296 results about "Joint simulation" patented technology

The invention provides a distributed three-dimensional simulation training system for a regional power system transformer station and belongs to the field of data processing. The system comprises an integrated training classroom and a transformer station positioned at another place, wherein the integrated training classroom is provided with a first simulation training local area network; the transformer station is provided with a second simulation training local area network; the first simulation training local area network and the second simulation training local area network are connected with each other through public network resources such as an enterprise network / a wide area network and the like so as to form a network training system capable of performing remote joint simulation training as well as on-the-spot training; distributed simulation communication middleware is taken as the basis of distributed application and each simulation applying host computer is provided with the communication middleware; and the communication middleware provides universal communication and management services so as to realize a data interaction issuing / ordering mechanism and effectively reduce data traffic on the network. Simulation application distributed at different places is combined organically so as to form a distributed remote joint simulation training system. The system can be widely applied in the field of skill training of a power transformation and distribution system.

The invention belongs to the technical field of electric power system source-grid joint simulation and operation control, and discloses a grid-source joint simulation and a multistage dispatch closed-loop control system for grid-source joint simulation. The multistage dispatch closed-loop control system comprises a power source side simulation sub system, a power grid side simulation sub system, a protocol conversion module and a dispatch sub system, wherein the power source side simulation sub system is used for simulating work states of all units and adjusting the work states of simulation units according to a control command and adjusting parameters, the power grid side simulation sub system is used for generating power grid simulation data and transferring the control command and the adjusting parameters to the power source side simulation sub system, the protocol conversion module is used of achieving data conversion, and the dispatch sub system is used for generating the control command and sending the control command to the power grid side simulation sub system. The multistage dispatch closed-loop control system for grid-source joint simulation can be used for simulating joint simulation of large-scale wind power integration, the frequency changing condition of a power grid in the wind power changing process can be reflected more truthfully, and real-time data sources are provided for online analysis and study of an energy managing system, a wide area measuring system and distribution type state estimation.

The invention relates to the field of simulation technology and provides and realizes a real-time simulation system of an under-actuated biped walking robot. The real-time simulation system consists of a plurality of basic platforms and mainly comprises a real-time control platform, a joint simulation platform and a mechanical-electrical integration system simulation platform. The real-time simulation system is characterized in that the real-time control platform is directly connected with a solid robot drive system to control the movement of the robot in real time, the real-time control platform is connected with the joint simulation platform and is capable of carrying out data transmission, the joint simulation platform is connected with the mechanical-electrical integration system simulation platform to complete real-time joint simulation analysis, and each platform consists of different functional modules which are connected by data link. Real-time control algorithm design, virtual prototype design of an under-actuated walking robot, controller design, real-time joint simulation and experimental result analysis can be performed based on the real-time simulation system, and the real-time simulation system completes various operation tasks by the man-machine interface.

The invention provides a millimeter wave array antenna design method and an array antenna device. The design method comprises the following steps of: firstly designing an array model with a feed network, and enabling structure parameters of the feed network to be equivalent to feed current of an array element, so as to directly solve structure parameters of an antenna during array synthesis; replacing a factor directional diagram by a radiation directional diagram of an antenna array, designing a target function through design indexes of the array antenna, and searching an optimum solution of the physical size of an impedance transformer along the direction of the target function via an optimization algorithm. According to the method, the influences of cross-coupling factors are considered in the array synthesis process, the final result does not need coupling compensation, and a simulation manner is adopted to save the cost and simplify the design process. By adoption of joint simulation, a lot of fussy work in the design optimization process of the array antenna is avoided, and the automatic design of the antenna is achieved.

The invention relates to a testing method and system of auxiliary driving vehicle hardware in loop simulation. Information fusion and decision are conducted through a to-be-tested intelligent controller according to corresponding scene information, a lateral dynamics command is sent to a driver model of the hardware in a loop simulation platform, a longitudinal dynamics command is sent to a wholevehicle control unit, then the longitudinal dynamics command is sent to a whole vehicle dynamics model through the whole vehicle control unit, the driver model and the whole vehicle dynamics model respectively response to the lateral dynamics command and the longitudinal dynamics command, thus present vehicle gesture information is generated, the present vehicle gesture information is compared with standard vehicle gesture information, and testing situation of the hardware in loop simulation is judged. According to the testing method and system of the auxiliary driving vehicle hardware in loopsimulation, joint simulation is conducted on the to-be-tested intelligent vehicle controller and the whole vehicle control unit, the simulation platform is constructed according to a real vehicle system, the simulation reduction degree and precision are improved, and the problems that testing period of a real vehicle is long, the efficiency is low, the cost is high, and testing is influenced by factors such as scene and weather limiting are solved.

The invention relates to the technical field of automatic driving simulation verification, in particular to an automatic driving joint simulation method based on multiple platforms. The invention provides an automatic driving joint simulation method based on multiple platforms. The automatic driving joint simulation method comprises the following steps: S1, acquiring automatic driving virtual scene data; S2, setting a reference track, and acquiring obstacle pose information in combination with the automatic driving virtual scene data; S3, performing calculation according to a decision planningcontrol algorithm of the vehicle to obtain a control signal, performing simulation control on each module of the vehicle according to the control signal and the vehicle body pose information, and calculating the speed and position of the vehicle; S4, obtaining the dynamic response quantity of the vehicle based on the vehicle dynamic model, and calculating and updating the vehicle body pose information in real time; and S5, outputting traffic flow pose information. Multiple professional simulation software is adopted for interactive simulation, a more accurate simulation effect is achieved, the time of getting-on joint debugging is shortened, the test range is wide, and the development process is greatly shortened.

An apparatus for testing an implant having first and second components coupled together by an articulating ball and socket joint includes a support structure in contact with the first component of the implant for supporting said implant, an adapter coupled to the second component of the implant, and a load assembly in contact with the adapter for applying a load onto a semispherical surface of the adapter. The apparatus includes a drive assembly coupled with the adapter having a first drive shaft having a first end connected with a center of a rotatable wheel and a second drive shaft having a first end connected with an outer region of the wheel and a second end connected to the adapter. The second drive shaft has a longitudinal axis that is at an angle relative to the longitudinal axis of the first drive shaft. In operation, rotation of the first drive shaft about the longitudinal axis thereof causes articulating movement of the adapter, which in turn causes articulating movement of the first and second components of the implant under load.

The invention provides a rocket-assisted unmanned aerial vehicle launching process multi-field coupling simulation analysis method. The method comprises the following steps: (1) dividing the rocket-boosted unmanned aerial vehicle launching process into five stages of fixing the unmanned aerial vehicle on the frame, sliding the unmanned aerial vehicle along the frame, completely separating the unmanned aerial vehicle from the launching frame until the booster finishes working, finishing the work of the booster until the booster is completely separated, and continuously flying the unmanned aerial vehicle; (2) establishing a six-degree-of-freedom kinetic equation set of the unmanned aerial vehicle, and on the basis, establishing a multi-rigid-body kinetic model of the unmanned aerial vehiclelaunching system in ADAMS software; (3) based on the aerodynamic blowing data, establishing an aerodynamic force calculation model capable of calculating aerodynamic force and an aerodynamic moment calculation model capable of calculating aerodynamic moment under different flight attitudes in real time; (4) establishing a flight control system model in the launching process of the unmanned aerialvehicle; and (5) building an unmanned aerial vehicle launching section multi-field coupling joint simulation data interaction platform.

The invention relates to a joint-simulation-based on-bridge ballastless turnout structure system and a dynamic analysis method thereof. The dynamic analysis method of the joint-simulation-based on-bridge ballastless turnout structure system comprises the following steps of firstly finishing the model establishment of a balastless track and bridge structure by utilizing the ABAQUS software; secondly finishing the model establishment of a vehicle and a turnout by utilizing the SIMPACK software; finally establishing rigid-flexible coupled wheel-track contact relationship in the SIMPACK software to form a vehicle-turnout-bridge coupling system model, and realizing the connection and the coupled solution of a vehicle model, a turnout model and a bridge model. According to the joint-simulation-based on-bridge ballastless turnout structure system and the dynamic analysis method thereof, which are disclosed by the invention, the complex wheel-track contact relationship of a turnout zone is fully considered, and the model establishment of a turnout and bridge structure is finished according to the actual state to the greatest extent so as to ensure the detailedness, the completion and the accuracy of the model; the model establishment is finished by utilizing the business software, so that the production, the design and the application are convenient, and the improvement is remarkable by comparing the modeling method provided by the invention with the traditional modeling method.

The invention relates to a joint simulation method for a vehicle-road coupled vibration system. The method comprises the following steps of S1, building a vehicle dynamics model according to a dynamics equation; S2, building a pavement dynamics model according to a structural mechanics finite element equation; and S3, loading the vehicle dynamics model in the pavement dynamics model to generate a tire-pavement contact model, and finishing dynamics analysis of the vehicle-road coupled vibration system. According to the method, joint modeling of the vehicle-road coupled vibration system is realized by adopting efficient engineering software Matlab and Ansys; and by taking Matlab as control software and performing secondary development on Ansys, joint simulation of Matlab and Ansys is realized, and dynamics analysis of the vehicle-road coupled vibration system under complex road and vehicle conditions is finished.

The invention discloses an intelligent electric automobile longitudinal vehicle speed control method based on an observer and belongs to the technical field of automobile control. The invention aims to engineer a controller by using the moving horizon optimization control algorithm which is based on observer. The method optimizes a moment required by a driver through the controller, distributes drive and brake moment so as to effectively control longitudinal vehicle speed of an intelligent electric automobile based on the observer. According to the invention, the method can realize joint simulation of Matlab / Simulink and AMESim by adding an interface module to an AMESim interface, the interface module communicating with simulink, storing model information in AMESim in Simulink in the form of S-function after system performs encoding. According to the invention, the method is aimed at addressing the problem of intelligent electric automobile longitudinal vehicle speed control. The observer is designed targeting important parameters of a system. The moving horizon optimization control algorithm can better conduct online optimization resolution, and at the same time noticeably handle constraint.

The invention provides an in-the-loop simulation test and control system of a wind generating set and a test method of the in-the-loop simulation test and control system of the wind generating set. The in-the-loop simulation test and control system of the wind generating set comprises a simulation model testing device, a tested device, a system monitoring device and a monitoring device of the tested device. An input / output (I / O) communication unit in the simulation model test device is simultaneously connected with the tested device by utilization of a real signal hardwiring and a communication network cable, and a simulation test unit calls a simulation model in a simulation model unit to run and generates a joint simulation signal with a test case. The system monitoring device is connected through the communication network cable and monitors the simulation model test device and the monitoring device of the tested device, modifies parameters of the simulation model in the simulation model test device, and analyzes and compares the response situations of the joint simulation signal and the tested device in terms of data. All control systems and component parts of the wind generating set are in semi-physical in-the-loop simulation test and control in real time so that reliability, stability, accuracy and high efficiency of the wind generating set and the component parts of the wind generating set are guaranteed.

The invention discloses a bionic joint based on pneumatic muscle serial-parallel connection. Pneumatic muscles are used for driving a base, a middle platform and an upper end platform to simulate joints and muscle movement of a person. The bionic joint based on pneumatic muscle serial-parallel connection comprises the base, the middle platform, the upper end platform, multi-joint pneumatic muscles and single-joint pneumatic muscles; the multi-joint pneumatic muscles are connected between the upper end platform and the base; and the single-joint pneumatic muscles are connected between the upper end platform and the middle platform and between the middle platform and the base. The manner that the pneumatic muscles are connected in parallel, the pneumatic muscles connected in parallel are connected in series, the pneumatic muscles connected in series are connected in parallel, and the pneumatic muscles in multiple directions are connected in series and in parallel is adopted for the bionic joint based on pneumatic muscle serial-parallel connection; the platforms can be driven to move by the multiple pneumatic muscles in multiple directions cooperatively, the structure is compact, clean and good in anti-explosion performance, and the bionic joint based on pneumatic muscle serial-parallel connection can be used in the fields of human joint simulation, movement simulators, medical rehabilitation instruments and the like.

The invention belongs to the field of automation control over electric appliances, and particularly relates to a motion characteristic joint simulation model of a permanent magnet operating mechanism breaker and a method of the motion characteristic joint simulation model of the permanent magnet operating mechanism breaker. The motion characteristic joint simulation model is characterized in that according to influences between main parameters of an operating mechanism, a transmission mechanism and a control system in the connection-disconnection motion process of the permanent magnet operating mechanism breaker, joint simulation calculation of the motion characteristics of the permanent magnet operating mechanism breaker is achieved through Ansoft Maxwell software, Adams software, Matlab Simulink software and Ansoft Simplorer software so that the accuracy and the reliability of the joint simulation model can be improved. According to the motion characteristic joint simulation model and the method, the joint simulation calculation of the motion characteristics of the permanent magnet operating mechanism breaker can be achieved, and the accuracy and the reliability of the joint simulation model are improved. According to the motion simulation model of the permanent magnet operating mechanism breaker, the control mode, the driving mode and the transmission mode are truly combined, electricity, magnetism and force are truly combined, and meanwhile a solution is provided for the split simulation problem existing in breaker simulation all the time.

The invention relates to the communication technology field and especially relates to a method and a system for realizing dual-mode network energy-efficiency joint simulation. The method comprises that simulation parameters are set and comprise at least a first predetermined amount of simulation time slices; aiming at every simulation time slice, energy-efficiency simulation of a first system network is carried out, mobile station states accessing the first system network are saved, the energy-efficiency simulation of a second system network is carried out and the mobile station states accessing the second system network are saved; based on the mobile station states accessing the first system network and the mobile station states accessing the second system network, a network energy-efficiency simulation result of every simulation time slice is obtained. The method provided by the invention is suitable for energy-efficiency simulation and evaluation of a dual-mode mobile network, has good simulation precision and high simulation efficiency, can satisfy requirements of engineered application and evaluate network energy-efficiency of different scenes, different business demands and different site selection and layout plans.

The invention relates to a parallel real-time simulation method for a photovoltaic power generation system. The grid connection of power electronic parts of the photovoltaic power generation system are generally performed through a filter containing an inductor and a capacitor, by utilizing the topological feature and the principle that inductive currents and capacitor voltage cannot change suddenly in tens of microseconds, the photovoltaic power generation system is partitioned by taking the filter inductor and the filter capacitor as a boundary, the interface modes of a controlled voltage source and a controlled current source are designed, a power electronic simulation part and an alternating-current network simulation part are built independently, a few microseconds of real-time simulation is performed on the power electronic simulation part on an FPGA, and tens of microseconds of real-time simulation is performed on the alternating-current network simulation part on a CPU. Compared with the prior art, the parallel real-time simulation method for the photovoltaic power generation system has the advantages that the power electronic simulation part and the alternating-current network simulation part are built independently, the topological structure of the system and the electronic feature of elements are fully used to achieve system partition, and joint simulation of different step sizes can be performed on the two simulation parts.

The invention provides an MATLAB user-defined model and PSASP joint simulation excitation system simulation method and system. According to the method, a PSASP simulation system based on a practical power grid model is used as a platform, an excitation system model consistent with a practical device is established through an image modeling function of an MATLAB program, and through joint simulation of the PSASP simulation system and an MATLAB model, excitation system simulation based on the practical power grid background is achieved. Organic combination of an excitation system user-defined model and practical large power grid simulation is achieved conveniently. Through abundant image modeling tools provided by an MATLAB, excitation system user-defined model establishing is very convenient, through excitation system simulation under the practical power grid background, various excitation system tests under power generator no-load and load working conditions can be completed, especially tests under various extreme conditions can be completed, the dynamic behavior of a specific unit excitation system under the situation that the system is in fault can be simulated, and an effective and convenient measure is provided for comprehensive evaluation of the performance of the excitation system.

The invention discloses a bionic foot-type robot comprehensive simulation strategy, and belongs to the field of robot technology application. According to the bionic foot-type robot comprehensive simulation strategy, an adopted system comprises a Matlab / Simulink-based bionic foot-type robot control model (A), a Matlab / SimMechanics-based bionic foot-type robot kinematical simulation model (B), an ADAMS-based bionic foot-type robot dynamical model (C) and a bionic foot-type robot experimental prototype (D). The comprehensive simulation strategy comprises a real-time kinematical and dynamical demonstration method for the motion state of the robot experimental prototype, a real-time motion control method, used after simulation verification is generated according to robot gaits, for the robot experimental prototype, a self-learning adjusting method for robot virtual joint simulation and semi-physical simulation, and a robot self-adaptability multi-coordination control method. The bionic foot-type robot comprehensive simulation strategy has the advantages of being low in cost and multifunctional, basically meets the requirement for simulation debugging of a traditional bionic foot-type robot, and has the certain general applicability.

The invention discloses a united stimulation system and a working method thereof. The system comprises at least two physical computers, a system main control process module and process libraries, wherein, at least a physical computer comprises a host computer system module used for conducting host computer process, a management process module used for managing the host computer process on the physical computer of the management process module is arranged. At least a physical computer comprises a simulator or various simulators used for simulating target machines and obtaining characteristic information of the specific behavior of the target machine process, a proxy process module used for managing the stimulators on the physical computer of the proxy process module is arranged, and a target machine operation system module used for operating target machine process. The system main control process module is arranged on any of the physical computers and used for transmitting control commands to the proxy process module and the management process module. The process libraries are arranged on all the physical computers and used for unifying the communication operation of the simulation system.

A joint simulator is provided having a housing with a chamber, a piston, slidable within the chamber, and a shaft rotatable within the housing, the shaft having (i) an end configured to engage a power tool to be tested, and (ii) a threaded end engaged with the piston, whereby rotating the shaft causes the piston to slide within the chamber. Hydraulic fluid fills a section of the chamber formed by a side of the piston and the housing, and computer software controlled pressure and relief valves are actuated to regulate the flow of hydraulic fluid in the chamber, to achieve target pressures. The pressure of the hydraulic fluid creates resistance to rotation of the shaft, thereby increasing the torque relative to the angular increase on the shaft and / or relative to time. The joint simulator is provided with means to determine the angular displacement and torque applied to the shaft.

The invention discloses a structural parameter optimizing design method of a nonlinear snake-shape resisting damper. With a fluid mechanic principle of an internal structure of the snake-shape resisting damper, a nonlinear hydraulic model is built, the nonlinear hydraulic model and a vehicle dynamic model are combined into a joint simulation model, the joint simulation model is used for analyzingthe influence of internal structural parameters of the snake-shape resisting damper to vehicle stability, and therefore optimizing design of structural parameters of the snake-shape resisting damper is achieved. By means of the structural parameter optimizing design method for resisting the nonlinear snake-shape resisting damper, the model is simplified, the reasonability of parameter selection isimproved, and the efficiency during simulation is improved, so that obtained parameters are better optimized.

The invention discloses an intelligent mine mining model test system under multi-field coupling. A combined sealing reaction device comprises a combined frame, and reaction wall modules are arranged on the front side and the rear side of the combined frame; a high-precision real-time synchronous monitoring system directly faces the front side of the sealing reaction device so as to collect imagesof a test process; a dynamic and static combined high-precision hydraulic control system comprises multiple boundary energy storage oil cylinders which are arranged at the top and on two sides of thecombined frame, the boundary energy storage oil cylinders are connected with a hydraulic power unit, and the hydraulic power unit is connected with a controller; an intelligent tilted stratum simulation device is arranged at the bottom of the combined sealing reaction device and can jack up the combined sealing reaction device to make it tilt; an automatic coal mining and roadway profiling drivingsystem is arranged on the rear side of the combined sealing reaction device to simulate roadway driving and coal mining; and a cut joint simulation device is located in a model to truly simulate cutjoints.

The invention provides an interface-based simulation modeling method for a standby diesel generator unit of a nuclear power plant. The method is characterized by comprising the following steps of building a GT-power simulation model of a diesel engine; building a Simulink simulation model of a speed regulating system and a load of a diesel engine generator; building a GT-power and Simulink joint simulation model; and establishing a graphic user interface (GUI), thereby finishing a joint simulation function through the GUI. By combining different advantages of two types of software, a loading process of the standby diesel generator unit of the nuclear power plant can be simulated; and by analyzing whether performance parameters such as a transient frequency and the like of the generator unit obtained by simulation meet design requirements or not, whether the design of a corresponding load program is reasonable or not is assessed.

The invention discloses a test device and method for simulating the bulging property of fabric in actual wearing. The bulging deformation produced by a common method for testing the bulging property of fabric is way different from the bulging shape produced in actual wearing. According to the device, a wood ball and a spring are connected to the arc grooves of a front wooden stick and a rear wooden stick to form a simulative arm; the outer layer of the simulative arm is coated with cotton, and knitted fabric wraps the cotton and is sutured; the U-shaped movable arm is fixed on a peripheral baffle plate by a crew and a nut; the rear wooden stick is placed in the peripheral baffle plate; and the front wooden stick is placed into the U-shaped movable arm. The method for testing bulging property of fabric is as below: ironing and cutting the fabric, scanning an image before bulging, and then fixing the fabric to a joint simulation device, arranging the joint simulation device on a bending and fixing device, and taking out and flattening the fabric after a preset time; acquiring the bulging image of the worst affected area of the fabric; and processing the images before and after bulging to obtain a residual bulging image, and extracting features and calculating the rate of bulging. The bulging deformation produced by the device is similar to the bulging shape in actual wearing.

The invention discloses a user-defined interface of a wind power station simulation machine and an RTDS (real time digital simulator), and belongs to the technical field of electric power system source network joint simulation modeling and running control. The user-defined interface is used for data communication between the RTDS and a wind power station simulation system and respectively connected with an equivalence rear alternating current and direct current system grid simulation module in the RTDS and an optical fiber communication interface card, the optical fiber communication interface card is connected with a wind power station detailed simulation module in the wind power station simulation system, and the user-defined interface is used for receiving uplink signal data, acquiring instantaneous voltage and an instantaneous phase angle of a wind field access point from the equivalence rear alternating current and direct current system grid simulation module, performing calculation according to the received and acquired data to obtain instantaneous current and transmitting the instantaneous current to the equivalence rear alternating current and direct current system grid simulation module. By the aid of the user-defined interface, grid joint simulation of the wind power station detailed simulation machine and the RTDS is realized.

The invention discloses a field circuit transient-transient coupling simulation method based on the multi-loop method. The field circuit transient-transient coupling simulation method based on the multi-loop method comprises the following steps that firstly, a multi-loop model of a motor is established according to a finite element model of the motor and based on the multi-loop theory, wherein the model comprises formulas (1)-(6) shown in the specification; secondly, through calling of the finite element model, in each system simulation size, the self-inductance parameters and the mutual-inductance parameters of each winding including a damping loop are solved according to the finite element model of the electromagnetic field of the motor, then, the parameters are returned to the multi-loop model of the motor, iterative solution is conducted on the motor model and an external circuit model, and joint simulation coupled with the finite element multi-loop model in system simulation is achieved. The field circuit transient-transient coupling simulation method based on the multi-loop method is effectively suitable for an occasion with multiple finite element models and improves the convergence performance.

The invention discloses a system and method for joint simulation. The system for the joint simulation comprises an interactive system and a protocol adaptation module, as well as a collaborative data management module, wherein the interactive system and the protocol adaptation module achieve data transmission and intercommunication between each independent simulation system; and the collaborative data management module manages simulation resources, distinguishes the simulation resources according to preset types and grade permission, and synchronizes sharing indexing of shared simulation resources in each independent simulation system besides the own system. The sharing indexing of the shared simulation resources is achieved between each independent simulation system, and simulation resources are not provided to other independent simulation systems, so that a use permission of the shared simulation resources is shared, and intellectual properties of each independent simulation system are protected. Hence, the system and method disclosed by the invention have the advantages that real-time interactions on the data layer between each independent simulation system are achieved during the simulation; the integrity is high; and the system and method are applicable to large-scale joint simulation.

The invention discloses a modeling and simulation method for solving rolling force. A joint simulation total system is established through Simulink for solving a rolling force calculation equation, namely the Kalman differential equation and comprises five subsystems of the backward slip zone subsystem, the forward slip zone subsystem, the stopping system subsystem, the dynamic deformation resistance subsystem and the maximum contact angle subsystem. Solving of rolling plastic zone deformation is achieved through the powerful calculation function of Simulink, changes of the unit rolling force in the deformation zone can be clearly seen through modeling and simulation, existence of a neutral angle is also indicated, and thus the betaF of the neutral angle can be calculated.

The invention discloses an optimal active-disturbance-rejection control method of roof bolter propulsion force. The method is characterized in that the method comprises the following steps: step 1), establishing a mathematical model of a roof bolter propulsion system; step 2), using bolter while-drilling information to set optimal propulsion force of current drilling of a roof bolter; step 3), combining a particle swarm optimization algorithm to design an optimal active-disturbance-rejection controller; and step 4), verifying effectiveness and rationality of the provided control method of theroof bolter propulsion system on the basis of a joint simulation platform of Matlab and AMESim. The method has the advantages that the method is suitable for use in optimal control of the roof bolterpropulsion force, and solves the problem that dependence of traditional bolter control on operator work experience is high; and the bolter adjusts the propulsion force in a self-adaptive manner according to characters of drilled surrounding rock, thus faults of roof breaking, roof jamming and the like are reduced, work efficiency and tunneling speed are improved, and a basis is laid for bolter automation and intelligence.

The invention discloses a battery pack electromagnetic interference modeling simulation and a test method. The method comprises the following steps of firstly determining electromagnetic interferenceelements; then carrying out a battery pack impedance characteristic test, and establishing a high-frequency impedance model of the battery pack; building an equivalent circuit model of the motor driving system based on the high-frequency impedance model of the battery pack; performing joint simulation on the control motor and control system model and the IGBT equivalent circuit model to obtain a simulation result of the common-mode current at the output side of the inverter and the direct-current bus end; carrying out the conduction interference test on the motor driving system, obtaining an experiment result of common-mode current of the output side and the direct-current bus end of the inverter; finally, comparing a simulation result with the experiment result to verify the accuracy of the simulation result. An electromagnetic field in the battery system is simulated through simulation software. The electromagnetic field distribution in the battery system and possible interference conditions during vehicle driving are analyzed. The theoretical support and academic basis are provided for electromagnetic simulation of the battery system and the whole vehicle.