202 results about "Kinetic analysis" patented technology

The invention belongs to the technical field of multi-body dynamics analysis, and discloses a wind driven generator transmission chain rigid-flexible coupling multi-body dynamics analysis method based on dynamic mode decomposition, and the method comprises the steps: firstly, enabling multi-degree-of-freedom time series data to be non-linearly embedded into a high-dimensional feature space through an encoder neural network; extracting a dominant mode by utilizing intrinsic orthogonal decomposition (POD), and constructing a low-dimensional feature space; parameterized dynamic mode decomposition and radial basis function regression are adopted, a mapping relation between system parameters and Koopman operators is established, and accurate prediction of dynamic characteristics under variable working conditions is achieved; and finally, reconstructing a physical response through a decoder, and optimizing model parameters in combination with an error driving mechanism. The problems that a traditional method is low in calculation efficiency, poor in nonlinear adaptability and difficult in multi-parameter coupling prediction are effectively solved, the efficiency and precision of transmission chain dynamic analysis are remarkably improved, and reliable technical support is provided for state monitoring and service life prediction of the wind turbine generator.

The invention discloses a digital twinborn model construction method, a life prediction method, a model construction device and equipment of a crane, and relates to the technical field of industrial Internet of Things, the method comprises the following steps: constructing a multi-dimensional digital twinborn model, the multi-dimensional digital twinborn model comprises a physical entity layer, a connection layer, a virtual model layer, a twinborn data layer and a service function layer, the virtual model layer comprises a target twin model, and the service function layer corrects key components of the crane; transmitting the physical parameters of the crane to a connection layer for preprocessing to obtain a physical data set; the physical data set is transmitted to a virtual model layer, and an initial twin model is obtained through kinetic analysis and knowledge graph processing; and transmitting the virtual data set to a twin data layer, calculating target correction parameters according to the physical data set and the virtual data set, and correcting model parameters of the initial twin model to obtain a target twin model. According to the method, the problem of insufficient physical mapping precision of the existing virtual model is solved.

The present application provides a dynamics analysis method for an ammonia combustion refrigeration system in large park cooling. The method comprises: on the basis of a geometric structure of an ammonia combustion chamber and a fuel supply amount, calculating the heat generated by ammonia combustion and analyzing the heat transfer mode between the combustion chamber and a desorption tower, the heat transfer mode comprising direct contact type heat transfer and partition type heat transfer, and simulating the heat transfer process to obtain and draw the heat flux distribution of the tower wall surface; on the basis of the flow state and a relationship curve between the pressure drop and the flow velocity, analyzing the desorption process of a refrigerant in a solution, and on the basis of the concentration of the solution, a boiling point of the refrigerant, and the vapor pressure, calculating local desorption rates at different positions in the desorption tower and the refrigerant vapor generation amount; and on the basis of the heat flux distribution, calculating the temperature distribution of the solution, and analyzing the heat transfer and mass transfer processes in the desorption tower to obtain a local heat transfer coefficient and the mass transfer efficiency distribution of the surface of a filler.

The invention discloses a closed-loop control digital microfluidic system and a method thereof, and relates to the technical field of microfluidics, and the method comprises the following steps: initializing a digital microfluidic chip electrode array, setting an electrode spacing, an electrode size and a voltage upper limit, collecting a no-load state signal, and generating initial reference data; liquid drops are formed at the preset position of the digital micro-fluidic chip, and according to the initial reference data, the initial position, the volume and the form information of the liquid drops are collected, and a liquid drop initial state data set is generated; inputting the initial state data set of the liquid drop into a pre-trained closed-loop prediction model, performing kinetic analysis and trajectory prediction calculation, generating an expected motion trajectory of the liquid drop, and comparing the expected motion trajectory with the real-time state data flow of the liquid drop to generate deviation feedback data of the liquid drop; and dynamically adjusting the initial driving voltage parameter according to the droplet deviation feedback data to generate a closed-loop driving voltage sequence. The liquid drop trajectory control precision is improved, and motion errors caused by environmental disturbance and electrode response differences are reduced.

The invention relates to the technical field of compressors, and discloses a scroll compressor shafting dynamic balance simulation method, device and equipment and a medium, and the method comprises the following steps: carrying out fluid mechanics analysis based on a movable scroll plate model to obtain initial three-way gas force; performing dynamic analysis based on a scroll compressor model by taking the initial three-way gas force as a boundary condition to obtain a displacement result of a movable scroll plate; inputting the displacement result into the movable scroll plate model, updating the position and the motion state of the movable scroll plate, and carrying out fluid mechanics analysis again to obtain a new three-way gas force; and performing dynamic balance optimization on the scroll compressor model by taking the new three-way gas force as a boundary condition until a preset condition is met, and obtaining a target dynamic balance result. According to the technical scheme, the precision of dynamic balance simulation of the shaft system of the scroll compressor can be improved, and therefore the product reliability is improved through optimization of dynamic balance.

The invention provides a gear contact fatigue life prediction method considering macro-micro geometric parameter influence. The method comprises the following steps: firstly, establishing a tooth surface contact-dynamics analysis model considering macro-micro geometric parameter influence, and calculating tooth surface dynamic load distribution; secondly, establishing a calculation model of the stress on the surface and below the surface of the gear considering the influence of lubrication and surface roughness, and calculating the oil film pressure and the stress on the surface and below the surface of the gear; and finally, establishing a gear contact fatigue life prediction model considering the influence of macro and micro geometric parameters, and calculating the contact fatigue life of the gear. According to the method, the influence of the rigidity change of the gear on the contact fatigue life of the gear is considered, the contact fatigue life of gears with different web structures is predicted, and the deviation between the contact fatigue life obtained through theoretical calculation and the actual contact fatigue life is reduced. Meanwhile, the method considers the influence of the error on the contact fatigue life of the gear, so that the prediction of the contact fatigue life of the gear with the modification and the error is realized.

The invention relates to the technical field of power construction, discloses a multi-system coupling control crossing frame erection collaborative operation method and system, and aims to improve the stability and collaborative efficiency of an erection process. The method comprises the following steps: establishing a three-dimensional digital model of a spanning structure body, synchronously accessing a plurality of sensor acquisition systems, and acquiring space coordinates of key nodes of the spanning structure body, environmental wind load and operation state information of construction equipment in real time; dynamically generating an anti-overturning constraint condition based on space coordinates and wind load information, and generating a cooperative scheduling strategy in combination with an equipment state; and constructing a space pose matching model to output deviation correction parameters. The stability of the frame body is evaluated through the dynamic analysis model, a load early warning index is generated, and an equipment action instruction is generated through the path optimization model. And adjusting the operation priority according to the early warning index, and synchronously sending the updated priority and the action instruction to the terminal to realize multi-system closed-loop control.

The invention discloses a new energy electricity price accurate prediction method and system based on virtual power plant aggregation regulation and control, and relates to the technical field of industrial data processing. The method comprises the steps: S1, carrying out the preprocessing of meteorological environment data, output equipment data and battery power grid operation data; s2, constructing a variation dynamics analysis and mutation depth discrimination mechanism based on the meteorological environment data, and entering an output prediction and optimization process and a scheduling load response process in a layered manner; s3, executing energy storage collaborative optimization scheduling and parameter correction according to a meteorological output regression prediction analysis result; and S4, performing electricity price time sequence multi-source driving analysis, and reconstructing an electricity price fluctuation response strategy. The problems that new energy output violently fluctuates within a minute level due to sudden weather change, and electricity price prediction lags due to the fact that an existing prediction model depends on too low weather data updating frequency and cannot capture the rapid change in time are solved.

The invention relates to the technical field of respirators, and discloses a respirator flow dynamic adjusting system based on airflow sensing, which is characterized in that after starting, a multi-mode sensing module acquires spatial flow velocity distribution and dynamic characteristics of respiratory airflow, and generates a composite data flow fused with flow field information; the composite data flow is subjected to nonlinear analysis to generate a state vector representing breathing stability, and the state vector is used for identifying fluid abnormal risks; the state vector generates an optimized execution instruction set by the self-adaptive control engine in combination with the energy state of thermoelectric conversion; the execution instruction set drives the piezoelectric valve and the shear response humidifying layer to cooperatively adjust the flow and the humidity, and outputs physiologically matched breathing gas; fusion collection of spatial flow velocity distribution and dynamic characteristics of respiratory airflow is achieved through the multi-mode sensing module, the limitation of traditional single-point measurement is broken through, and the sensing precision is remarkably improved; a breathing chaos index is constructed through nonlinear kinetic analysis, and early warning of the breathing rhythm stability and the fluid abnormal risk is achieved.

The invention relates to the technical field of composite material structure dynamics analysis, and provides a method and system for predicting the inherent frequency of a three-phase functionally graded composite material conical plate, and the method comprises the steps: employing an improved Halpin-Tsai model to calculate the equivalent parameters of a GPL-containing two-phase composite matrix, solving the equivalent parameters of a three-phase composite layer, and calculating the inherent frequency of the three-phase composite material conical plate. The method comprises the following steps: constructing a nonlinear geometrical relationship between a displacement field and a strain field, calculating a stiffness coefficient of each layer, constructing kinetic energy of the three-phase composite material conical plate, calculating an energy coefficient according to the stiffness coefficient of each layer, constructing potential energy of the conical plate according to the energy coefficient, and constructing a modal displacement function by adopting a Chebyshev polynomial and a boundary function. And establishing a characteristic equation based on a minimum potential energy principle and solving to obtain the inherent frequency of the three-phase composite material conical plate. According to the method, efficient calculation of the inherent frequency of the three-phase composite material conical plate is achieved, and the reliability and engineering application value of structural dynamics analysis are remarkably improved.

The invention is suitable for the field of portal frames, and discloses a portal frame dynamics analysis method which comprises the following steps: establishing a full-order finite element model of a portal frame, and obtaining a mass matrix and a stiffness matrix of the full-order finite element model; dividing the full-order finite element model into a plurality of substructures based on the modular structure characteristics of the portal frame, and decomposing the degree of freedom of each substructure into an internal degree of freedom and a boundary degree of freedom; constructing a fixed boundary main modal matrix and a constraint modal matrix of each substructure, and constructing a reduced-order basis matrix; performing modal polycondensation on a mass matrix and a stiffness matrix of the full-order finite element model by using the reduced-order basis matrix to generate a reduced-order mass matrix and a reduced-order stiffness matrix, and constructing a reduced-order kinetic equation; and solving the reduced-order kinetic equation to obtain reduced-order modal coordinates, carrying out inversion reduction in combination with the reduced-order basis matrix and the reduced-order modal coordinates to obtain a displacement response vector of the full-order finite element model, and retaining key kinetic information of the portal frame to the greatest extent through reduced-order efficiency improvement.

The invention discloses a signal fusion processing method for a motor imagery training brain-computer interface, and particularly relates to the technical field of neural signal processing. Multi-channel scalp electroencephalogram data of a user are collected in real time, a time-varying space covariance matrix sequence is constructed through Riemannian geometric space mapping analysis, and a phase amplitude coupling index sequence between different brain rhythms is analyzed and calculated through cross-band coupling dynamics; performing feature hierarchy joint coding on the spatial covariance matrix sequence and the phase amplitude coupling index sequence to generate a real-time neural representation tensor; calculating the distribution divergence of the real-time neural representation tensor relative to the static reference feature manifold in the initial training stage so as to quantitatively represent the mismatch degree; and finally, dynamically adjusting a weighting coefficient and a fusion structure of the multi-modal signal fusion device according to the characterization mismatching degree, and outputting a motion control instruction matched with the current brain state of the user in real time. According to the method, the motion intention decoding precision and stability in the motion imagination training process are improved.

The invention relates to the technical field of underwater towing, in particular to an underwater towed body towing performance design method, which comprises the following steps of: performing static dynamic analysis on a towed body; carrying out dragging dynamics analysis on the towed body; constructing a towed body structure model, and performing hydrodynamic simulation calculation; establishing a dynamic coupling numerical simulation model of the towing system; and carrying out dragging attitude simulation, and obtaining an optimal design scheme. According to the invention, key indexes such as trim and rolling of the towed body in the towing system are ensured to meet the stability standard, so that the urgent requirements of marine acoustic detection on high precision and high reliability are met.

The invention provides an unmarked kinetic analysis method and system for real-time tracking and shooting of an unmanned aerial vehicle, and the method comprises the steps: carrying out the flight control of the unmanned aerial vehicle, and obtaining the dynamic image data, tracked and shot by the unmanned aerial vehicle, of a sporter running on a playground curve or a curve path; synchronizing and preprocessing the dynamic image data recorded by different cameras; extracting 2D key points of a human body from the preprocessed image, and reconstructing a three-dimensional motion track of the human body in a local coordinate system of the camera; carrying out posture compensation on the three-dimensional motion trail, ensuring the consistency of human body joint point trails under a ground world reference system, carrying out human body model scaling and muscle model scaling calculation, and carrying out inverse kinematics analysis; according to the inverse kinematics data, the centripetal acceleration of the sporter in the curve motion is calculated; and performing inverse dynamics calculation based on the centripetal acceleration, and calculating the ground support force. According to the invention, unmarked dynamic analysis of real-time tracking shooting of the unmanned aerial vehicle can be carried out.

The application relates to the technical field of four-degree-of-freedom parallel mechanisms, in particular to a three-branch-chain space four-degree-of-freedom parallel mechanism which comprises a static platform, a mixed branch chain, a simple branch chain one, a simple branch chain two and a dynamic platform; the application has a mixed branch chain of a space sub-branch chain type and two simple branch chains, forms a basic motion chain containing three loops, thereby realizing the advantages of good rigidity and high precision, the displacement of the dynamic platform in the X-axis and Y-axis directions is controlled by two moving pairs respectively, the displacement in the Z-axis direction and the rotation around the Z-axis direction are controlled by four moving pairs, therefore, the application has good partial motion decoupling, the symbolic position direct solution is easy to obtain, thereby facilitating the motion control, trajectory planning and dynamics analysis of the parallel mechanism, and the three-dimensional position working space of the dynamic platform is large, the rotation capacity is strong, and the branch chains are not prone to interference.

The invention discloses a proportional valve control method based on high-pressure multi-medium annular gap flow prediction, and relates to the technical field of hydraulic control element dynamic analysis, and the proportional valve control method comprises the following steps: collecting a real-time state signal of a micro proportional valve; inputting the collected real-time state signal into a multiphase flow transient coupling equation, calculating a velocity field and a pressure field in the micro proportional valve, and correcting the velocity field; calculating gas phase distribution according to the corrected velocity field and the real-time state signal; calculating a transient fluid load according to the gas phase distribution and the pressure field; inputting the transient fluid load into a structural kinetic equation of the micro proportional valve, and calculating the structural displacement of the micro proportional valve; calculating an opening compensation value according to the structural displacement, and converting the opening compensation value into PWM duty ratio correction; and generating a proportional valve control instruction according to the PWM duty ratio correction. Efficient and accurate prediction of the flow characteristics under the high-pressure complex working condition is achieved, and therefore the proportional valve is accurately controlled.

The invention belongs to the field of complex engineering system design and kinetic analysis, and particularly discloses an analysis method for verifying complex system empirical tolerance rationality and application thereof, and the method specifically comprises the following steps: (1) establishing a parameterized model; (2) constructing a multi-physics field dynamics simulation model; (3) importing boundary conditions of operation conditions; (4) operation quality and performance index extraction; (5) data-driven correlation analysis; and (6) verifying and optimizing the reasonability of the empirical tolerance. The method has universality and expandability, can be widely applied to empirical tolerance verification and design optimization of complex systems in the fields of rail transit, aerospace, power transmission, precision manufacturing and the like, and provides a unified theory and calculation framework for tolerance rationality evaluation.

The invention provides a textile composite material impact energy absorption simulation method, system and device and a medium, and the method comprises the steps: carrying out the connected domain analysis of a tomography image, and determining the equivalent diameter distribution characteristics of pore defects in a textile composite material; performing stochastic simulation based on the equivalent diameter distribution characteristics in combination with a mesoscopic geometric model of the textile composite material to obtain stochastic pore space distribution of the textile composite material in the resin enrichment area; geometric difference is carried out on the random pore space distribution and the mesoscopic geometric model, and then a mesoscopic finite element model containing pore defects is constructed; and endowing the mesoscopic finite element model with material attributes and carrying out explicit kinetic analysis on impact load, and further determining the impact energy absorption performance of the textile composite material prepared in the batch according to an analysis result. By adopting the scheme of the invention, systematic deviation of impact energy absorption performance prediction caused by model idealization can be reduced.

This invention discloses a safety assessment and practical design method for transformer emergency oil drainage, belonging to the field of power safety. Based on the dynamic analysis of emergency oil drainage in oil-immersed transformers, and considering the flow balance conditions of the transformer tank and emergency oil pit, this invention proposes a novel graphical method. This method utilizes the linear change in leakage flow rate of the transformer tank and the drainage flow rate of the emergency oil pit over time after a transformer explosion. It analyzes the flow balance time when the leakage and drainage flows are equal, and directly calculates the minimum required volume of the emergency oil pit using the area method of the flow diagram. Based on the ratio of the actual volume to the necessary volume of the emergency oil pit, the safety factor for emergency oil drainage is determined, thereby evaluating the drainage capacity of the emergency oil drainage system and the improvement design of the emergency oil pit. This invention avoids the tedious process of solving complex differential equations simultaneously in traditional methods, significantly reducing computational complexity and facilitating rapid mastery and application by engineering designers.

The invention discloses an FPV system strength evaluation method based on sea condition mapping, and belongs to the technical field of floating photovoltaic system design, and the method comprises the following steps: 1, inputting initial parameters established by an FPV system, and establishing an initial design scheme of the FPV system, 2, establishing a local strength model of the FPV system by using the initial parameters, 3, inputting sea condition parameters, and 4, establishing a local strength model of the FPV system by using the initial design scheme. The method comprises the following steps of (1) calculating a time domain dynamic response result by using sea condition parameters, and generalizing the time domain dynamic response result, (2) determining an environment boundary condition according to a generalization result, (5) carrying out strength evaluation on an FPV system by combining the boundary condition, and (6) generating optimization design decision guidance according to a strength evaluation result. According to the method, a rigid body connected hydrodynamic overall model and a rigid body connected hydrodynamic local strength model are solved respectively, full-flexible coupling dynamics analysis is replaced, therefore, the calculation process is simplified, meanwhile, high-precision evaluation capacity is kept in a key stress area, and the problems that in the prior art, multi-flexible-body coupling dynamics simulation is complex, and the calculation amount is huge are solved.

The invention belongs to the technical field of automobiles, and particularly relates to a ground vehicle low-calculation-power path tracking control method considering a coupling gradient. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a kinematics model considering the coupling gradient through coordinate transformation and dynamics analysis, and ensuring the path tracking precision of an unmanned ground vehicle on the coupling gradient; secondly, an unmanned ground vehicle path tracking system considering actuator time lag is constructed, and state space equation discretization is carried out, so that the system can be used for model prediction control; and finally, a path tracking control method is constructed, Laguerre function fitting is utilized to replace a link of solving an optimal control sequence through quadratic programming in traditional model prediction control, and the computing power demand of the control method is remarkably reduced. Through simulation verification, the provided control method can effectively reduce the computing power of the control method on the premise of ensuring the path tracking accuracy of the unmanned ground vehicle.

The application discloses a wheel fatigue life prediction method based on a rolling contact fatigue simulation technology, and comprises the following steps: establishing a finite element model of a wheel-axle-rail, performing grid encryption on a wheel-rail contact area, and performing static strength checking to obtain an initial finite element model meeting static force requirements; establishing a wheel-rail rolling contact model based on the initial finite element model, describing rolling motion of the wheel by using a hybrid Lagrangian / Eulerian description or a co-rotating coordinate system, and applying a wheel non-circularity excitation spectrum in explicit dynamics analysis to calculate a dynamic contact stress field under different axle loads and friction coefficients; and based on the dynamic contact stress field, a multi-axle fatigue damage model is used in combination with a linear cumulative damage criterion to calculate fatigue life, and an abrasion correction coefficient and a residual stress correction coefficient are introduced to correct the calculation results. The application significantly improves the prediction accuracy of fatigue defects such as wheel peeling, cracking and polygonization.

The invention discloses a biological load kinetic analysis method for a sludge recycling filter material, and particularly relates to the field of environmental monitoring and sludge recycling treatment.The method comprises the steps that an original signal in the filter material is obtained through an intelligent sensing element arranged in the sludge recycling filter material; performing adaptive sampling and synchronous correction on the original signal to obtain a multi-source signal sequence; calculating a signal change rate based on the multi-source signal sequence, adjusting the sampling density according to the real-time fluctuation of the signal change rate, and outputting signal change rate data; according to the invention, a multi-source signal sequence is obtained through the intelligent sensing element arranged in the filter material, and a time sequence corresponding relation between internal energy transfer and external form response is established in combination with filter material surface image data collected by the visual detection device, so that inversion analysis of the internal dynamic process of the filter material is realized; the problem that in the prior art, a multi-source dynamic signal is misjudged as noise and does not form cooperative analysis with visual detection is solved.

The present application belongs to the field of mechanical engineering, and particularly relates to a linear simplification method of a finite element model of a gear transmission device rotor system. In order to solve the problem of low efficiency in the calculation of the existing finite element model of the gear transmission device rotor system, a linear simplification method of the finite element model of the gear transmission device rotor system is provided, which comprises the following steps: constructing a spur gear pair meshing coupling type dynamic model and a gear pair transient impact dynamic analysis model of the gear transmission device rotor system; establishing a gear tooth equivalent spring finite element simplified model according to the obtained spur gear pair meshing coupling type dynamic model and the gear pair transient impact dynamic analysis model; using the gear tooth equivalent spring finite element simplified model to perform finite element analysis on the gear transmission device rotor system to obtain an analysis result. The problem of low efficiency in the calculation of the existing finite element model of the gear transmission device rotor system is solved.

The invention discloses a distributed driving vehicle variable-mode driving control method considering system uncertainty, which comprises the following steps of: (1) introducing probability description of uncertainty parameters based on a wheel-ground acting force deterministic model, and constructing a wheel-ground dynamic model under an uncertainty condition; and (2) kinetic analysis is carried out by taking parasitic power and traction efficiency as evaluation indexes, a variable-mode driving factor is constructed, and a distributed driving vehicle variable-mode driving control mechanism is designed. According to the invention, the method can better adapt to complex and changeable road conditions in the actual driving process of the vehicle, more comprehensively process the interaction relationship between the tire and the ground, especially has strong robustness when coping with different road adhesion coefficients or unbalanced load distribution, and can ensure more stable driving performance.

The application discloses a kind of closed loop control digital microfluidic system and method thereof, it is related to microfluidic technical field, including, initialization digital microfluidic chip electrode array, set electrode spacing, electrode size and voltage upper limit, and collect empty load state signal, generate initial reference data;Droplet is formed in the predetermined position of digital microfluidic chip, and according to initial reference data, collect droplet initial position, volume and morphological information, generate droplet initial state data set;Droplet initial state data set is input after pre-training closed loop prediction model, carries out dynamics analysis and trajectory prediction calculation, generates droplet expected motion trajectory, and compares with droplet real-time state data flow, generates droplet deviation feedback data;According to droplet deviation feedback data, dynamically adjust preliminary driving voltage parameter, generate closed loop driving voltage sequence.The application improves droplet trajectory control precision, reduces environmental disturbance and the motion error brought by electrode response difference.

The invention belongs to the crossing field of electronic information, electromechanical control and material engineering, and discloses a high-temperature metal single droplet generation device for a droplet breaking experiment. The whole device is composed of a liquid drop generation module, an air pressure control module, a temperature control module, an atmosphere protection module and an optical imaging module. The liquid drop generation module drives a firing pin to instantly strike molten metal in the material storage valve body through an air cylinder, so that the molten metal is sprayed out through a nozzle to form a single liquid drop with the diameter of about 150-400 microns. The air pressure control module provides a stable and adjustable compressed air source, the temperature control module maintains a metal liquid state, inert gas is introduced into the atmosphere protection module to prevent oxidation, and the optical imaging module realizes synchronous observation and kinetic analysis of a droplet generation process by adopting ultra-high-speed photography. The device is compact in structure, accurate in control and stable in operation, can stably generate a single droplet under the normal pressure condition, has good repeatability and controllability, and is suitable for high-temperature droplet experimental research in the fields of material science, aerospace, national defense and the like.

The present disclosure relates to the technical field of intelligent robots, and specifically provides a robot, a control method and device thereof, and a storage medium. A robot control method includes obtaining first attitude information of a robot and determining second attitude information of a standing surface according to the first attitude information, determining a target dynamic equation according to a dynamic equation of the robot and a dynamic equation of the standing surface, establishing a control optimization task of the robot based on the target dynamic equation, obtaining target torques of each joint of the robot based on the first attitude information, the second attitude information and the control optimization task, and controlling movements of each joint of the robot according to the target torques. In the present disclosure, through dynamic analysis and optimization control of the attitude of the robot and the attitude of the standing surface, the balance problem of the robot on a dynamic standing surface is solved, the balance control of the robot on the dynamic standing surface is realized, the application scenario of the robot is expanded, and the control stability of the robot is improved.

The invention discloses a well drilling parameter adjusting method and system, electronic equipment and a storage medium, and relates to the technical field of well drilling exploration, the method comprises the steps that a kinetic analysis model of a drill string used when a horizontal well is drilled is constructed, and the kinetic analysis model is associated with friction uncertainty; in the drilling process of the horizontal well, the friction resistance between a drill column and the well wall of the horizontal well and the torque of the drill column are calculated in real time through the kinetic analysis model; and according to the friction resistance between the drill column and the well wall of the horizontal well and the torque of the drill column, the drilling parameters of the horizontal well are adjusted in real time. According to the method, the kinetic analysis model considering the friction uncertainty is constructed, the friction resistance between the drill column and the well wall of the horizontal well and the torque of the drill column can be calculated more accurately, and accurate adjustment of the drilling parameters of the horizontal well is further achieved.

The invention relates to the field of medical image analysis, in particular to a drug distribution and metabolism dynamic analysis system of a multispectral microscopic image, which comprises a light source module, a drug distribution module, a drug distribution module, a drug metabolism dynamic analysis module and a drug metabolism dynamic analysis module, and is characterized in that the light source module emits a multiband light source comprising broadband white light and time sequence switching narrow-band monochromatic exciting light; the data acquisition module is used for acquiring a multi-channel spectral image signal and generating a multi-spectral image containing a spatial dimension and a spectral dimension; the pharmacokinetic analysis module constructs a geometric characterization framework of drug metabolism based on a differential geometry theory, and comprises a Riemannian manifold characterization unit for mapping multispectral data to a Riemannian manifold space, a curvature tensor analysis unit for calculating manifold curvature characteristics and a parallel transmission optimization unit for evaluating drug transmission efficiency; the application analysis module carries out drug target co-localization analysis, space-time metabolic map analysis and delivery system optimization based on the analysis result, the spectrum channel limitation of traditional fluorescence imaging is broken through, and the precision and dimension of drug metabolism analysis are remarkably improved.