43 results about "Kinetic coupling" patented technology

The invention provides a multi-constraint locus planning method of a spatial free floating mechanical arm. The method can satisfy requirements for dynamic coupling, joint driving capability limitation, arresting opportunity and multiple optimizing indexes of a spatial robot. A driving joint motor realizes an autonomous arresting task to a non-cooperative object. The multi-constraint locus planning method comprises the steps of establishing a multi-member dynamic model of the spatial robot; establishing the locus of each joint of the mechanical arm based on a Bessel curve, converting constraint and optimizing index functions in a joint locus designing process to function of a Bezier curve control point, so that locus programming is finally represented by the Bezier curve control points as a nonlinear optimization problem of the optimizing parameter; converting the locus planning problem of the spatial robot to a multi-constraint and multi-object optimization problem, performing searching on the optimization problem by means of a nonlinear optimization method, obtaining an optimal solution, and finishing multi-constraint locus planning of the spatial free floating mechanical arm.

The invention discloses an attitude control method. The attitude control method comprises the following procedures that the on-satellite time influencing the satellite attitude precision is aligned through a second pulse signal; a satellite sensor error used for satellite attitude measurement is corrected in real time; the gravity gradient disturbance torque of an oblique flying satellite is compensated through a dynamics coupling relationship; the satellite flexibility is restrained through an input forming control method in the attitude controlling process; the attitude control law of an angular velocity feedforward instruction is increased through position and speed double loops and a position correcting loop to achieve high-precision and high-stability attitude guidance control; and quick attitude maneuver of the large-inertia satellite is achieved through a saturated sliding mold structural control algorithm. The attitude control method has the advantages that the computing method is simple, control is flexible, the attitude control method can be applied to attitude control of the large-inertia large-flexible oblique flying satellite, the property of the satellite is greatly improved, and researching and manufacturing cost of satellite hardware is reduced.

A slide drive device has a principal housing, in which at least one actuating element able to be driven linearly is arranged. Externally on the principal housing there is a slide kinetically coupled with the actuating element. Two stroke limiting means render possible a variable preset of the two end positions of the slide and each comprise an adjustable arranged on the one part and a counter-abutment arranged opposite to same on the other part. The one adjustable abutment is arranged on the slide and the other adjustable abutment is located on the principal housing. Both abutments are provided in end regions facing in the same axial direction, on the slide and, respectively, on the principal housing.

The invention provides a one-two-dimensional hydrodynamic coupling analysis method based on urban surface and underground pipe network, which comprises the following steps: establishing the urban pipenetwork model; the urban pipe network model comprises a runoff generation calculation model, a one-dimensional pipe network model and a two-dimensional coupling model; inputting surface water data and groundwater data, and establishing surface-subsurface connection relationship according to the surface water data and groundwater data; generating and optimizing grid elements; calculating surface runoff and drainage pipe network flow respectively; calculating the exchange water quantity of surface runoff and drainage pipe network flow; and in order to realize the hydrodynamic coupling of two-dimensional underground pipe network on the surface, checking the calculated exchange water quantity. The invention realizes coupling analysis and calculation of surface groundwater flow for urban rainstorm waterlogging.

The invention provides a one-two-dimensional hydrodynamic coupling method based on a spatial topology. The method comprises the following steps: constructing a one-dimensional hydrodynamic model comprising a one-dimensional river network model for simulating the flow of a river network and a water-crossing structure, and a one-dimensional pipe network model for simulating the flow of a city pipe network; constructing a two-dimensional hydrodynamic model used for meshing the region within the compilation range and control line to be analyzed, interpolating the mesh according to the topography of the region, and assigning the mesh attributes; performing surface-to-surface two-dimensional model coupling for a river course and a surface according to the one-dimensional river network model andthe two-dimensional hydrodynamic model; according to the one-dimensional pipe network model and the two-dimensional hydrodynamic model, performing one-two-dimensional model coupling for the urban surface and underground. The invention provides a perfect coupling mode, which is adapted to different flood coupling calculation requirements. Flexible one-two-dimensional coupled generalization model can well solve the generalization of streams and streets flood discharge.

The invention discloses a biped robot dynamic motion generation and control method which comprises the following steps: in a single-foot supporting period, establishing a whole-body dynamics feedbacklinearization controller to control the lengths of supporting legs and the pitching posture of an upper body so as to keep the dynamic motion characteristics of a biped robot; decoupling the kinetic coupling of the swinging leg and the whole body based on a whole body kinetic model, controlling the position of future observation planning by establishing a swinging leg prediction control model, giving a series of target points at the tail end of the future leg through the adjustment of the foothold, planning the tail end track of the swinging leg according to the environmental information, andadjusting the foothold of the movable leg in real time; taking the whole body dynamic moment control quantity of the supporting legs and the control moment of the swinging legs as the motion control input of the biped robot; according to the method, the dynamics of the biped robot is introduced into real-time planning and online control, a high-dimensional nonlinear system is decoupled, and the swinging legs are independently controlled to achieve dynamic stable movement.

The invention discloses a method for optimizing flight dynamics of a small unmanned aerial vehicle based on a bionic flexible wing, and belongs to the field of overall design and flight dynamics of small fixed-wing unmanned aerial vehicles. According to the method, the bionic flexible wing is designed by imitating geometric and structural features of wings of large gliding birds; based on the bionic flexible wing, the modal analysis is performed on the wing to obtain first few modes of torsion which are very significant; an obtained first few mode equation set and a flight dynamics equation set are synthesized, and aerodynamic coupled terms generated by the elastic deformation are added; the influence of the aeroelastic effect of the bionic wing on the coupled of the flight dynamics is obtained, and critical parameters are refined, signs and sizes of critical parameters are adjusted by adjusting the wing structure design without changing the fuselage structure arrangement and overall pneumatic layout, the coupling form of the aeroelasticity of the wing and the flight dynamics is adjusted to achieve the goals of reducing the short-cycle frequency, increasing the short-cycle dampingratio and slow downing the gust disturbance of the small unmanned aerial vehicle.

The invention discloses a robust control method for the base attitude of a space robot. The method comprises the steps of establishing a kinetic equation for the base attitude of a space robot based on a lagrange equation; setting a robust controller for adjusting the base attitude of the space robot; and adjusting the stability of the robust controller. The method is conducted based on the preset performance control and the sliding mode control. The robust control method is used for adjusting the base attitude of the space robot. Therefore, the robust control of the base posture adjustment under the dynamic coupling effect is realized.

The invention discloses a longitudinal / lateral / vertical personified cooperative control method for an off-road electric drive unmanned vehicle, and relates to the vehicle control. The method comprises the steps: taking a driver as a research object, and analyzing the steering / acceleration and deceleration operation behavior features of a driver under the off-road condition; constructing a personified control system based on multi-performance target optimization according to the parameter uncertainty, nonlinear coupling and time lag of an unmanned vehicle in a non-structure road environment; building a longitudinal / lateral / vertical coupling dynamic personified control system for the off-road electric drive unmanned vehicle, and achieving the dynamic coupling control of the off-road electric drive unmanned vehicle through the transmission, conversion and evolution of the energy and information of dynamic coordination of the coupling dynamic control system, thereby effectively improving the autonomous running comprehensive energy of the electric drive unmanned vehicle, and remarkably improving the performances of the control system.

The invention provides a surface two-dimensional underground pipe network hydrodynamic coupling method based on spatial topology, which comprises the following steps: inputting surface water data andunderground drainage system water flow data, and establishing surface-underground connection relationship according to the surface water data and underground drainage system water flow data; generating and optimizing grid elements; calculating surface runoff and drainage pipe network flow respectively; calculating the exchange water quantity of surface runoff and drainage pipe network flow; checking the calculated exchange water quantity to realize the hydrodynamic coupling of two-dimensional underground pipe network on the surface. The invention realizes the division of the unstructured meshof the analyzed area, has a plurality of unstructured mesh division functions, and can realize the discrete arbitrary complex geometric boundary of the unstructured mesh, the cross processing of the boundary, and the optimization of the mesh unit. Furthermore, the exchange quantity of surface runoff and drainage pipe network flow is calculated, and the coupling of surface flood model and underground pipe network model is realized.

The invention relates to a dynamic force / position hybrid control method aiming at a control system closed robot, being a nonlinear force / position hybrid control method suitable for a robot system withstrong nonlinearity and nondeterminacy and without open torque interface. The method can simultaneously adapt to the nondeterminacy of internal loop controller parameters of the system and the nondeterminacy of inertia, quality, centroid position, etc. of the robot system, and belongs to the technical field of robot control. The nonlinear control method based on dynamic feedback sufficiently considers dynamic coupling and nonlinearity of the robot. The control method represents a mechanical arm joint position or speed command, and the command information includes dynamic compensation of measurement information based on force and status information of a mechanical arm and is used for realizing dynamic force / position hybrid control of the robot. The control method expands the current free space control method based on dynamic feedback to the condition of considering the contact between the tail end of the mechanic arm and the environment.

The invention provides a supporting system for a vibration test of on-board add-on pieces and a design method thereof. The supporting system includes a structural supporting piece composed of a big girder and a counter weight, a hanger switching device and a free suspension device, wherein the hanger switching device is connected to the big girder of the structural supporting piece and a hanger for supporting an add-on piece separately, and used for indirectly installing the add-on piece on the structural supporting piece; the free suspension device is connected to the structural supporting piece, and used for suspending a combination of the structural supporting piece, the hanger switching device, the hanger and the add-on piece in a free simulation state. According to the supporting system for the vibration test of the on-board add-on pieces and the design method thereof, by utilizing the structural supporting piece, the dynamical coupling effect of add-on piece installation on an airplane is stimulated; by adopting actual boundary stimulation to conduct an on-hook vibration ground test of the add-on pieces, the dynamic strength of the add-on pieces can be effectively tested, and the boarding safety of the add-on pieces can be ensured.

The invention relates to a parallel-type satellite antenna attitude adjusting apparatus, and adopts two rotary parallel mechanisms which are not coupled. The parallel-type satellite antenna attitude adjusting apparatus comprises a fixed platform, a movable platform and three branch movement chains connecting the fixed platform and the movable platform. The first branch movement chain comprises four movement pairs, a first rotary pair, a second universal joint, a third movable pair and a fourth universal joint are successively distributed in a direction from the fixed platform to the movable platform. The second branch movement chain comprises three movement pairs, and a first arc movement pair, a second movement pair and a third universal joint are successively distributed in a direction from the fixed platform to the movable platform. The third branch movement chain comprises two rotary pairs with axes being perpendicularly intersected. The antenna is installed on the movable platformby virtue of a bolt, two servo motors separately independently control an elevation angle and an azimuth angle of the antenna, so that an attitude of the antenna can be adjusted. The parallel-type satellite antenna attitude adjusting apparatus solves the problems in the prior art that the kinetics solution is complicated due to the high kinetic coupling performance of the parallel connection mechanism for adjusting the satellite antenna attitude, the control and design are difficult and the like.

The invention discloses a constant-value disturbance torque compensation method for oblique-flying and large-inertia coupling satellite. The compensation method comprises steps as follows: a satellite attitude dynamical equation is simplified in a steady state; X-axis gyroscopic torque and Z-axis gyroscopic torque are obtained according to a dynamical coupling relation of an X axis and a Z axis; offset angular momentum of the X axis and offset angular momentum of the Z axis are obtained according to the relation between the X-axis and Z-axis gyroscopic torque and constant-value disturbance torque; magnetic torquer unloading is performed according to the obtained offset angular momentum, and angular momentum offset is realized. With the adoption of the method for producing gyroscopic torque compensation through angular momentum offset, angular momentum offset is realized easily through magnetic dumping, management of the angular momentum of the system is controlled by compensating the constant-value disturbance torque, saturation of the angular momentum of the satellite can be avoided under the condition that the magnetic torquer is fixed, the problem of high probability of saturation of the angular momentum due to the constant-value disturbance torque in an angular momentum exchange attitude control system is solved, and the beneficial effect that the angular momentum offset is applied to magnetic dumping of satellite attitude control is realized.

The invention discloses a construction method of a ballast track-bridge dynamic coupling model. The method comprises the steps that a ballast track bed discrete element model reflecting the complex shape and the contact relation of a railway ballast is established through a discrete element method, and the model is used for representing a particle unit accumulation structure, the contact force between particles and coupling surfaces and an equivalent node transplantation load; a continuous medium sleeper finite element model and a bridge finite element model are established by utilizing a multi-body finite element method, wherein the models are used for representing a continuum grid structure, node displacement deformation, surface node position coordinates and an element connection relationship; and a ballast track-bridge dynamic coupling model is constructed based on a discrete element and multi-body finite element coupling method. According to the method, the irregular shape and themutual meshing and stacking relation of the ballasts on the mesoscopic level are fully considered, meanwhile, the interaction between the macroscopic ballast bed and the upper and lower structures can be reflected, and refined simulation of the complex mechanical behaviors of the ballast track on the bridge under the train load effect is achieved.

The invention relates to a method for building an integrated vehicle and ground coupled dynamical model. According to the method, a many-body dynamic model of a vehicle and a finite element model of the ground are integrated in one model which covers the mechanical relationship between the vehicle and the ground mathematically on the one hand and represents the coupling relationship between the vehicle and the ground during the solving process on the other hand; the coordinates and total strain of the ground can be calculated out based on the mechanical relationship and the coupling relationship; then the elastic force vector Qs and the like of the ground can be calculated according to the mechanical property, yield equation, flowing criterion and deformation state of the ground; finally, a new calculation is performed after the elastic force vector is substituted in a formula VI, and the loop iteration is carried out to complete the counting process of all the deformation, motion and stress state of the vehicle and ground in the time domain. According to the method, the integrated coupling with a ground mechanical model of a non-individual body is realized, the dynamical coupling of the vehicle and ground is solved really, and the method is suitable for solving the problem of huge deformation of the ground, such as moulding deformation.

The invention relates to a method for building an integrated vehicle and ground coupled dynamical model. According to the method, a many-body dynamic model of a vehicle and a finite element model of the ground are integrated in one model which covers the mechanical relationship between the vehicle and the ground mathematically on the one hand and represents the coupling relationship between the vehicle and the ground during the solving process on the other hand; the coordinates and total strain of the ground can be calculated out based on the mechanical relationship and the coupling relationship; then the elastic force vector Qs and the like of the ground can be calculated according to the mechanical property, yield equation, flowing criterion and deformation state of the ground; finally, a new calculation is performed after the elastic force vector is substituted in a formula VI, and the loop iteration is carried out to complete the counting process of all the deformation, motion and stress state of the vehicle and ground in the time domain. According to the method, the integrated coupling with a ground mechanical model of a non-individual body is realized, the dynamical coupling of the vehicle and ground is solved really, and the method is suitable for solving the problem of huge deformation of the ground, such as moulding deformation.

The invention relates to a rolling bearing-rotor system coupling performance solving method based on a BP neural network, and belongs to the field of automation. According to the method, a Newton-Raphson method is utilized to iteratively solve the normal contact load and speed of each rolling body in the rolling bearing; a Jacobi linear iteration method, a chasing method and an FFT algorithm are adopted to accelerate calculation of pressure distribution and temperature distribution of a lubricating film in a rolling bearing; and a BP neural network (BPNN) is trained based on the rolling bearing lubrication result obtained by calculation, the BP neural network is cured to quickly predict the oil film force of the rolling bearing, and the tribology and dynamics coupling performance of the rolling bearing-rotor system are quickly solved by using a Simulink simulator in Matlab. The method provided by the invention can accurately and quickly analyze the tribology and dynamics performance of the rolling bearing-rotor system, and provides theoretical guidance for the design and use of the rolling bearing-rotor system in engineering practice.

The invention provides a spatial six-degree-of-freedom motion platform modal control method. In the invention, a spatial six-degree-of-freedom motion platform modal matrix is used to convert a strong-coupling physical space system into a decoupled modal space system, a modal control concept is introduced on the basis of the conventional spatial six-degree-of-freedom hydraulic motion platform control, the modal conversion matrix is used to decouple a strong dynamic coupling six-degree-of-freedom hydraulic motion platform, an expected physical input signal and a motion platform actual output signal are converted into modal signals to perform independent modal control regulation, the drive and control of the spatial six-degree-of-freedom hydraulic motion platform are realized, the coupling influences among the actuators and degrees of freedom in a spatial six-degree-of-freedom hydraulic motion are weakened effectively, indexes such as the single degree of freedom motion and multiple degree of freedom motion reproduction of the six-degree-of-freedom hydraulic motion platform are improved, and the bandwidths of degrees of freedoms besides the close degree of freedom of a first order modal are improved.

The invention discloses a finite element solution optimization method for structural thermal response caused by re-entry aerodynamic environment, which includes: discretizing the coupled control equation based on heat conduction and material thermoelastic dynamics through the finite element method and providing a corresponding algorithm flow; wherein, In the algorithm process, for time-dependent partial differential equations, the finite element method discretizes the spatial region first, and obtains the grid division of the solution region, and then differentially discretizes the time item. According to the iterative coupling relaxation calculation principle, step by step Advance to capture the vibration of structural materials in space and the nonlinear behavior of thermal response deformation of large spacecraft after de-orbiting and re-entry into a strong aerodynamic thermal environment. The present invention provides an optimization method based on the finite element method for solving thermal-mechanical coupling response, which is beneficial for analyzing and researching the thermal-mechanical coupling response of material structures under strong aerodynamic / thermal environments, and is conducive to carrying out the performance prediction of aircraft and spacecraft structures with simulation.

The invention discloses a dynamic vibration prediction and suppression method for a large system of a mobile milling robot. The method comprises the following steps: establishing a mobile milling robot large system, namely an AGV-robot-tool-workpiece rigid-flexible coupling multi-body system dynamic model, by considering the deformation of a tool and a workpiece and the influence of an automatic guided vehicle (AGV) and a robot body on the vibration of a tool nose point, and predicting the vibration characteristics of the tool nose point; on the basis, a multi-island genetic algorithm is applied, overall parameters (robot postures and milling process parameters) of a robot machining system are optimized, and vibration suppression of tool nose points is achieved. According to the method provided by the invention, dynamic coupling among AGV-robot-cutter-workpiece is fully considered, and the dynamic characteristics in the milling process of the robot can be represented more comprehensively and accurately, so that the milling vibration of the robot is more effectively inhibited.

The invention provides a space six-degree-of-freedom rigid-flexible dynamics decoupling device. One end of a rotor of a first linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of a first rotating voice coil motor through a first flange plate; one end of a stator of the first linear voice coil motor in the linear freedom degree direction is fixedly connected with a rotor of a second rotating voice coil motor through a second flange plate; one end of a rotor of a second linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of the second rotating voice coil motor through a third flange plate; one end of a stator of the second linear voice coil motor in the linear freedom degree direction is fixedly connected with a rotor of a third rotating voice coil motor through a fourth flange plate; and one end of a rotor of a third linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of the third rotating voice coil motor through a fifth flange plate. The decoupling device provides six complete degrees of freedom, thereby completing the decoupling work of dynamics coupling between rigid and flexible parts on a spacecraft and improving the flexibility of the posture of the spacecraft and track control.

The invention discloses a hydraulic driving articulated-type legged robot inter-joint decoupling control method. Mechanical hydraulic combination coupling is used as a hydraulic driving articulated-type legged robot coupling behavior for researching, a coupling model between the joints of the leg of the robot is established. The coupling degrees of the various branches of the joints of the leg are calculated, and the characteristics of the coupling between the joints of the hydraulic driving articulated-type legged robot are researched. According to the coupling relation between the joints of the leg of the hydraulic driving articulated-type legged robot, the mechanism dynamics coupling force of the various motion branched chains of the robot is decomposed into the hydraulic servo driving systems of the various joints by Jacobian matrix transformation decomposition, and is used as perturbed force of a hydraulic system, and then decoupling control of electro-hydraulic servo system is carried out to eliminate the cross-linking coupling influences of the whole robot systems. The mechanical hydraulic combination coupling is used as a hydraulic driving articulated-type legged robot coupling behavior for the researching, and a decoupling control scheme is designed, and therefore the control precision of the robot is improved, the system has good control performance, and the improvement of the dynamic performance and the automation level of the hydraulic driving articulated-type legged robot is facilitated.

The invention discloses a two-freedom-degree rotation parallel mechanism. The parallel mechanism comprises a movable platform, a fixed platform, two driving branch chains and a suitable constraint branch chain, the two driving branch chains have the same structural form, and each driving branch chain is composed of a parallelogram structure, rotation pairs and ball pairs. The suitable restraint branch chain is formed by connecting a first rotating pair and a second rotating pair in series, wherein the axes of the first rotating pair and the second rotating pair are perpendicular. The third ball pair of the first driving branch chain is connected with a restraining connecting rod of the suitable restraint branch chain, and the sixth ball pair in the second driving branch chain is connected with the movable platform. The speed jacobian matrix of the parallel mechanism is a diagonal matrix, and in other words, one output motion of the movable platform is only controlled by the input motion of one driving pair, and the defect that the kinematics and dynamics coupling performance of a common parallel mechanism is high is overcome; and meanwhile, by introducing the suitable constraint branch chain, the overall stability and the bearing capacity of the parallel mechanism can be enhanced, the precision of the parallel mechanism can be improved, and uncontrollable errors can be controlled.

The invention discloses an underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method. One of the main factors influencing the coupling effect is a ship-double-mechanical-arm scale ratio, so that the invention provides a composite dynamic coupling factor evaluation standard, the coupling effect of the underwater unmanned ship-double-mechanical-arm system under different scale ratios is evaluated and quantified, the mapping relationship between the coupling effect of the system and the scale ratios is obtained, and scale ratio optimization is carried out on the basis of the mapping relation, then the underwater unmanned ship-double-mechanical-arm operation equipment is designed based on the optimized scale ratio, and the overlarge and uncontrollable dynamic coupling effect can be avoided while the operation space requirement of the underwater unmanned ship-double-mechanical-arm system can be met, so that a theoretical basis is provided for stable and accurate operation of an underwater unmanned ship-double-mechanical-arm system.

The invention provides a space six-degree-of-freedom rigid-flexible dynamics decoupling device. One end of a rotor of a first linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of a first rotating voice coil motor through a first flange plate; one end of a stator of the first linear voice coil motor in the linear freedom degree direction is fixedly connected with a rotor of a second rotating voice coil motor through a second flange plate; one end of a rotor of a second linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of the second rotating voice coil motor through a third flange plate; one end of a stator of the second linear voice coil motor in the linear freedom degree direction is fixedly connected with a rotor of a third rotating voice coil motor through a fourth flange plate; and one end of a rotor of a third linear voice coil motor in the linear freedom degree direction is fixedly connected with a stator of the third rotating voice coil motor through a fifth flange plate. The decoupling device provides six complete degrees of freedom, thereby completing the decoupling work of dynamics coupling between rigid and flexible parts on a spacecraft and improving the flexibility of the posture of the spacecraft and track control.