32 results about "Kinematics equations" patented technology

This application provides an automatic parking trajectory tracking control method, storage medium, and electronic device. The method includes: determining the current nearest point and shift point closest to the origin of the vehicle coordinate system from a sequence of discrete trajectory coordinate points; determining at least one preview point based on the current nearest point, and obtaining the vehicle's lateral deviation and heading angle deviation based on the preview point; establishing kinematic equations with lateral deviation and heading angle deviation as state variables, and obtaining discretized state-space equations; constructing an offline parameter table of different vehicle speeds and corresponding state feedback values ​​based on the discretized state-space equations and a preset linear quadratic regulator; obtaining the corresponding vehicle rotation value according to the real-time vehicle speed and the offline parameter table; and performing automatic parking control based on the gear information of the current nearest point and the current vehicle rotation value. This application effectively solves the technical problem of difficulty in simultaneously achieving accuracy, real-time performance, and robustness in existing automatic parking trajectory tracking control methods.

The embodiment of the specification provides a kind of based on quasi-static electric quantity discrete electric aircraft reachable domain evaluation method and system, wherein, method includes: the quasi-static dimension reduction conversion of electric aircraft dynamics model, according to quasi-static hypothesis, simplify electric aircraft dynamics equation, it is decoupled as horizontal plane kinematics equation and push resistance balance and lift weight balance equation constraint, reduce state quantity dimension, obtain dimension reduction flight dynamics model;The electric quantity discrete conversion of dimension reduction flight dynamics model, the form of relative to time dynamics equation is converted into relative to electric quantity consumption value, determines simulation interval and discrete grid;Based on the dimension reduction flight dynamics model, by setting roll angle numerical sequence, numerical integration simulation is carried out on the simulation interval and discrete grid, and the horizontal plane maneuvering reachable domain boundary of electric aircraft is obtained.

The application relates to the technical field of traffic safety, in particular to a vibration deceleration marking setting method based on marking laying length. The visual recognition process of a driver to the deceleration marking is confirmed, and laying parameters are obtained; the psychological perception coefficient of the driver passing through each deceleration marking is obtained; the acceleration of the driver passing through each deceleration marking is obtained according to the psychological perception coefficient of the driver passing through each deceleration marking; the speed of the driver passing through each marking is obtained according to the acceleration of the driver passing through each deceleration marking and the laying parameters; the kinematic equation is established according to the speed of the driver passing through each deceleration marking, and the kinematic equation is solved in combination with the Weber law to obtain the setting interval of the deceleration marking; and the deceleration marking is laid according to the setting interval of the deceleration marking. The laying interval of the deceleration marking is determined by introducing a psychological formula considering the comfort of the driver passing through the vibration deceleration marking, and the application has strong applicability.

This invention provides a grid-connected control method for a flywheel energy storage system based on a dual-rotor brushless motor, belonging to the field of novel energy storage equipment and motor control technology. The control method includes: using the kinematic equation between the stator magnetic field speed, the speed of the adjusting magnetic ring rotor, and the speed of the permanent magnet rotor as the first constraint; using the synchronization of the adjusting magnetic ring rotor speed with the power grid as the second constraint; determining the stator magnetic field speed as the sole control degree of freedom for adjusting the operating state; performing boundary judgment and correction on the stator magnetic field speed; and adjusting the stator magnetic field speed to make the speed of the permanent magnet rotor and the speed of the flywheel change along a linear invariant trajectory determined by the first constraint, thereby realizing the flywheel energy storage system's control requirements for the power grid. This invention has a clear control structure and well-defined constraint relationships, enabling multiple grid-connected support functions while ensuring the safe operation of the flywheel.

This application discloses a method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider. The method includes: Step S1: Constructing an oil film thickness function model that includes the error source term of the hydrostatic slider; Step S2: Constructing a pressure equation dependent on the error source term based on a preset transient Reynolds equation and the oil film thickness function model; Step S3: Calculating the mechanical characteristics between the hydrostatic slider and the oil film based on the pressure equation, and establishing a kinematic equation based on the mechanical characteristics; Step S4: Coupling and solving the pressure equation and the kinematic equation to obtain the error source term and the dynamic response result of the oil film thickness. The method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider of this application can at least solve the problems of large deviations in the oil film thickness predicted by existing hydrostatic slider oil film thickness prediction methods and the inability to accurately predict transient fluctuations in oil film thickness.

The present application belongs to the technical field of magnetic transmission and electromagnetic field numerical calculation, and relates to a dynamic magnetic circuit calculation method for transient electromagnetic torque of a radial magnetic gear. The steps are as follows: first, a two-dimensional grid model of the radial magnetic gear is established and physical material properties are assigned; second, grid element branch permeances are calculated and a global permeance sparse matrix is assembled; third, rotor positions are determined based on kinematic equations and equivalent magnetic flux source vectors are reconstructed; fourth, air gap magnetic flux density is solved and electromagnetic torque is calculated based on Maxwell stress tensor method. The dynamic magnetic circuit calculation method exhibits the characteristics of simplicity and convenience in practical engineering applications, and has excellent parameterization expandability and universality, and can flexibly adapt to performance evaluation of radial magnetic gears with different pole pair numbers and different topological sizes, providing a high-precision calculation tool with strong engineering universality for multi-objective optimization and parameter rapid iteration of magnetic gear transmission systems.

The application discloses a satellite attitude system preset performance tracking control method based on a second-order disturbance observer, first, combining the rigid body satellite dynamics and kinematics equation, the state prediction error is introduced into the structure of the traditional second-order disturbance observer, the improved second-order disturbance observer is designed, the influence of high-frequency noise is weakened while the disturbance is estimated and compensated under the condition of low gain; secondly, the tunnel type performance function is introduced in the error conversion process, the transient and steady state performance of the attitude tracking error is improved; then, combined with the disturbance estimation result, a disturbance fault-tolerant auxiliary system is constructed, the performance boundary is flexibly adjusted by generating a disturbance non-negative correction signal, the influence of strong mutation disturbance is reduced, and the robustness of the system is guaranteed; finally, a preset performance anti-disturbance controller is designed for the satellite system, and high-precision attitude tracking control is realized. The application has higher efficient estimation performance and more accurate control precision, and effectively improves the anti-interference ability of the satellite system.

The present application relates to the technical field of mechanical arm control, and particularly relates to a mechanical arm trajectory drawing method and system based on an AZTND model; the method comprises the following steps: acquiring mechanical arm curve drawing task parameters and an AZTND solver; establishing a mechanical arm time-varying kinematics equation, introducing joint angular velocity constraints and acceleration constraints, and converting the curve drawing problem into a time-varying nonlinear equation; defining an error function as the residual of the time-varying nonlinear equation, constructing an AZTND dynamics equation, and determining the parameters of a segmented adaptive coefficient function according to the curve drawing stage; using an ODE numerical solution method to solve the AZTND dynamics equation in real time, obtaining a mechanical arm joint angular velocity control instruction, and driving a mechanical arm end effector to track an expected curve trajectory. The present application solves the problems of slow convergence speed, weak anti-interference ability and low geometric precision in traditional control in time-varying trajectory tracking, and realizes high-precision real-time drawing of complex artistic curves.

The application provides a motion trajectory planning method of an ultra-redundant multi-limb segment robot, belongs to the nondestructive testing technical field of nuclear power plant steam generator steam-water separator cyclone vane, and combines the characteristics of the multi-limb segment robot, can quickly generate a trajectory, makes the robot perform multi-axis synchronous motion, and improves operation efficiency. According to the operation scene and the structural characteristics of the robot, the motion process is decomposed in a pre-planned path mode, the slow unfolding mode of the robot from outside to inside is inferred, the traditional kinematics equation solving is replaced by plane geometry operation, the calculation process is simplified, and the robot closely following the path motion can effectively avoid collision.

The application discloses a kind of helicopter formation flight dispersing guiding method.For the position of three helicopter formation, distance interval and distance interval requirement after air dispersing formation at a certain time, based on kinematic equation and plane geometry principle, wingman S-shaped maneuver dispersing guiding model is established in two-dimensional plane, the flight path point and flight parameter of wingman air maneuver dispersing are calculated by comprehensively considering the characteristics of helicopter formation flight and dispersing formation requirement, so that the should fly elements sent by ground command post air guiding are obtained.The method overcomes the defects of slow artificial estimation and low precision adjustment by experience, has the advantages of high precision, good real-time, computer programming easy to realize, etc., can meet the requirements of navigation solution precision and effectiveness of ground tower command task, can reduce the air guiding operation burden of commander, improve the degree of automation of command system.The method is especially suitable for the application of helicopter command system to formation flight command guiding.

The application discloses a kind of underwater glider robot energy consumption optimization path smooth generation method and system of asymmetric turning radius, first, establish considering oil bag excursion roll model, by analyzing oil bag and movable mass momentum influence, construct system kinematics equation and dynamics equation containing oil bag excursion;Based on the model, the forgetting factor recursive least squares algorithm is used to identify the oil bag gravity center excursion amount on line;Real-time left and right turning radius of robot is calculated using the identification result;Finally, based on asymmetric turning radius, generate suboptimal Dubins-Helix path, the path is composed of pitch angle smooth section and Dubins-Helix trajectory section, by optimizing pitch angle and helix section parameters, while meeting the motion constraint, realize energy consumption optimization.Modeling and parameter identification accurately, solve the model mismatch problem, the path generated is more in line with the actual maneuverability of robot, while ensuring the feasibility of the path, significantly reduce the system energy consumption.

This invention discloses a trajectory optimization method for a robotic arm transporting low-rigidity parts in a narrow space, comprising: constructing a joint trajectory motion model of the robotic arm; pre-setting trajectory planning equations; constructing the kinematic equations of the robotic arm based on the angular displacement of each joint, and obtaining the solution for the angular displacement of each joint; setting the range of motion time for each path segment in the motion trajectory, and iteratively optimizing the motion time of each path segment using chaotic mapping strategy, spiral encirclement strategy, Levy flight strategy, cross-sectional strategy, and elite retention strategy, and outputting the optimal motion time for each path segment; discretizing the optimal motion time, and outputting the angular displacement, angular velocity, and angular acceleration of each joint at each time node after discretization; mapping to the linear velocity of the robotic arm end effector, and optimizing the motion trajectory of the robotic arm using the linear velocity of the robotic arm end effector at each time node.

The application discloses a multi-robot cooperative pursuit method and system based on elliptical robustness control, and the method comprises the following steps: defining a pursuit space and setting corresponding variable parameters, constructing a pursuit kinematics equation; sequentially performing grid division and retrieval processing on the pursuit space, and acquiring the shortest path of the space node; based on the elliptical robustness control strategy, the pursuit kinematics equation is updated and optimized, and combined with the shortest path of the space node, a dynamic target position is generated; and the pursuers cooperatively pursue the runner according to the dynamic target position. The system comprises a construction module, an acquisition module, a generation module and a pursuit module. By using the application, the problem of pursuit dead point can be solved, the effect of avoiding collision between pursuers can be achieved, and the efficiency of robot cooperative pursuit can be improved. The application can be widely applied to the technical field of pursuit and encirclement.

This invention relates to the field of motion control technology for multi-axis CNC machine tools, specifically to a six-axis CNC machine tool control method based on dual-link decoupling of the tool and workpiece. During machining, the method functionally decouples the tool-side kinematic chain from the workpiece-side kinematic chain, uses control points and dual control directions to describe the machining posture, establishes kinematic equations between the tool and workpiece in a unified base coordinate system, and solves the workpiece-side rotation axis variables, workpiece-side translation axis variables, and tool-side translation axis variables step by step using analytical methods. This enables the direct calculation and issuance of six-axis linkage control commands, thereby solving the problems of severe variable coupling, reliance on numerical iteration, low computational efficiency, and insufficient stability commonly found in traditional six-axis CNC machine tool inverse kinematics solutions. This improves the control accuracy, real-time performance, and engineering reliability in multi-axis linkage machining processes.

The application discloses a kind of air intelligent body fixed time stable guidance method, device, medium and equipment for ground mobile target, belong to the field of guidance control technology.The method establishes ground, line of sight and channel coordinate system and its conversion matrix, establishes the relative dynamics and kinematics equation of intelligent body and target;Analysis system uncertainty and strapdown seeker field of view angle constraint, establish the guidance model considering lumped disturbance and view angle constraint, convert field of view angle constraint into the asymmetric constraint of state variable;Adaptive strategy is used to deal with uncertainty, and a fixed-time stable guidance law is designed based on logarithmic barrier lyapunov function, to ensure that the system converges within a fixed time under any initial condition.The present application solves the problems of slow convergence of existing proportional guidance and dependence on initial value of finite time control, realizes rapid and accurate attack on mobile target, and improves system robustness.

The application discloses a low-profile heavy-load 2R1T parallel platform and belongs to the technical field of parallel robots. The low-profile heavy-load 2R1T parallel platform comprises a static platform, a dynamic platform, three driving branch chains and three constraint branch chains connecting the static platform and the dynamic platform; the lower ends of the three driving branch chains are connected to three connecting points of the static platform through Hooke joints, and the three connecting points form an equilateral triangle; in an initial state, the axes of the three driving branch chains are parallel to each other and are perpendicular to the static platform and the dynamic platform respectively; the three constraint branch chains are distributed in space and are perpendicular to each other and are parallel to three coordinate axes of a Cartesian coordinate system respectively. The three driving branch chains are all in the UPS structure, and the three constraint branch chains are in the SS structure, the variable PUU structure and the SS structure respectively. The low-profile heavy-load 2R1T parallel platform is a parallel mechanism, has the advantages of large bearing capacity, low profile, low gravity center, difficulty in toppling and structural stability, and the mechanism can obtain an analytical solution through establishment of a kinematic equation.

The present application belongs to the related technical field of continuum robot trajectory tracking, and discloses a wire transmission continuum robot trajectory tracking method and device based on tension optimization, comprising the following steps: step one, constructing the forward kinematics equation from the base to the end of the continuum robot according to the coordinate transformation relationship of the continuum robot; step two, constructing the statics equation of the continuum robot according to the force condition of the continuum robot; step three, integrating the equality constraints and inequality constraints in physics and geometry of the robot, taking the minimization of the transmission wire tension as the optimization target, and constructing a nonlinear optimization problem based on the kinematics equation and the statics equation of the robot; step four, solving the nonlinear optimization problem by using a nonlinear optimization solver to obtain the transmission wire tension under the current trajectory tracking end target point and the joint angle of the robot in the current state, and then completing the trajectory tracking. The present application can safely and efficiently complete the trajectory tracking task.

This invention relates to the field of underwater robotic arm control technology, specifically to a method and system for trajectory planning and control of an underwater robotic arm based on the PNVRGZND model. The method includes: obtaining the joint angle vectors, desired velocity vectors, and Jacobian matrix of a six-DOF cascaded underwater robotic arm; transforming the kinematic equations into time-varying linear equations and defining an error function; constructing a PNVRGZND model containing a novel double-integral structure, novel time-varying parameters that are monotonically increasing and bounded, and a novel nonlinear activation function containing exponential, linear, and power terms; substituting the derivative of the error function into the PNVRGZND model to obtain the dynamic evolution equation of the joint angular velocity vector; determining known quantities based on the real-time state of the robotic arm and the desired trajectory; numerically solving the dynamic evolution equation to obtain the joint angular velocity vector and outputting it to the joint actuator. This invention significantly improves the trajectory tracking accuracy and robustness of underwater robotic arms in environments with strong interference.

The application discloses a kind of global sliding mode guidance law construction methods with intersection angle constraint, device, equipment, medium and product, relate to the field of guidance law, the method includes: according to missile-target relative kinematics equation and missile-target intersection angle definition obtains expected line-of-sight angle expression;Nonlinear term of sliding mode in global sliding mode control method is constructed;Based on global sliding mode control method, according to missile-target relative kinematics equation and the nonlinear term of sliding mode obtains sliding mode expression and angle constraint guidance law based on global sliding mode control;With the angle error of missile in reward function and the minimum acceleration of missile as target, the sliding mode control function in global sliding mode control method is optimized using reinforcement learning, and the optimized sliding mode control function is obtained;Determine the function and expression as global sliding mode guidance law with intersection angle constraint, the application can hit target while reducing the acceleration requirement of missile with the expected intersection angle and the angle error is small.

The application discloses a vehicle control method, device, medium, equipment and vehicle based on automatic driving, and the method comprises the following steps: establishing state quantity including lateral position deviation and yaw angle deviation, parameter quantity including vehicle speed and curvature, and control quantity including expected yaw angular velocity kinematics equation; determining the kinematics outer loop control law by using the first nominal model determined by the kinematics equation and the backstepping method, and calculating the expected yaw angular velocity based on the kinematics outer loop control law; establishing state quantity including lateral velocity and actual yaw angular velocity, parameter quantity including longitudinal velocity, front-rear axle cornering stiffness, distance from the mass center point to the front-rear axle of the vehicle, vehicle body mass and yaw rotational inertia, and control quantity including front wheel steering angle dynamics equation; determining the state feedback control law and the feedforward control law by using the small gain theorem and the Laplace transform final value theorem respectively based on the second nominal model determined by the dynamics equation and the expected yaw angular velocity, and calculating the front wheel steering angle control vehicle steering based on the two kinds of control laws.

This application relates to the field of unmanned aerial vehicle (UAV) control technology, and provides a UAV control method and related equipment for post-earthquake search and rescue. The method includes: constructing discrete kinematic equations for ground search and rescue units based on ground motion data, and constructing state equations for target UAVs based on UAV motion data; constructing a communication objective function based on the discrete kinematic equations of all ground search and rescue units, the state equations of all target UAVs, and the physical property data of all rubble obstacles; constructing a task correlation matrix and control force expressions; solving the communication objective function based on the task correlation matrix and all control force expressions to obtain the final task correlation matrix and the final control force for each target UAV; and controlling each target UAV based on the final task correlation matrix and the final control force for each target UAV. The method of this application can improve the reliability of UAV control for post-earthquake search and rescue.

The application discloses a cascaded large model robot motion planning method based on timing logic constraints, which comprises the following steps: a task planner receives user instructions and corresponding STL expressions, environment information, decomposes the user instructions and corresponding STL expressions, and obtains sub-tasks and corresponding STL expressions; whether the decomposed sub-tasks meet the logic constraints, time constraints and space constraints is detected by an STL checker; if yes, correct controllers are generated according to the sub-tasks; the generated correct controllers are integrated with a robot model, a Monte Carlo method is used to generate multiple groups of random parameters based on uncertainty factors, real environment disturbances are simulated, an Euler method is used to discretize and iteratively solve trajectories of the robot continuous kinematics equation, the trajectories are checked by the STL checker to make the trajectories meet the requirements of the user instructions, and finally correct trajectories are obtained. The application realizes user instructions containing space, time and kinematics constraints.

This invention relates to a rope-driven continuum robot arm based on an action point switching mechanism and its kinematic modeling and control method. The method includes: establishing a coordinate system; dividing the rope-driven continuum robot arm based on the action point switching mechanism into a single-segment configuration and a two-segment configuration, and performing kinematic descriptions for both configurations; deriving the forward kinematics of the rope-driven continuum robot arm based on the action point switching mechanism to obtain its homogeneous transformation matrix; deriving the Jacobian matrix and differential kinematic equations of the rope-driven continuum robot arm based on the action point switching mechanism; and achieving high-precision closed-loop motion control of the robot arm's end-effector pose based on damped least squares inverse kinematics solution. This invention overcomes the core bottlenecks of redundancy in drive and difficulty in decoupling control of two-segment bending in traditional rope-driven continuum robots, while also possessing high dexterity and compliant operation capabilities in confined spaces.

This invention discloses a non-cooperative satellite attitude measurement method based on sequential images. This method addresses the issues of attitude estimation drift and instability that easily occur in non-cooperative satellite attitude measurement under complex ambient lighting and symmetrical target conditions. First, a tumbling satellite dataset is constructed. Then, a soft classification-based attitude measurement network is built to coarsely estimate the target's relative attitude. Finally, an LSTM-based attitude optimization network is constructed to refine the coarse estimation results. The advantages of this method are: 1. It utilizes temporal information in sequential frames to solve the attitude estimation instability problem, improving attitude estimation accuracy. 2. Based on the rigid body attitude kinematics equations, a physical information loss function is introduced to guide the training of the attitude optimization network, significantly reducing the average attitude estimation error.

The application relates to a kind of manta ray submarine gliding propulsion kinematics modeling and numerical calculation method;Belong to underwater bionic robot technical field.This method first carries out feature point marking and three-dimensional motion reconstruction to real manta ray biology, extracts its kinematics parameter, and then establishes a kind of unified kinematics equation which strictly satisfies the constraint of body length invariable, can accurately couple the deformation of pectoral fin spanwise and chordwise;By adjusting specific parameters, the mathematical description of multiple real motion modes such as flapping, gliding, gliding and compound, and maneuvering turn can be realized.Secondly, the high-fidelity kinematics model dynamic boundary input condition is combined with the immersed boundary method and the computational fluid dynamics solver to efficiently and stably calculate the hydrodynamic performance and flow field structure of the manta ray submarine in the complex motion process.The application effectively solves the problem that the simulation result deviates from the actual situation and it is difficult to capture the key vortex dynamics structure caused by the distortion of the kinematics model of the prior art.

This invention discloses a path tracking control method, device, and storage medium for forklift AGVs. The method includes: determining the transformation relationship between the driving speed of the left drive wheel, the driving speed of the right drive wheel, and the turning angle of the steering wheel through a drive mechanism; establishing a follower coordinate system on the tracking path; establishing the kinematic equations of the forklift AGV in the follower coordinate system; transforming the path tracking problem into finding a bounded control input problem, and calculating the control quantity formula for the target angular velocity based on the kinematic equations; setting a target linear velocity, and using the set target linear velocity, the transformation relationship, and the control quantity formula for the target angular velocity, calculating the corresponding driving speed of the left drive wheel, the driving speed of the right drive wheel, and the target turning angle of the steering wheel according to the driving mode corresponding to the steering wheel. This invention provides a simple, reliable, versatile, and easy-to-debug path tracking control method for forklift AGVs with two drive wheels and one steering wheel.

The present application relates to rigid-flexible hybrid rope-driven heterogeneous robot and its kinematics modeling and collaborative control method, wherein the method comprises: establishing the coordinate system of rigid-flexible hybrid rope-driven heterogeneous robot; based on the different driving rope stress points, the far end 5 degree of freedom rope-driven continuum manipulator is divided into single segment structure configuration and two segment structure configuration, and the single segment structure configuration and the two segment structure configuration are kinematically described respectively; the forward kinematics of the far end 5 degree of freedom rope-driven continuum manipulator and the near end 7 degree of freedom rope-driven series manipulator is deduced respectively, the total homogeneous transformation matrix of rigid-flexible hybrid rope-driven heterogeneous robot is obtained, and the far end Jacobian matrix and the differential kinematics equation are deduced; based on the inverse kinematics solution of the diagonal weight matrix weighted total Jacobian, the null space configuration adjustment and the rigid-flexible degree of freedom collaborative control are realized. The present application breaks through the performance bottleneck of single configuration robot.

The embodiment provides a low-battery performance vehicle power improvement method and system in an ECVT mode, and relates to the technical field of vehicle power control. The method first calculates the maximum available power of an engine based on the vehicle power balance principle, then obtains the maximum available power generation of a P1 generator in combination with planetary gear set motion and a kinematic equation, further determines the maximum power generation of the P1 generator by fusing the actual power of a P3 drive motor and the maximum charging power of a battery, and finally calculates the maximum drive torque of the engine and the P3 drive motor to a wheel end respectively and comprehensively obtains the maximum drive torque of the wheel end of the vehicle through the Newton iteration algorithm and the planetary gear set dynamics relationship. The application breaks the vicious cycle of power torque limit, fully releases the engine torque capacity, improves the vehicle driving ability and power performance in the ECVT mode under the low battery performance, and maximizes the advantages of the ECVT power split hybrid configuration.

The application discloses a kind of continuum robot position control method, computer program product and equipment.The position control method is based on adaptive Jacobian matrix to realize the model-free position control of continuum robot, including the steps of constructing continuum robot kinematics equation, obtaining the relationship between driving variation and end velocity, calculating position deviation vector function, obtaining the control of adaptive unknown Jacobian matrix pseudo-inverse, adaptive learning Jacobian matrix using feedback information, continuum robot end reaches desired position etc.The application uses improved zeroing neural dynamics model to control under the model-free of continuum robot, does not depend on the parameters and structure of model, can real-time feedback continuum robot end movement information, adjust adaptive Jacobian matrix, improve the smoothness of continuum robot movement trajectory, and the error convergence of continuum robot end actual position and desired position is faster.