269 results about "Kinematics equations" patented technology

The invention discloses a high-speed train multi-information fusion positioning method based on a Beidou satellite, and relates to the technical field of satellite navigation and positioning. The method comprises the following steps: designing a high-speed train multi-information fusion positioning scheme; based on a train multi-information fusion positioning scheme, establishing a nonlinear train state model based on a train kinematics equation; the position, speed, acceleration, course angle and pitch angle of the train are used as state vectors, and a train measurement model is constructed; based on a tracking target set by a train state model and a train measurement model, the train state is estimated by fusing IMM-UKF / PF models of unscented Kalman filter (UKF) and particle filter (PF) and introducing ACW and a short-term error feedback mechanism in state fusion. According to the method, the positioning precision and robustness can be improved, and the dynamic response capability in a complex scene can be enhanced.

The invention relates to an automatic guided vehicle (AGV) adaptive path tracking method based on MPC. The method comprises the following steps: S1, establishing a kinematic discretization error model based on the kinematic characteristics of the two-wheel differential AGV, processing a continuous kinematic equation by adopting an Euler discretization method, expressing a dynamic change relationship between a transverse deviation distance and an angle deviation in a state-space equation form, and generating a kinematic discrete state-space model; the method has the advantages that the continuous equation is processed by establishing the kinematics discretization error model and adopting the Euler discretization method, the deviation dynamic relation is expressed through the state space, the calculation process is simplified, the precision is kept, sensor data are fused, the wheel type odometer, IMU and laser data are integrated through the extended Kalman filtering algorithm, and the precision is improved. The real-time position and angle deviation are calculated, the positioning accuracy is improved, a model prediction controller objective function is designed, a weight matrix and boundary constraint are introduced according to constraint conditions, and the effect of obstacle avoidance constraint is combined.

The invention discloses a compensation operation simulation method for a telescopic active wave compensation trestle, and the method comprises the steps: taking sea condition parameters as input, combining a wave frequency response factor of a ship, and simulating the six-degree-of-freedom wave frequency motion of the ship; establishing a series coordinate system connected with a compensation mechanism on the telescopic active wave compensation trestle, and constructing a forward motion equation and a reverse solution equation of compensation motion; according to the compensation target position of the tail end of the telescopic active wave compensation trestle, the six-degree-of-freedom motion amplitude of the ship is combined, and the motion stroke of a compensation mechanism is reversely solved; differentiating the motion stroke of the compensation mechanism, calculating the speed and acceleration of the compensation mechanism, and determining the statistical value of the motion time sequence of the compensation mechanism; and finally, judging whether the telescopic active wave compensation trestle can compensate the ship motion caused by the sea condition or not according to the statistical value. Whether the compensation mechanism design of the trestle can compensate the ship motion under the sea condition or not can be judged according to the simulation result.

The invention relates to the technical field of two-arm robot pipeline butt joint cooperative motion planning and control in a complex environment, in particular to a two-arm cooperative robot pipeline butt joint method based on relative Jacobi. According to the method, a double-arm kinematics equation relative to a Jacobian matrix is constructed, constraint conditions are constructed in combination with pipeline butt joint requirements, pose errors and integral information are introduced to design an anti-noise motion planning scheme, an end effector obstacle avoidance strategy is designed, the anti-noise scheme is converted into a quadratic optimization problem, and the quadratic optimization problem is solved through a numerical algorithm. According to the method, the problems that an existing scheme is insufficient in precision, inaccurate in constraint condition and poor in anti-noise and obstacle avoidance capacity are solved, the uniformity and accuracy of butt joint of the two-arm pipelines are improved, the influence of environmental noise is effectively restrained, butt joint safety is guaranteed, butt joint efficiency and reliability are improved, and the high-precision pipeline butt joint requirement under the complex environment is met.

The invention discloses a multistage voxel adaptive laser radar pedestrian tracking method, which comprises the following steps: S1, acquiring laser radar point cloud data, and adding ground filtering and elevation filtering; s2, performing hierarchical voxel grid processing on the basis of the point cloud data after ground filtering and elevation filtering, inputting the point cloud data after hierarchical voxel grid processing into a DV-Det model to detect a point cloud pedestrian target of a current frame, and adding a Soft-NMS for post-processing optimization; s3, designing an unscented Kalman filter based on a pedestrian kinematics equation, predicting the motion state of a pedestrian target, and adding a joint probability data interconnection algorithm and an adaptive life cycle management strategy; and S4, the mass center of the pedestrian target is calculated and detected, the relative position and the movement speed of the pedestrian target are solved, and a display panel of pedestrian state information is added to a visual interface. In conclusion, the defects in the prior art are overcome, high-precision and low-delay pedestrian detection and tracking can be achieved in multiple indoor and outdoor scenes, and the method has high social use value.

The invention relates to the technical field of magnetic suspension conveying lines, in particular to a variable curvature trajectory prediction control method and system for a magnetic suspension conveying line and a storage medium. The method comprises the steps that a variable-curvature trajectory prediction model of the magnetic suspension conveying line is established, and the variable-curvature trajectory prediction model describes the dynamic behavior of a conveying carrier on a variable-curvature path through a kinematics equation and geometric constraints and is used for predicting trajectory deviation in real time. According to the invention, by constructing a variable curvature trajectory prediction model and a multi-target rolling optimization control system, the problems of trajectory tracking and suspension stabilization of a magnetic suspension carrier under a complex path are systematically solved. The method has the advantages that a time domain motion equation is mapped to a space domain path coordinate system based on a curve coordinate system of arc length parameterization and a prediction model constructed by a French-Serret formula, the influence of curvature change on lateral displacement dynamics is accurately described, and dynamics mismatch caused by traditional fixed curvature approximation is eliminated from the model level.

The invention relates to the technical field of underwater robot control, in particular to an autonomous line patrol motion control method of an underwater cable detection robot, which comprises the following steps of: establishing a six-degree-of-freedom kinematics equation and a kinetic model of the robot, and collecting position information of the robot and a current heading angle of the robot; the target heading angle of the robot is calculated through an optimal deflection angle fusion algorithm, the current heading angle, collected by a sensor, of the robot is compared with the target heading angle, an error epsi is obtained, and the error epsi is added into a single-ring PID algorithm for adjustment; and controlling the thrust and direction of a propeller in the underwater cable detection robot according to a control signal tau (t) output by the single-loop PID algorithm and robot position information, judging whether a target heading angle of the underwater cable detection robot is consistent with a current heading angle, if so, completing autonomous line patrol, otherwise, continuing to correct, and if not, completing the detection of the underwater cable detection robot. The attitude control precision and the path navigation stability of the robot in the underwater environment are improved.

The invention discloses a mechanical arm repetitive motion inverse solution solving method and system considering iteration initial value selection. The problems that when a mechanical arm inverse solution is solved through a numerical iteration method based on a Jacobian matrix, dependence on iteration initial value selection is high, and motion cannot be repeated are solved. Comprising the steps that an accurate reachable working space of the mechanical arm is obtained, a certain number of reference inverse solutions optimized through an operability index are additionally stored in the accurate reachable working space, and an enhanced reachable working space is obtained; according to the expected pose information of the mechanical arm and the enhanced reachable working space, an iteration initial value for solving the inverse solution of the pose is selected and obtained; acquiring a tail end pose error kinematical equation of the mechanical arm at a joint position layer, and deducing to obtain an iterative updating equation of a joint position; and a repeatable motion index function is designed, a joint position iteration updating equation with the repeatable motion function is obtained, and according to the iteration updating equation and the selected iteration initial value, a mechanical arm repeated motion inverse solution solving scheme selected by considering the iteration initial value is obtained.

The invention provides an unmanned aerial vehicle six-degree-of-freedom hardware acceleration IP core implementation method and electronic equipment, and belongs to the technical field of calculation acceleration, and the method comprises the steps: packaging a six-degree-of-freedom kinematics equation of an unmanned aerial vehicle and parameters thereof to form an IP core; an IP core is loaded on the FPGA; the six-degree-of-freedom calculation of the unmanned aerial vehicle is carried out on the FPGA through the loaded IP core, and the calculation period of the six-degree-of-freedom of the unmanned aerial vehicle is controlled based on the clock period of the FPGA. According to the invention, the six-degree-of-freedom calculation period of the unmanned aerial vehicle is controlled through the clock period of the FPGA, so that the updating process from the input data of the IP core to the output data of the IP core is a fixed period and does not fluctuate along with the change of the input data or the calculation state; therefore, the technical problem of serious periodic jitter during six-degree-of-freedom calculation of the existing unmanned aerial vehicle is solved, and the credibility and the control stability of the simulation model are improved.

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The invention discloses a feeding motion calculation method for a double-output-shaft five-axis numerical control tool grinding machine, and the method specifically comprises the steps: building a unified coordinate system according to the mechanism characteristics and solving demands of the grinding machine, and the unified coordinate system comprises a machine tool coordinate system, a machining coordinate system, a workpiece coordinate system and a grinding wheel coordinate system; grinding machine structure parameters are set and comprise the offset of the original point of a machining coordinate system relative to the C axis, grinding machine structure offset examples of the offset of the original point of the machining coordinate system relative to the B axis, the grinding wheel installation distance and the grinding wheel installation direction; a universal grinding machine feeding kinematics equation is established by considering the inward and outward mounting conditions of main shafts at the left end and the right end of the grinding wheel; and solving based on grinding wheel installation transformation and grinding machine stroke constraint. According to the method for solving the partitioned selective solution based on the actual travel limit of the machine tool, the solution is more universal and practical, the actual travel limit of the machine tool is met, and the method has good adaptability.

The invention discloses a self-adaptive recognition method and system based on a four-bar linkage single station machine motion trail, and belongs to the technical field of motion trail recognition. The method comprises the following steps: acquiring a multi-source synchronous data stream, detecting a peak interference frequency, adjusting an adaptive notch filter in real time, obtaining a pure geomagnetic field signal, calculating the equivalent length of a connecting rod by using angle and force data, and establishing a kinematics equation to solve track coordinates; establishing a magnetic field space gradient tensor model through a magnetometer array, fitting a nonlinear mapping relation between an angle and a gradient tensor, and generating a metal magnetic interference compensation model; judging a motion mode and dynamically adjusting filter parameters; constructing a fast and slow dual-time scale filter to fuse multi-source information, and introducing a fading factor to prevent divergence; a future angle is predicted by using a long-short-term memory neural network to serve as a virtual observed quantity to enhance the fault-tolerant capability; and optimizing the reconstruction trajectory through multiple physical constraints. According to the method, the track identification precision, the anti-interference capability and the system robustness are remarkably improved.

The invention discloses a laser radar inertial odometer method based on block-by-block updating, which comprises the following steps: constructing a kinematics equation and an observation equation of a laser radar inertial odometer system based on a block-by-block updating scheme, and performing state propagation on point cloud block laser radar data and inertial measurement data to obtain a prior prediction state; compensating the pose of each point cloud point in the point cloud block, and aligning the point cloud point to the pose of the point cloud block at the last moment; registering the aligned point cloud blocks with a local map, executing nearest neighbor plane search, and then calculating a point-surface residual error; combining the prior state prediction with the posterior state residual error, and performing state iteration updating and iteration convergence to obtain a final result; and then local map updating is carried out. According to the method, the continuous laser radar point cloud data is divided into a plurality of small blocks for batch processing according to the extremely short time interval, so that the time overhead of single update can be remarkably shortened.

The invention relates to a quadrotor unmanned aerial vehicle control method based on priori knowledge and a neural network model, and the method comprises the steps: introducing flight interference and uncertainty based on a first principle, and constructing a quadrotor kinematics equation; parameterizing the flight uncertainty by using a pre-trained neural network model, and constructing a four-rotor kinematics model; constructing a disturbance observer based on a pre-trained neural network model, predicting the interference of the flight, and obtaining a disturbance compensation amount; based on the four-rotor kinematic model and a disturbance observer, generating an optimal control quantity of the four-rotor unmanned aerial vehicle by solving a numerical optimization problem in each control period of the four-rotor unmanned aerial vehicle; and superposing the disturbance compensation quantity and the optimal control quantity to obtain control input of the four-rotor unmanned aerial vehicle. Compared with the prior art, the method solves the problem that the trajectory tracking precision of the quad-rotor unmanned aerial vehicle is insufficient due to model uncertainty and external disturbance.

An apparatus for deploying the wings of a movable-wing aircraft includes a spherical four-bar mechanism. The spherical four-bar mechanism has a first bar to which a first wing is attached, a second bar to which a second wing is attached, a third, movable bar rotatably or movably linking the first bar to the second bar at a first respective point on each bar, and a fourth bar grounding the first and second bar at a second respective point on each bar. The spherical four-bar mechanism may be mathematically optimized for space, size, and movement by a system of kinematic equations to allow the first and second wing to open at substantially the same time without colliding with one another. The wings of the aircraft may further include a mid-wing hinge with a movable stiffening spar to allow the wings to fold to a more compact size during storage.

The invention discloses a traffic safety risk early warning method and system based on intersection traffic flow information, and relates to the technical field of traffic safety monitoring, and the method comprises the steps: dividing an intersection region into space-time grids, generating a pixel-level optical flow field through a minimization energy function, converting the pixel-level optical flow field into a physical optical flow field, and carrying out the early warning of the traffic safety risk based on the physical optical flow field. Mapping the physical optical flow field to a space-time grid, and fusing the average optical flow vector and the velocity vector through a least square method to generate a fused velocity vector; predicting the future trajectory of each vehicle based on a kinematic equation, generating a grid risk by integrating the traffic flow density, the normalized grid confusion degree and the optimized strategy probability vector, and calculating the overall risk of the intersection through weighted average; and carrying out risk early warning on the overall risk of the intersection. According to the method, optical flow field analysis is combined with velocity vector fusion, the representation precision of the motion state of the vehicle is improved, kinematics prediction is combined with trajectory intersection analysis, and the capability of finding potential collision risks in advance is improved.

The invention discloses a mobile manipulator man-machine collaborative operation motion control method based on quadratic programming, which comprises the following steps of: 1, constructing a kinematic equation of a mobile manipulator, and designing a quadratic programming solver to describe a mobile manipulator coordinated control problem in a man-machine collaborative operation scene; 2, a constraint function of a quadratic programming solver is designed, equality constraints are utilized to meet end speed tracking in a cooperative task, and inequality constraints are utilized to realize joint limit position avoidance; 3, designing a translation operability index, a collaborative operation formation optimization index, a relaxation cost dynamic control function and a joint speed cost dynamic control function which are suitable for a man-machine collaborative task, and integrating the indexes and the functions into a target function of a quadratic programming solver, and a mobile mechanical arm man-machine collaborative operation motion control frame based on quadratic programming is formed.

The invention relates to a flight path tracking control method for an unmanned autonomous submersible vehicle, and belongs to the technical field of unmanned submersible vehicle control. The method comprises the following steps: firstly, establishing a nonlinear dynamic model of the submersible vehicle, analyzing kinematics and dynamic characteristics of the nonlinear dynamic model, considering various underwater forces and moments, and defining an inertial coordinate system and a submersible vehicle body coordinate system to obtain a kinematics equation and a dynamic equation so as to provide a basis for control design; secondly, a non-singular integral terminal sliding mode control method is adopted, a sliding mode surface is designed, the singular problem of traditional sliding mode control is avoided, a sliding mode control law is deduced, system finite time convergence to a balance point is achieved, and an expected state is rapidly tracked. And finally, a brand new and simple adaptive control strategy is provided, an adaptive law is designed according to system errors and sliding mode surface information, a gain matrix is adjusted in real time, and system uncertainty and external interference are compensated. The method has the advantages of being high in robustness, rapid in convergence, simple and easy to implement.

A medical devices en-vivo positional determination system using a plurality of optical time of flight (TDF) transceivers along with gyroscopic angular and mechanical distance sensors for the determination of absolute linear and angular positional information of the tool bit tip for the purposes of more accurate hand-held drilling or cutting, on the workpiece using forward kinematic equations calculated on a microcomputer to provide a real-time display of the 3-linear position and 2-angular orientation of the tool bit (such as a drill, scalpel, or wire driver).

The invention relates to the technical field of communication, in particular to an aviation airborne miniature 5G ad hoc network multimode communication terminal, which comprises a flight state prediction module, a state vector and time step length linear transformation relation is constructed by adopting a kinematics equation based on real-time GPS position, velocity vector, acceleration and attitude angle data of the terminal and neighbor nodes, and the state vector and time step length linear transformation relation is obtained; and by using the residual error between the newly received kinematics data and the predicted value at the previous moment, weighting the correction state vector and the predicted covariance, circulating a recursive correction process, outputting three-dimensional space coordinates of multiple nodes under a plurality of time steps in the future, and obtaining a future position set of the nodes. According to the method, the basis of routing decision is changed by directly processing real-time GPS position, velocity vector and attitude angle data and adopting three-dimensional space coordinates of continuous nodes of a kinematics equation in a future time window. It no longer relies on instantaneous snapshots of the current network state, but is based on future predictions.

The invention discloses an unmanned aerial vehicle path deception jamming method based on an intelligent optimization algorithm, belongs to the technical field of unmanned aerial vehicle path deception jamming, is used for unmanned aerial vehicle path deception jamming, and comprises the steps of establishing an unmanned aerial vehicle kinetic equation and a kinematics equation, and obtaining an expected flight trajectory of an unmanned aerial vehicle; a particle filtering method based on firefly algorithm optimization is introduced, and the state of the unmanned aerial vehicle is tracked and estimated; an improved particle swarm optimization algorithm is introduced to calculate the public delay amount in the forwarding interference, and the positioning information of the unmanned aerial vehicle is interfered and guided. Compared with the prior art, the real flight process and maneuvering change of the unmanned aerial vehicle are simulated, and the attitude change and dynamic response of the unmanned aerial vehicle are reflected; the problems of particle degradation and sample depletion are relieved, and the tracking stability and precision under noisy observation are improved; the deception positioning precision and the system robustness are improved, and the overall deception jamming effect is enhanced; and a technical support is provided for improving the deception jamming capability of a tail end defense system.

The invention discloses a lightweight seven-degree-of-freedom mechanical arm connecting rod obstacle avoidance method and system in a structured environment, and the method comprises the steps: constructing a differential kinematics equation based on a Jacobian matrix of a mechanical arm, and obtaining a null space projection matrix of the mechanical arm; acquiring position vectors of the position vector of the center of the obstacle in the preset area relative to perpendicular feet of a first simplified connecting rod and a second simplified connecting rod of the mechanical arm; based on the position vectors of the two perpendicular feet, the direction vector and the speed value of the Cartesian repulsion speed of the mechanical arm are obtained; and based on the Jacobian matrixes of all the end points of the first simplified connecting rod and the second simplified connecting rod, the Cartesian repulsion speed of the mechanical arm is mapped to the joint space, the expected target joint speed is obtained, and the joint speed needed by obstacle avoidance of the mechanical arm is obtained in combination with the null-space projection matrix. The null-space projection matrix is obtained by constructing the differential kinematics equation, the Cartesian rejection velocity is calculated, the obstacle avoidance joint velocity is obtained by combining the null-space projection matrix, and the calculated amount during obstacle avoidance is greatly reduced.

The invention relates to a method for calculating the power-on and power-off delay time performance of an electromagnetic valve, and the method comprises the following steps: obtaining the mass of a valve element of the electromagnetic valve, the spring stiffness and coil resistance data; establishing an electromagnetic valve equivalent circuit model, and listing a current equation; establishing an electromagnetic valve magnetic circuit mathematical model, and listing a magnetic field equation set; establishing an electromagnetic valve flow field mathematical model, and listing a flow field equation set; establishing a kinematic model of the electromagnetic valve, and listing a kinematic equation; using a finite element method to obtain a valve core electromagnetic force-displacement-current data table and a coil inductance-displacement-current data table; a finite element method is used for obtaining a valve element aerodynamic force-displacement data table; and obtaining the power-on and power-off delay time through data analysis processing and solving of the partial differential equation set. According to the method, prediction of the opening and closing delay response time of the electromagnetic valve is more accurate, visual adjustment in the simulation process is achieved, and the time for obtaining the response time of the electromagnetic valve and the test cost are greatly reduced while the preset precision requirement is met.

The invention provides an orchard tracked vehicle pure tracking control method and system, and the method comprises the steps: constructing a geometry-vector dynamic coupling model based on path geometric features and vector field analysis, quantifying local steering characteristics through a direction change sensing mechanism, introducing a curvature factor to represent path accumulated deformation, inhibiting noise interference in combination with a direction consistency correction term, improving curvature estimation of a three-point arc method, and generating multi-scale curvature characteristic data; based on a tracked vehicle kinematics model, analyzing a coupling relationship between a transverse tracking error and a course tracking error, and generating coupling error state data; and inputting the multi-scale curvature characteristic data and the coupling error state data into a backstepping controller, analyzing and exporting a dynamic look-ahead distance explicit expression through a simultaneous kinematics equation and a backstepping control equation, generating a self-adaptive angular velocity control instruction, and outputting the self-adaptive angular velocity control instruction to an execution mechanism to drive a vehicle to steer. And adaptive optimization of the look-ahead distance along with the path curvature, the vehicle state and the tracking error is realized.

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.

A solution method for the inverse kinematics of a reconfigurable space manipulator, which relates to a solution method for the inverse kinematics of a manipulator. The kinematic model of the manipulator is established to obtain the position-level forward kinematic equation during the reconfiguration operation. Combining the idea of elementary matrix transformation, the active rotational joints and passive translational joints are separated to obtain the velocity-level forward and inverse kinematic equations during the reconfiguration operation. According to the characteristics of the velocity-level reconfiguration method, the position motion constraints of the end effector during the reconfiguration operation are simplified. The unit quaternion spherical linear interpolation method is used to plan the expected attitude trajectory of the end effector, and the high-order polynomial planning method is used to plan the expected trajectories of the two passive telescopic arm rods. Based on the velocity-level closed-loop feedback idea, a method for solving the inverse kinematics of reconfiguration is obtained, and the solution of the inverse kinematics of reconfiguration is obtained. It effectively increases the flexibility of the manipulator reconfiguration scheme selection, the joint motion is smooth, and the manipulator reconfiguration is safe and reliable.

The application discloses a centrifugal pump impeller design method, which comprises the following steps: initial parameter determination; parameterized geometric modeling, wherein the profile lines of the front cover plate and the rear cover plate of the impeller are constructed based on a cubic spline curve, and a blade surface model is generated by controlling point coordinates, a curvature radius and an inlet and outlet angle parameter; manufacturing process coupling design, wherein three-dimensional modeling software is used for parameterized modeling of the impeller, and a cutter kinematics equation of a five-axis machine tool is synchronously introduced; CFD numerical simulation analysis; construction of an artificial neural network; and compound shape reverse optimization. The application solves a three-dimensional RANS equation in a rotating column coordinate system to perform CFD verification, and combines the design strategy of the artificial neural network and the compound shape optimization algorithm to quickly and optimally select an optimal impeller model. The design of the impeller is based on the cubic spline curve to construct an impeller geometric model, and the generative machining technology of the five-axis numerical control machine tool is combined to realize deep cooperation of hydraulic design, three-dimensional modeling and manufacturing process.

A method for reentry near-space aerodynamic large off-plane orbit reconstruction, which solves the problems of high energy consumption of current orbit control engines for orbit change and difficulty in large-range orbit change by aerodynamic assist, belongs to the field of aerospace technology. The present invention includes: designing the braking reentry section orbit of the aircraft from the initial orbit into the near space, designing the aerodynamic orbit change section orbit of the aircraft in the near space, designing the ascending orbit insertion section orbit of the aircraft from the near space into the target orbit, taking the designed quantities as integral performance indicators, setting the index function J, and seeking the state and control (x(t), u(t)) that make the selected index function J optimal, that is: #imgabs0# represents the state variable of the aircraft in the aerodynamic orbit change section, u(t) represents the control variable, t is the time, X represents the process index, φ[x(t f ),t f represents the performance index at time t f ; #imgabs1# t0 ≤ t ≤ t f , f[x(t), u(t), t] represents the motion dynamics equation of the aircraft; and setting the constraint conditions and boundary conditions, and performing optimization solution to obtain the optimal control variable u(t).

The invention relates to a multi-aircraft control method and system considering thrust saturation of a piston engine, and the method comprises the steps: carrying out the dynamic modeling of a cruise type guidance aircraft, and obtaining a kinematical equation and a kinetic equation under a trajectory system; modeling a multi-aircraft system to obtain a leader following type formation control model; an average value model is established for the two-stroke piston engine, a transfer function is obtained through linear processing, and a rotating speed controller is designed based on the active disturbance rejection control theory; constructing a non-singular terminal sliding mode surface matrix with fixed time convergence according to the formation error state; taking the deviation between the actual control input and the expected control input as a state quantity to construct a saturation suppression system; and combining a saturation suppression system with the nonsingular terminal sliding mode surface matrix, and designing an anti-saturation fixed time convergence nonsingular terminal sliding mode formation control law, so that the formation error is converged to zero within fixed time. The formation time can be shortened, and the formation control precision is improved.

The present application relates to the technical field of robot motion control, and particularly relates to a redundant robot continuous control method based on zero space projection, comprising the following steps: S1, constructing a shaping zero space projection operator: based on Mansard continuous inverse definition and task constraint conditions of the redundant robot, an augmented Jacobian operator under an activated task is established; S2, solving a continuous solution of a kinematics equation: inverse containing all activated tasks is constructed, and joint speed is preliminarily calculated by using a closed loop control law; S3, optimizing the solution of joint speed: in the case that conflicts occur between activated tasks, a damping coefficient is introduced, and a new closed loop control law is written; S4, realizing task priority control: a general solution of joint speed is formalized through the shaping zero space, so that the priority of the activated task is controllable. The present application is helpful to improve the working performance and reliability of the robot in a complex dynamic environment.