation under a complex motion condition can be effectively relieved, and the integrated navigation precision can be further improved.

The invention discloses a double-inertia elastic position servo system and a control method thereof, and the method comprises the steps: taking a motor speed as the input of a second-order linear expansion state observer in an active disturbance rejection controller, introducing a speed observation error, reconstructing internal and external disturbances, and observing the motor speed and the internal and external disturbances. The structure of the observer is simplified, the response speed of the system is improved, system internal and external disturbances including time-varying elastic disturbances caused by elastic deformation of the transmission mechanism are observed in real time, the time-varying elastic disturbances are compensated in combination with state error feedback, and the resonance problem is suppressed. According to the double-inertia elastic position servo system and the control method thereof, the system structure is simplified, the response speed of the system is increased, the anti-interference capacity of the system is improved, meanwhile, the inherent problems of mechanical resonance, position tail end buffeting and the like of the double-inertia elastic position servo system are effectively solved, and high-precision position servo control is achieved.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention provides a bridge vortex-induced vibration and flutter control TMDI parameter optimization method, which comprises the following steps of: according to a selected inertia mass ratio, obtaining optimal values of parameters under a control target by adopting a GBO optimization algorithm, wherein the optimal values are a TMDI mass ratio, a frequency ratio and a damping ratio; according to the optimization algorithm, the target function Fs converges to the minimum individual, namely the minimum TMDI mass ratio, and the minimum TMDI mass ratio and the corresponding optimal parameter, namely the optimal combination parameter. The invention further provides equipment, a storage medium and a program product. Compared with the prior art, the method has the advantages that the most economical TMDI optimization parameters can be obtained while effectiveness and robustness are considered.

The invention belongs to the technical field of spacecraft ground simulation testing, and discloses a high-precision space GNC full-physical simulation test platform which is composed of a three-dimensional motion execution system, a distributed real-time control system, a capture interaction simulation system, a safety protection system and a three-dimensional motion simulation and path planning system. By integrating a three-dimensional track type large-range motion execution system and a double-grating ruler closed-loop detection structure, the simulation motion range is remarkably expanded, the technical bottleneck that an existing platform is limited by a single axis, a two-dimensional sliding rail and limited motion amplitude is broken through, high-precision cooperation of a motion control system and a track system is achieved through the platform, and high-precision cooperation of the motion control system and the track system is achieved. The space high-dynamic motion simulation of a large-size and high-inertia complex target can be met, autonomous tracking of a target flight path, flexible capture of a flying claw and small multi-degree-of-freedom control verification are supported through integrated design of a capture interactive simulation system, and complex tasks such as space rendezvous and docking, target capture and micro-force control can be effectively simulated.

The invention discloses a model prediction control method for efficient power generation of a floating eagle type wave power generation device, and belongs to the technical field of renewable energy utilization. The method comprises the following steps: firstly, establishing a kinetic model of the floating eagle-type wave power generation device and a motion model of an eagle-type wave-absorbing floater, and converting into a state space form; acquiring data through a wave test sensor to predict future wave excitation, determining an optimization scheme with maximization of average capture power as a target, applying PTO torque, motion range of the wave absorbing floater and speed constraint, and performing rolling solution to obtain optimal control torque; and finally, data are acquired through hardware such as an inertial measurement unit and a wave measurement buoy, and the PTO system is driven to apply control torque after the data are processed by the main controller.

A climbing exercise device integrates a dynamic load transfer system, optional rebound mechanism, and optional flywheel or magnetic brake to deliver fluid, full-body workouts while reducing knee strain. Opposing foot carriages, each guided along an upright support, are linked by flexible webbing wrapped around a rotatable transfer shaft. As one foot carriage descends and unwinds its webbing, the other carriage is lifted, shifting the load ratio to ease knee stress at deeper flexion. A rebound mechanism keeps the webbing under tension and increases that tension at stroke limits, promoting quick, smooth directional changes. An optional flywheel or magnetic brake further refines motion by adding adjustable resistance and inertia without impeding rapid reversals. Arm handles may be coupled—directly or cross-linked—to the foot carriages for upper-body engagement, resulting in a balanced, efficient climb. Multiple embodiments and frame configurations accommodate various height preferences, storage options, and user needs while retaining the synergy of these key systems.