80 results about "Kinetic control" patented technology

The invention relates to the technical field of automobile dynamics control, in particular to an ambulance suspension intelligent agent based on deep reinforcement learning and an optimization method thereof, and the optimization method comprises the steps: S1, initializing an evaluation network and a control strategy network; s2, adopting a swarm intelligence algorithm to initialize a population; s3, the number M of evolution generations of the controller and the time step T of each generation are set, in each time step, the initial fitness of the controller is set to be 0, and the fitness of the controller is updated according to the reward value and the auxiliary reward of the current time step; s4, after each intergeneration is finished, updating the population according to the fitness by adopting a swarm intelligence algorithm, and training the evaluation network and the control strategy network to update network parameters; and S5, after M generations of evolution are completed, screening out the controller with the highest fitness from the controllers, and setting the network parameters corresponding to the controller in the control strategy network. The invention is at least beneficial to improving the adaptability of the ambulance to different working conditions.

The invention belongs to the technical field of distributed electric drive modular transport vehicle planning and control, and particularly relates to a distributed electric drive modular transport vehicle obstacle avoidance planning control method and device. The specific process of the method comprises the steps that two front shafts and two rear shafts which are close to each other are equivalent to two equivalent shafts respectively, two e-SPMT units are used for equivalence, and a monorail dynamic model is established; determining a collision boundary and establishing a collision constraint condition design, establishing a cost function including a swept area, a distance to an obstacle and path smoothness, and optimizing the cost function to obtain an expected path meeting the collision constraint condition; on the basis of the expected path and kinematic constraints, an expected speed and a yaw velocity corresponding to each path point in the expected path are generated; taking the expected speed and the yaw velocity as state quantities, and generating a dynamics control quantity according to the monorail dynamics model; the dynamic control quantity is distributed to each wheel longitudinal force and turn angle.

The invention discloses a rotor craft aeroelastic stability prediction method, and relates to the field of rotor dynamics, the method comprises the following steps: constructing a nonlinear aeroelastic dynamics control equation, and determining dynamics sensitive parameters; constructing an input sample data set; obtaining an output sample data set based on the input sample data set and the nonlinear aeroelastic dynamics control equation; constructing a sample data set based on the input sample data set and the output sample data set; constructing an initial aeroelastic stability prediction model based on the de-noising diffusion probability model; training the initial aeroelastic stability prediction model by adopting the sample data set to obtain an aeroelastic stability prediction model; acquiring the working condition of the rotorcraft in real time to determine the value of the dynamic sensitive parameter of the rotorcraft; inputting the values of the dynamic sensitive parameters into the aeroelastic stability prediction model to obtain a corresponding modal damping ratio; and determining the aeroelastic stability of the rotorcraft based on the modal damping ratio. According to the method, the aeroelastic stability of the rotorcraft can be accurately predicted.

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

The invention discloses an intelligent automobile active obstacle avoidance control system and method suitable for complex road conditions. The system comprises a multi-source road condition sensing fusion module, a dynamic risk assessment and decision module, an obstacle avoidance path planning module, a vehicle dynamics control module, a man-machine interaction and emergency takeover module and a system state monitoring and fault diagnosis module. According to the invention, the problem of unreliability of a single sensor in rainy days, congestion and other scenes is solved through multi-source sensor fusion, and the sensing precision is ensured; a multi-factor risk assessment model avoids misjudgment of single distance judgment, and the decision more conforms to actual safety requirements; path planning is combined with vehicle dynamics constraint, closed-loop control ensures accurate path tracking, and the vehicle is prevented from being out of control.

The application provides an electric unmanned ship trajectory tracking method, device, equipment, medium and product, and relates to the field of electric unmanned ships. Based on the current position of the electric unmanned ship, the coordinate error and the heading error of the electric unmanned ship are determined. The coordinate error and the heading error are input into a kinematics controller to obtain a virtual speed instruction. The virtual speed instruction is input into a dynamics controller to obtain a virtual thrust instruction. Based on the virtual thrust instruction, a target control instruction is determined and sent to the electric unmanned ship. The above steps are cyclically executed under the condition that the tracking is not completed until the tracking is completed. The kinematics controller and the dynamics controller share a fixed time gradient template, and the cost function of the kinematics controller contains an energy consumption control index. The application adopts a two-layer controller structure and shares a fixed time gradient template, and sets an energy consumption control index in the cost function corresponding to the kinematics controller, so that fixed time convergence and energy consumption suppression can be realized.

This invention discloses an iterative learning path tracking control method for USVs based on virtual potential field guidance, comprising: establishing a nonlinear mathematical model of the USV; obtaining the gravitational model and repulsive model of the virtual potential field; obtaining the guidance model of the USV; obtaining the kinematic controller of the USV system; obtaining the dynamic controller of the USV system, and controlling the USV system. This invention's iterative learning path tracking control method for USVs based on virtual potential field guidance, by establishing the gravitational and repulsive models of the virtual potential field of the USV model, incorporates an obstacle avoidance mechanism that considers the shape of the obstacle itself into the guidance algorithm. This solves the problem that most existing adaptive control obstacle avoidance algorithms treat obstacles as point masses, making the obstacle avoidance mechanism of this invention more reliable and enhancing the autonomous collision avoidance performance of ships.

The invention discloses a method for analyzing time-frequency characteristics of collision vibration by using a segmented B-spline wavelet collocation method, which comprises the following steps of: (1) establishing a dynamic equation for wavelet discretization, discretizing a dynamic control equation of a collision-vibrator system by using a 4-order B-spline wavelet basis function, and establishing a nonlinear algebraic equation set about a wavelet coefficient; (2) carrying out segmented iterative solution on the time domain, dividing the whole time domain into a plurality of sub-time periods which are connected in sequence, and carrying out iterative solution on the nonlinear algebraic equation set in each sub-time period to obtain a global wavelet coefficient; and (3) analyzing the time-frequency characteristics, and directly calculating energy distribution based on the wavelet coefficient to realize time-frequency joint characterization. The invention aims to provide a method which can fuse solution of system response and extraction of time-frequency characteristics in a unified mathematical framework, and realizes high-precision time-frequency joint characterization by directly solving wavelet coefficients, thereby overcoming inherent defects of an existing two-step method.

This invention relates to the field of automotive autonomous driving control technology, specifically to a software architecture, chassis domain controller, and chassis domain system for autonomous driving. The information layer acquires vehicle fault commands and emergency stop commands. The motion coordination layer triggers vehicle fault modes and emergency stop modes, and acquires emergency stop control signals and longitudinal and lateral vertical control signals. The dynamics control layer acquires dynamics control target quantities based on the emergency stop control signals or longitudinal and lateral vertical control signals; the fault-tolerant control layer performs fault-tolerant control based on vehicle fault information. The actuator control layer converts the dynamics control target quantities and fault-tolerant control target quantities into actual control signals to control the actuators. This software architecture, designed from a centralized perspective, achieves decoupled development of software and hardware, centrally processes all information, and uniformly integrates and schedules functions. It comprehensively considers vehicle, driver, fault, and cross-domain interaction, improving vehicle control accuracy and operational safety.

The application discloses a kind of matching and mismatched interference under unmanned ship preset time control method and system, comprising the following steps: establishing the nonlinear motion model of unmanned ship under matching and mismatched interference;Design preset time adjustment function, the dynamic evolution process of system error is regulated;Kinematic disturbance observer and dynamics disturbance observer are designed to online estimate matching interference and mismatched interference;According to interference estimation information, construct kinematic controller, filter and dynamics controller, realize the robust preset time tracking control of reference trajectory of unmanned ship.The method proposed in the application can realize the online observation and compensation of multi-source disturbance, ensure that the system tracking error and disturbance observation error converge within the preset time, and the convergence time is adjustable, while having the advantages of continuous smooth control input, strong anti-interference ability and high engineering realizability, which can improve the control performance and reliability of unmanned ship in complex sea conditions and time-sensitive tasks.

The invention discloses a flexible robot dynamics control device based on Lie group symmetry and a modeling method. The device comprises a rigid connecting rod, a flexible rod and a flexible hinge which are connected in series, a fiber grating sensor is spirally arranged on the flexible rod, and a signal conditioning module, an FPGA (Field Programmable Gate Array) data processing module, a Lie group conservation control module and a CAN (Controller Area Network) bus are linked with an executing mechanism. According to the method, a rigid-flexible coupling equation is built through a Lagrangian-Hamiltonian mixed method, SE (3) a conservation quantity is exported through a Lie group, a LiefVIN network is solved, and the model is corrected through a double-dynamic self-adaptive mechanism. Full-dimensional deformation monitoring is achieved, the vibration prediction error is smaller than or equal to 3%, the trajectory tracking error is smaller than or equal to 0.08 mm, the dynamic solving speed is larger than or equal to 1000 times per second, the method is suitable for multiple scenes, and the problems that existing modeling precision is low, sensing is incomplete, and control real-time performance is poor are solved.

This invention discloses a kinetically controlled method for preparing hierarchical porous molecular sieves, belonging to the field of catalyst preparation technology. It employs a two-step crystallization method: first, nucleation occurs at low and ultra-low H2O / SiO2 molar ratios; then, after the low-temperature phase, water is added, followed by rapid growth at high temperature and high H2O / SiO2 molar ratios. The solid-phase and liquid-phase crystallization mechanisms in the synthesis system work in succession to prepare hierarchical molecular sieves. This invention, without adding any mesoporous pore-forming agents, only modulates the crystallization temperature and the H2O / SiO2 molar ratio of the synthesis system to kinetically control the crystallization mechanism, resulting in molecular sieves with higher catalytic performance than those obtained using traditional methods. Furthermore, it overcomes the drawbacks of traditional hierarchical porous molecular sieve preparation processes, such as high cost, high calcination energy consumption, poor mesopore connectivity, and severe contamination from pore-forming agents.

The invention provides a dynamics control method and device of a robot, electronic equipment, a computer readable storage medium and a computer program product. The method comprises the steps that according to a linear motor and a closed chain structure, a first constraint relation between the length of the linear motor and the included angle of adjacent connecting rods in the closed chain structure is determined; according to the multiple connecting rods in the closed chain structure, the second constraint relation between the included angle and the rotating angle of the adjacent connecting rods in the closed chain structure is determined, and the rotating angle is the angle of the closed chain structure driven by the linear motor to rotate around the rotating joint; solving by combining the first constraint relationship and the second constraint relationship to obtain a conversion relationship between the thrust of the linear motor and the torque of the rotary joint; and according to the conversion relation, the real-time thrust of the linear motor is converted into real-time torque acting on the rotary joint, and the robot is controlled based on the real-time torque. According to the application, accurate mapping from the thrust of the linear motor to the rotating torque can be realized, and the dynamic control requirement of the robot is met.

The embodiment of the invention discloses an unmanned ship surrounding hierarchical game control method under unreliable communication, and the method comprises the steps: considering the unreliable communication conditions that tracking target information is not completely known and intermittent communication and false data injection (FDI) exist at the same time, and employing a specified time elastic Nash equilibrium target state estimator which converges under the intermittent communication; the method ensures that the estimated pose of the target can be converged to a saddle point according to the specified time and performance under intermittent communication, and on the basis, a specified performance guidance law under the specified time is designed, the longitudinal reference speed and the heading reference speed of the unmanned ship are obtained to establish a cost function, and then a Hamilton-Jacobian-Axaxi equation is established, so that the attitude of the target can be estimated. Obtaining an ideal optimal dynamic control law and optimal false data; and carrying out approximation by adopting a Critic neural network learning structure to obtain an ideal optimal dynamic control law after approximation and optimal false data after approximation.

The invention discloses a commercial vehicle transmission system equivalent rotational inertia calibration and mass real-time estimation method, and relates to the technical field of vehicle dynamics control. Identifying the product of the equivalent merging coefficient K1 of the rolling resistance and the ramp resistance and the current mass mk and the air resistance coefficient K2 under the no-load state of the vehicle; and under the acceleration working condition, based on the obtained K1mk and K2 values, the equivalent transmission system rotational inertia Ii and the servicing no-load mass mk are identified. And in a quality real-time estimation stage after leaving a factory, updating the sum of products with the current mass mtotal in real time in a constant-speed driving segment. And in an acceleration working condition, Ii calibrated before leaving a factory is implanted into the kinetic model as a fixed parameter, and based on the updated mtotal sum value, the current total mass mtotal is directly solved through the relation between the driving force and the acceleration. According to the method, the strong coupling problem of the rotational inertia and the mass during estimation is thoroughly solved, and the real-time performance, precision and reliability of mass estimation in the vehicle running process are remarkably improved.

The application discloses a preset time control method and system for a wheeled mobile robot under multiple disturbances, and comprises the following steps: establishing a nonlinear motion model of a wheeled mobile robot under matched and unmatched disturbances; designing a preset time adjustment function to regulate and control the dynamic evolution process of system errors; designing a kinematic disturbance observer and a dynamic disturbance observer to online estimate the matched and unmatched disturbances; and constructing a kinematic controller, a filter and a dynamic controller according to the disturbance estimation information, so as to realize robust preset time tracking control of the wheeled mobile robot on a reference trajectory. The method provided by the application can guarantee the convergence of system errors within a preset time without relying on the ideal no-slip assumption, has the advantages of adjustable convergence time, continuous and smooth control input, strong anti-interference ability and high engineering realizability, and improves the anti-interference performance of the robot in a complex dynamic environment and the reliability of a time-sensitive task.

The invention relates to a method for placing a motor vehicle (1) having an electrical power supply system (7) in a safe state in the event of an impact, in which an impact detection program is carried out and the electrical power supply system (7) of the motor vehicle is switched off when an impact is detected. In this case, the following steps are carried out:-providing a driver assistance system (2) having an environmental sensor system (3) for monitoring at least part of the surroundings of the motor vehicle,-providing a driving dynamics control system (4) having at least one acceleration sensor (5), using an environment sensor system (3) of the driver assistance system (2) to monitor whether an object (6) is present in at least part of the surroundings of the motor vehicle (1), if an object (6) is detected by means of the environment sensor system (3), checking whether a risk of collision with the object (6) is present, and if it has been determined that the risk of collision has been present, restarting the driver assistance system (2). If the acceleration sensor (5) outputs a defined threshold value, activating the defined collision warning time window ([delta] t), querying the acceleration sensor (5) within the collision warning time window ([delta] t), and detecting a collision if the acceleration sensor (5) output of the driving dynamics control system (4) exceeds the defined threshold value.

The invention discloses a method for evaluating the reliability of the vibration isolation performance of a steel wire rope vibration isolator under impact excitation, belongs to the technical field of vibration isolation of mechanical equipment, is used for evaluating the reliability of the vibration isolation performance of the steel wire rope vibration isolator, and comprises the following steps: establishing a dynamic control equation under an excitation load of a spiral steel wire rope vibration isolator; calculating a dynamic response analytic solution of the steel wire rope vibration isolator under the excitation load; establishing a limit state function under the impact excitation of the steel wire rope vibration isolator; and establishing a Kriging agent model of the limit state function of the spiral steel wire rope vibration isolator based on the limit state function, and evaluating the reliability of the vibration isolation performance of the steel wire rope vibration isolator under impact excitation. Whether the dynamic response amplitude obtained under impact excitation exceeds the limit threshold value or not is used as a judgment criterion for judging whether the vibration isolation performance of the vibration isolator fails or not, the reliability of the steel wire rope vibration isolator is calculated, the reliability and durability of the vibration isolation performance of the vibration isolator are improved, and damage of impact excitation to equipment is reduced.

The application discloses a vehicle path tracking and longitudinal speed control method based on a Gaussian process compensation, and belongs to the technical field of dynamics control, and comprises the following steps: S1, collecting data of a vehicle on a calibration road, constructing a Gaussian process residual model, and performing offline training; S2, performing online updating on the Gaussian process residual model after offline training; S3, calculating a three-channel compensation amount; S4, constructing a residual correction prediction model, and determining output prediction; S5, constructing a quadratic programming problem, and performing solving, so that a control increment, a steering input and a longitudinal acceleration input at a current time are obtained, and are applied to vehicle actuators. The sparse residual Gaussian process structure and the induced point maintenance strategy proposed in the application consider the online learning ability and the operation complexity, and are suitable for deployment on an existing automatic driving controller hardware platform.

The invention discloses a multi-unmanned ship safe affine formation control method and system based on local perception, and the method comprises the following steps: building a dynamic model of an unmanned ship, and outputting the resultant velocity and yawing angular velocity information of the unmanned ship; constructing a kinematic model of the unmanned ship for outputting the position and orientation angle information of the unmanned ship; estimating unknown dynamics of each unmanned ship; establishing an auxiliary variable conversion model of each unmanned ship, wherein the auxiliary variable conversion model is used for converting the position of the under-actuated unmanned ship to a virtual point position in a resultant velocity direction; establishing an unmanned ship kinematics controller; constructing a safety function of a control obstacle function based on a Gaussian process, and realizing optimization of a guidance signal; constructing a linear differential tracker, and outputting an optimized guidance signal estimated value and an optimized guidance signal derivative estimated value; and constructing an unmanned ship dynamics controller, and updating the surging direction control input force and the yawing angle direction input torque of the unmanned ship to realize the affine formation control process control of the unmanned ship.

The application relates to the metallurgical technical field, in particular to a low-cost semi-annealed low-carbon steel thick zinc-aluminum-magnesium alloy coating and a preparation method thereof. The chemical components of a base material are as follows in percentage by weight: C: 0.01-0.08%, Si: less than or equal to 0.030%, Mn: 0.15-0.26%, P: 0.015-0.026%, S: less than or equal to 0.010%, Al: 0.02-0.06%, Ti: less than or equal to 0.3000%, and the rest is Fe and inevitable impurities. The chemical components of a plating solution for preparing the coating are as follows in percentage by weight: Al: 9-11%, Mg: 2.8-3.1%, rare earth elements: less than or equal to 0.1%, Si: 0.1-0.2%, and the rest is Zn and inevitable impurities. The application controls the residual stress of the strip steel through a low-carbon steel low-temperature semi-annealing process, improves the substrate strength by using the organizational genetic mechanism of work hardening and grain distortion, and realizes the synergistic optimization of the corrosion resistance of the coating and the mechanical properties of the substrate by combining the multi-element diffusion kinetics control technology of the zinc-aluminum-magnesium coating.

A nonlinear adaptive control method and system for mechanical arm motion control. The method comprises the steps of inputting the output of an incremental nonlinear inverse dynamics controller into a

This invention belongs to the field of fluid-structure interaction dynamics analysis technology, and specifically discloses a method and system for analyzing the dynamic characteristics of an acoustic-frequency resonant hybrid system. The method includes: introducing an external excitation force vector and a fluid feedback force vector into the dynamic control equations of the acoustic-frequency resonant hybrid system to form coupled dynamic equations; numerically characterizing the fluid feedback force using a multi-harmonic fitting method to obtain a fluid force model; based on the fluid force model, obtaining the dominant frequency component of the fluid force and mapping it equivalently to an additional mass parameter and an equivalent damping parameter; then fitting the optimal functional form of the additional mass parameter and the equivalent damping parameter relative to the excitation acceleration; updating the coupled dynamic equations based on the optimal functional form to achieve dynamic characteristic analysis under different excitation acceleration conditions. This invention can accurately analyze the dynamic characteristics of an acoustic-frequency resonant hybrid system under high-acceleration vibration environments to address nonlinear dynamic problems induced by fluid-structure interaction.

The application relates to a semi-trailer transverse stability self-adaptive control method based on online identification of loading conditions, belongs to the field of intelligent commercial vehicle active safety control and vehicle transverse dynamics control, and comprises the following steps: acquiring vehicle dynamics parameters; calculating stability error; online identifying loading conditions; calculating additional yaw moment; and executing brake force distribution control; the application realizes online identification of semi-trailer loading and mass center height, and adaptively adjusts fuzzy PID control parameters according to the identification results, optimizes differential brake moment distribution, effectively suppresses the yaw instability, folding and side-slip risk of the semi-trailer under different loading conditions, and improves the transverse stability and control robustness of the vehicle under complex conditions.

This invention belongs to the field of vehicle control technology and relates to a vehicle motion control system based on angular module dynamics. The system constructs a two-degree-of-freedom driver control system including steering wheel input and vehicle posture lever input, used to represent path curvature tracking requirements and vehicle posture adjustment requirements, respectively. Based on the driver control input, ideal yaw rate control targets and ideal center-of-gravity sideslip angle control targets are constructed, and the four-wheel steering angle feedforward control quantities are determined through vehicle kinematics methods of pure yaw motion and pure lateral motion. Through feedback optimization control, the additional yaw moment and four-wheel steering angle control quantities are coordinated under composite operating conditions. Based on adaptive adjustment of control weights and constraints under operating conditions, the distribution control of four-wheel drive / braking torque and four-wheel steering angle is achieved. This invention achieves decoupled control of vehicle yaw motion and lateral motion by constructing a two-degree-of-freedom driver control system and combining feedforward kinematics and feedback dynamics control.

This invention discloses an integrated optimization control method for multi-axle vehicles under hub motor failure and in-wheel motor malfunction, belonging to the field of multi-axle vehicle multi-wheel independent drive lateral dynamics control technology. First, an ideal dynamic model and reference behavior of the multi-axle vehicle are established. Then, based on the uncertainty of the vehicle dynamics system caused by tire cornering stiffness changes due to tire nonlinearity, the dynamics system of the multi-axle vehicle is rewritten to obtain an uncertain system. Next, based on the uncertain system, top-level and bottom-level controller designs are performed for the multi-axle vehicle under hub motor failure and in-wheel motor malfunction, realizing the yaw moment reconstruction and allocation constraints for each wheel, thus obtaining the optimal control method for the multi-axle vehicle under hub motor failure and in-wheel motor malfunction. This invention achieves optimal tracking performance under hub motor failure, realizing driving safety and energy efficiency for multi-axle vehicles.

The application provides an automatic driving decision method and system based on an LLM model, comprising: acquiring traffic perception data, and then converting the traffic perception data into semantic text data and a vehicle state vector; based on the semantic text data, using an LLM model to generate a strategy text, and then using a semantic parsing algorithm to convert the strategy text into a weight parameter set and a constraint parameter set; based on the vehicle state vector, the weight parameter set and the constraint parameter set, using a model predictive control algorithm to solve an optimal control instruction, and controlling the vehicle according to the optimal control instruction. The application solves the problem in the prior art that natural language cannot be losslessly and accurately converted into underlying dynamic control instructions, and cannot meet the requirement of vehicle control on accurate numerical values (such as a steering angle and an accelerator opening degree).

In order to safely and simply control a self-driven rolling adapter (61) for a travel maneuver for transporting a suspended bag (5) at a branch (707) of a track network (49), a travel movement along the track network (49) is carried out by means of a longitudinal dynamic control device of the rolling adapter (61), the method according to the invention comprises the following steps: entering an entrance of the branch; a driving maneuver is carried out and / or controlled by means of a transverse dynamic control of the rolling adapter (61), said driving maneuver comprising a selection from the at least two exits of the branch and an exit of the rolling adapter (61) from the selected exit, during and / or after the driving maneuver a pattern (715) on the track network (49) is identified by means of a sensor device (701) of the rolling adapter (61), the carried-out driving maneuver is determined using the identified pattern (715), and the carried-out driving maneuver is evaluated by means of an evaluation unit (717).