959 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 discloses an unmanned ship navigation path obstacle avoidance method and system, and particularly relates to the technical field of unmanned ships. The method comprises the following steps: acquiring information of a fixed obstacle, a dynamic target and environmental factors, predicting the motion track of the dynamic target by using a deep learning algorithm, improving the track prediction accuracy, calculating an optimal obstacle avoidance path in real time based on a Dijkstra algorithm in combination with the navigation state of the unmanned ship and hydrodynamic environmental factors, and obtaining the optimal obstacle avoidance path. The trajectory prediction deviation is evaluated through a hydrodynamic disturbance factor and a motion inertia deviation factor; when the deviation exceeds a threshold value, the system adaptively adjusts a path, preferentially adopts a minimum steering angle strategy and an energy consumption optimization strategy, ensures the navigation stability of the unmanned ship, and meanwhile, continuously optimizes the strategy in combination with historical obstacle avoidance data, so that the intelligent obstacle avoidance capability, the navigation stability and the energy consumption efficiency of the unmanned ship in a complex dynamic water area can be improved; the system is suitable for application scenes such as water area patrol, environment monitoring and ocean detection.

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 fault diagnosis, in particular to an automatic anomaly detection method for a high-speed rotating transmission device, which comprises the following steps of: acquiring angular acceleration, rotating inertia and strain data of the high-speed rotating transmission device, calculating a transient strain gradient and matching a rotating speed change rate, adjusting a strain deviation range according to the change of the rotating inertia, and detecting the anomaly of the high-speed rotating transmission device. And screening strain abrupt change points to obtain a rotation strain matching result. According to the method, the dynamic strain response interval is set, the strain deviation range is adjusted, the strain abrupt change points are screened, the frequency response of the equipment is monitored in real time and compared with the normal frequency, so that continuous monitoring of the frequency deviation rate is more accurate, the frequency deviation rate jointly acts on identification and clustering of abnormal characteristics, the accuracy and the real-time performance of fault diagnosis are improved, and the fault diagnosis efficiency is improved. By calculating the deviation degree of the abnormal characteristics and the normal track, the abnormal detection threshold can be adjusted, potential faults can be identified and processed more effectively, the maintenance cost of the high-speed rotating transmission device is reduced, and the operation efficiency is improved.

The invention belongs to the technical field of wind tunnel tests, and particularly relates to a precession simulation device for a spiral flutter wind tunnel test. According to the invention, the design problem of the rotor craft spiral flutter wind tunnel test device is solved, and the key influence parameters and influence rules of the spiral flutter of the aircraft are researched by designing the precession motion simulation device of the rotor craft. Rotation of the rotor wings can be realized in the wind tunnel, and the rotating speed of the rotor wings is adjusted through the motor. Meanwhile, pitching and deflection modal decoupling of the rotating shaft of the rotating system is achieved, and pitching and deflection modal frequencies are independently adjustable; meanwhile, the axis of the pitch axis and the axis of the yaw axis coincide, so that pitching and yaw freedom degree coupling precession motion can be achieved under the effect of gyroscopic moment. Meanwhile, nacelle rotating mass rotational inertia, nacelle weight and mass center position adjustment can be achieved; and finally, the rotating speed of the rotating mass such as the rotor wing and the propeller hub can be adjusted through a speed adjusting motor, matching of the rotating speed and the incoming flow speed is guaranteed, and the spiral flutter state is achieved.

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 discloses a prospective preprocessing method and system in six-axis mechanical motion automatic control, particularly relates to the field of six-axis mechanical motion automatic control, and is used for solving the problem of insufficient track prediction and control precision in a load sudden change scene. The inertia tensor is updated in real time in combination with dual-channel Kalman filtering, dynamic inertia data are accessed, and the sensitivity of trajectory prediction to load change is improved; double-domain feature extraction of time-domain thermal stress density and frequency-domain energy dispersion is adopted, acceleration pulse layout is dynamically optimized by using a complementary integral mechanism, and the overload risk of a driver is reduced; meanwhile, the instruction dispatcher avoids cache overflow through advanced rhythm regulation and control, and continuity of instruction streams is guaranteed; the inertia model is continuously refreshed through closed-loop feedback, and synchronous evolution of inertia change and trajectory prediction is achieved; the overload shutdown risk caused by inertia lag of six-axis mechanical motion is reduced, and the adaptive capacity of the prospective preprocessing method in a dynamic complex operation environment is enhanced.

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 belongs to the field of space manipulators, and relates to a vibration suppression control method and system for a flexible base space manipulator, and the method is based on a Lagrangian method and considers multiple coupling effects to completely establish a dynamic model of the flexible base space manipulator system. An inertia matrix estimation item is constructed based on a parameter identification method to realize motion decoupling of the space manipulator, and a control law is designed based on a fast and slow subsystem theory to realize high-precision control of an assembly task of a space manipulator module and vibration suppression of a flexible base. And mechanical arm fine assembly operation control and base vibration suppression control for the flexible base space mechanical arm are achieved. The problem of how to complete a high-precision assembly task on the basis of restraining vibration of the base of the double-space mechanical arm is solved.

The automatic high-speed stacking machine with the sudden stop buffering function comprises a base, a vertical rail is fixedly connected to the top of the base, a carrying table is arranged on one side of the vertical rail in a sliding mode, a buffering plate is arranged on the carrying table in a sliding mode, an electromagnetic induction device is arranged between the buffering plate and the carrying table, and a bearing box is arranged on the other side of the vertical rail; a balancing weight is arranged in the bearing box, a linkage assembly is arranged in the vertical rail, and the linkage assembly is used for driving the buffer plate and the balancing weight to move relative to each other or move away from each other. When the stacking machine suddenly stops, goods on the carrying table can generate impact force due to inertia, so that electromagnetic induction is cut off, when the buffer plate slides on the carrying table, under the driving of the linkage assembly, the balancing weight moves in the opposite direction, the forward impact force of the goods is balanced, the stacking machine is prevented from toppling over, and the stability of the goods is guaranteed.

The invention discloses a photoelectric pod image stabilization and flyback integrated measuring device and method, and relates to the technical field of aircraft photoelectric pods. Comprising the following steps: acquiring a rotation angle of a photoelectric pod in a working state within a time interval, and calculating a rotation angular velocity of the photoelectric pod within the time interval; and an active stability control model is established, and when the rotation angular speed of the photoelectric pod within the time interval is smaller than a set value, the position of the optical axis of the binocular camera is adjusted through an inertia original element of the photoelectric pod so as to capture a target object. According to the method, the active stability control model is established, multiple time intervals are divided, synchronous frequency rotation is carried out on the binocular camera in the opposite direction while the aircraft or the photoelectric pod rotates, it is ensured that the target object can be captured by the binocular camera in each time interval, and the purpose of rapidly capturing the target object is achieved; the tracking precision of the aircraft is improved, and the aircraft can effectively track the target.

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.

Disclosed in the present invention are a method and system for estimating an airspeed, an angle of attack, and a sideslip angle of an aircraft. The method comprises: modeling the full six-degree-of-freedom dynamics, the aerodynamics, a force, and a moment of an aircraft in a nonlinear state-space form; using an inertial measurement unit to measure the body angular rate and body acceleration of the aircraft; using a global navigation satellite system to measure a ground speed; using data of systems of the aircraft other than an air data system to determine air data measurement; and using a plurality of Kalman filters to estimate the airspeed and / or the angle of attack and / or the sideslip angle from all measured data. The method and the system provided by the present invention solve the problem in the prior art of inability to improve the safety and reliability by installing a redundant air data computer / sensor on a size-, weight-, and power-constrained aircraft, and the problem in the prior art of being not independent of a conventional air data system at the measurement principle level.

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 present invention relates to the technical field of axially movable doors and windows, and specifically to a heavy-duty automatic door using a linear bearing track. The automatic door comprises a heavy-duty door, a moving mechanism, a supporting mechanism and an adjusting mechanism. An operator first starts the moving mechanism to move the heavy-duty door, and then uses rolling and replacement of rolling columns in the supporting mechanism to achieve rapid movement of the heavy-duty door. When it is necessary to stop, the adjusting mechanism is used to change the center of gravity of the heavy-duty door to achieve rapid stagnation. The device has a simple structure, effectively solves the inertia problem of rapid movement of heavy-duty doors using linear bearings and stagnation after movement, avoids damage to the mobile equipment, has good practicality and economy, and is beneficial to the promotion and use of the equipment.

A visual inspection device for surface defects of plastic bottles relates to the technical field of detecting materials by utilizing optical means and comprises a conveying mechanism, a lateral clamping mechanism, a visual inspection module and a rejecting mechanism. The suction cup assembly capable of sliding up and down is arranged in the adsorption hole, and the repulsive force of the first magnet and the second magnet is utilized, so that the vacuum suction cup can automatically adjust the height, be attached to an irregular surface and form effective sealing according to the shape of the bottle bottom (such as a flat bottom, a convex bottom and an inclined surface), and the problem that a traditional fixed plane adsorption hole cannot be matched with a special-shaped bottle bottom is solved; the plastic bottles are prevented from falling or deviating due to inertia during high-speed conveying, and the stability and the accuracy in the detection process 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 discloses a turnover device with an anti-toppling function, and relates to the technical field of turnover devices.The turnover device comprises a workbench, a feeding mechanism, a supporting frame, a turnover mechanism, a first motor and a discharging mechanism, the turnover mechanism can automatically adjust the clamping force along with the turnover angle, automatic loosening is achieved when a printed matter is completely in place, and the turnover mechanism can automatically adjust the clamping force along with the turnover angle; the speed is rapidly increased in the first half section of the overturning process, the rotating speed is automatically reduced in the second half section of the overturning process, stable speed reduction is achieved, the overturning time is shortened, the printed matter can be prevented from overturning or displacing due to too fast movement in the overturning process, it is guaranteed that overturning is accurate and stable each time, and the production efficiency is improved. Meanwhile, when the turnover speed is too high due to power failure or other emergencies, multiple braking is automatically conducted on the device, the situation that due to the inertia effect, the printed matter or the device is overturned or collided or damaged by other accidents is avoided, the whole turnover process is stable and accurate, and therefore the reliability of equipment operation is guaranteed.

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 discloses a fluid-solid-sound coupling calculation and noise reduction method for a bent pipe, and belongs to the technical field of pipeline testing. According to the method, the three-dimensional physical model of the bent pipe is constructed, the bent pipe fluid-solid coupling model is established, and the dynamic correlation between the flowing characteristics of fluid in the bent pipe and the response of a solid structure is accurately reflected; the method can capture flow field disturbance caused by inertia, centrifugal force and geometric changes of the elbow pipe in the flowing process, quantitatively describes a dynamic load change rule applied by fluid to the pipe wall, effectively improves understanding of complex elbow pipe flow field behaviors, extracts wall surface pressure distribution data, generates fluid disturbance data, and improves the flow field performance of the elbow pipe. According to the method, the distribution characteristics of noise sources generated by flow-induced vibration can be accurately predicted, the problem that a traditional single-field modeling method cannot fully describe actual working conditions is solved on the whole, the physical authenticity and prediction precision of simulation are greatly improved, and the problems of high cost and low efficiency caused by a traditional trial and error method are effectively avoided.

The invention relates to a self-adaptive impedance control method for a robot to track an unknown curved surface, and aims to solve the problems that traditional impedance control parameters are fixed and cannot adapt to sudden change of the curved surface, a solution integrating bimodal curved surface sensing and asymmetric impedance adjustment is provided, and the normal vector and curvature of the curved surface are identified online through an improved recursion method. The normal stiffness is dynamically adjusted based on curvature feedback, the tangential stiffness keeps flexible tracking, and a contact depth constraint mechanism is introduced to prevent overload. The parameter adaptive law is combined with geometric features, the inertia matrix is accelerated and updated in a high-curvature area, and a gravity item is preferentially corrected in the normal direction. Compared with a traditional method, the method has the advantages that the normal force overshoot can be reduced, the curvature sudden change response time is shortened, and the tangential tracking precision is improved.