3129 results about "Kinetic model" patented technology

The invention discloses an unmanned vehicle dynamic path programming method based on environment uncertainty, comprising steps of establishing a vehicle kinetics model, establishing a dynamic environment model and necessary conditions for anew programming a path, obtaining a motion state original value of the unmanned vehicle, a vehicle motion state original target value and a vehicle motion state candidate target value, generating a candidate path, obtaining an optimal path through selection based on a safety index and a rapidity index, and reprogramming the optimal path of the unmanned vehicle when the unmanned vehicle motion environment satisfies the condition where the new path can be programmed. Compared with the prior art, the invention can not only satisfy the safety requirement for safety driving, but guarantees the driving efficiency under the constraint of the vehicle model. The invention realizes the coordination optimization of the performance index through distribution of various weights, realizes the real-time planning under the condition where a plurality of dynamic obstacles exist, and effectively improves the safety of the unmanned vehicle driving.

An object of the present invention is to execute an optimum control of vibrations due to a driver's operation of an accelerator pedal, steering wheel and brake pedal. The operation instructions are inputted into a vibration calculating means (kinetic model) comprising a vehicle body model, suspension model and tire model. Conventional kinetic model controlled the suspension in order to suppress the vehicle body vibration. However, in the kinetic model of the present invention, the tire vibration due to a change in the engine output is first absorbed by the suspension, whereby a residual vibration which was not be absorbed yet by the suspension is transferred to the vehicle body. The operation inputs are compensated by the three feed-back loops between the outputs of the above-mentioned three portions and input of the tire portion, giving the highest priority on the vehicle body model.

A method of determining kinetic parameters for a reversible molecular interaction between a ligand immobilized to a solid support surface and a binding partner to the ligand in solution, comprises sequentially, without intermediate regeneration or renewal of the immobilized ligand, flowing a plurality of fluid volumes containing different known concentrations of the binding partner over the solid support surface, monitoring the momentary amount of binding partner bound to the solid support surface related to time and solution concentration of binding partner and collecting the binding data, and determining the kinetic parameters by globally fitting a predetermined kinetic model for the interaction between the binding partner and the immobilized ligand to the collected binding data, which model allows for mass transport limitation at the solid support surface. An analytical system for carrying out the method, a computer program, a computer program product and a computer system for performing the method are also disclosed.

The invention relates to a computer-implemented method for determining at least one kinetic parameter for the interaction of an analyte in solution with an immobilized ligand from a data set comprising a plurality of different binding curves, each of which represents the progress of the interaction of the analyte with the ligand with time, comprising the steps of: a) performing at least one fit of the whole data set or subsets thereof to a predetermined kinetic model for the interaction; b) based on the result of the fit or fits performed in step a), identifying and excluding binding curves of unacceptable quality; c) performing a final fit to the remaining data set; and d) obtaining therefrom the kinetic parameter or parameters. The invention also relates to an analytical system for carrying out the method, as well as a computer program, computer program product and computer system for performing the method.

The invention relates to a quadrotor unmanned aerial vehicle attitude control system modeling and finite time attitude tracking control method, in particular to a quadrotor unmanned aerial vehicle finite time attitude tracking control method. Disturbance torque with which a quadrotor unmanned aerial vehicle is confronted is comprehensively analyzed, rotating inertia is unknown, output saturation and actuator failure and other factors are controlled, a passive fault-tolerant controller is designed on the basis of a parameter adaptive method, and the finite time stabilizing function is achieved. The method comprises the steps of 1 building a quadrotor unmanned aerial vehicle attitude tracking kinematic model, 2 building a quadrotor unmanned aerial vehicle attitude tracking kinetic model, 3 defining quadrotor unmanned aerial vehicle attitude smoothing errors, 4 designing a finite time integral sliding mode surface, and 5 designing a quadrotor unmanned aerial vehicle finite time attitude tracking controller. The method is used for the field of unmanned aerial vehicle flight control.

The parallel kinematic machine (PKM) trajectory planning method is operable via a data-driven neuro-fuzzy multistage-based system. Offline planning based on robot kinematic and dynamic models, including actuators, is performed to generate a large dataset of trajectories, covering most of the robot workspace and minimizing time and energy, while avoiding singularities and limits on joint angles, rates, accelerations and torques. The method implements an augmented Lagrangian solver on a decoupled form of the PKM dynamics in order to solve the resulting non-linear constrained optimal control problem. Using outcomes of the offline-planning, the data-driven neuro-fuzzy inference system is built to learn, capture to and optimize the desired dynamic behavior of the PKM. The optimized system is used to achieve near-optimal online planning with a reasonable time complexity. The effectiveness of the method is illustrated through a set of simulation experiments proving the technique on a 2-degrees of freedom planar PKM.

A locomotion control system is constructed to input the quantity of materials in the real world, such as the quantity of motion state of a robot, external force and external moment, and environmental shapes, measured with sensors or the like. By integrating all calculations for maintaining a balance of the body into a single walking-pattern calculating operation, both a locomotion generating function and an adaptive control function are effectively served, the consistency of dynamic models is ensured, and interference between the dynamic models is eliminated. Calculations for generating a walking pattern of the robot can be performed in an actual apparatus and in real time in a manner in which parameters, such as a boundary condition concerning the quantity of motion state, external force and external moment, and the trajectory of the sole, are settable.

A gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, and means that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.

The invention relates to a method for controlling a rigid spacecraft for target attitude tracking, and belongs to the technical field of the high-precision and high-stability attitude tracking control of spacecrafts. The method solves the problem that when the attitude tracking spacecraft runs in a low orbit in outer space, the conventional control method cannot eliminate the inherent flutter of a sliding mode variable structure. The method comprises the following steps: 1, establishing a kinetic model and a kinematic model of the rigid spacecraft; 2, setting an attitude tracking error and anexpected attitude parameter of the rigid spacecraft, and combining the attitude tracking error and the expectation attitude parameter with the kinetic model and the kinematic model to establish a mathematical model for the attitude tracking; 3, adopting a control algorithm of a sliding mode variable structure controller to adjust a control law of the mathematical model which is established in thestep 2 and is used for the attitude tracking, and simultaneously combining an observation result of a disturbance observer to modify the control law; and 4, controlling the rigid spacecraft by using the modified control law obtained in the step 3 to realize the attitude tracking. The method is suitable for the attitude tracking of targets running in the outer space.

The invention discloses a non-cooperative spacecraft attitude estimation method based on virtual sliding mode control, and belongs to the technical field of non-cooperative spacecraft navigation. The non-cooperative spacecraft attitude estimation method comprises the following steps: utilizing a virtual control sliding mode controller based on the Lyapunov principle; using target satellite absolute attitude obtained by a stereoscopic vision system as a control objective; according to motion characteristics of the target satellite, establishing a virtual satellite motion model of the target satellite; using a kinetic model of the virtual satellite as a controlled member to obtain attitude parameters of the virtual satellite; using attitude parameters estimated by the virtual satellite and the target satellite absolute attitude obtained by the stereoscopic vision system as controlled input, and calculating the virtual revolving moment on the motion model of the virtual satellite through the virtual sliding mode controller, so as to realize the estimation of the target satellite attitude parameters by the virtual control sliding mode controller. The non-cooperative spacecraft attitude estimation method disclosed by the invention is low in calculated amount, and can still achieve higher convergence rate and higher precision when the initial error of the state variables is high or the system error emerges, so as to meet the requirements of the high performance navigation system.

A controller of a leg type moving robot determines an action force to be input to an object dynamic model 2 such that a motion state amount (object model velocity) of the object dynamic model 2 follows a desired motion state amount based on a moving plan of an object, and also determines a manipulated variable of the motion state amount (object model velocity) of the object dynamic model 2 such that the difference between an actual object position and a desired object position approximates zero, and then inputs the determined action force and manipulated variable to the object dynamic model 2 to sequentially determine the desired object position. Further, a desired object reaction force to a robot from the object is determined from the determined reaction force. This arrangement causes the robot to perform an operation of moving an object while securing stability of the robot by determining the desired motion of the object and the desired value of an action force between the object and the robot while minimizing the difference between a motion state of the object on the object dynamic model and an actual motion state.

The invention relates to a robot contact force detecting method based on torque observation and friction identification. A robot kinetic model and a generalized momentum are adopted to establish a joint torque observer for detecting joint torque change caused by a tail end contact force; a mode of combining an exponential friction model and a sine cosine function is adopted to describe the joint friction effect of a robot provided with a harmonic gear driving structure, a joint torque observation quantity is utilized to identify a joint friction parameter when an end effector of the robot has no contact force effect, and a joint friction torque is calculated according to the identified friction parameter; the torque observation quantity in a theoretical operating state of the robot sis regarded as a system model error, and an accurate joint contact torque observation quantity is finally obtained after the influences of friction and the system model error are considered, and finally a tail end contact force is calculated through a force Jacobian matrix of the robot.

The present invention discloses a robot trace tracking control method and system. The method comprises the following steps of: the step S100: establishing a dynamical model of an N-degree-of-freedom rigid robotic system; the step S200: according to dynamic characteristics of the robotic system, performing linearization of the dynamical model of the robotic system along an expected trace; and the step S300: taking expected joint angle and joint angular speed of the robotic system as reference input of a robustness adaptive iteration learning controller, taking actual joint angle and joint angular speed of the robotic system as actual input of the controller, generating tracking errors between the actual input and the reference input, and gradually decreasing the tracking errors through iteration calculation of the controller. The robot trace tracking control method and system can perform tracking control of a robot of uncertainty modeling and random disturbance, can improve the rate ofconvergence and the control precision of tracking control and can meet the requirement of the work speed and the precision of the robot.

The invention discloses a robot compliance control method based on a contact force observer. The robot compliance control method belongs to the field of robot control, does not adopt a force sensor for measuring a contact force of a robot and the environment, but adopts a model for estimating magnitude of the force according to a motion state, and realizes compliance control of the robot by adopting a position-based impedance controller. The robot compliance control method comprises the steps of: acquiring joint angular velocity information by means of an encoder, and estimating an angle, an angular velocity and angular velocity information by means of a state observer; calculating a joint effective driving moment by means of a disturbance observer according to motor current information and joint state information; calculating a joint driving moment required by driving a mechanism to move through adopting a kinetic model according to a joint motion state; and subtracting the driving moment obtained through calculation by adopting the kinetic model from the effective driving moment to obtain a joint driving moment caused by the action of an external force, and mapping the joint driving moment by means of Jacobian matrix to obtain an environmental contact force. The robot compliance control method based on the contact force observer has the advantage that an expensive and easily-damaged multi-dimensional force sensor does not need to be installed.

The invention discloses a method for obtaining a basic operation volume of a terminal airspace. According to the method, a sector volume is amended by a human kinetic model and machine studying, and the basic operation volume of the terminal airspace can be accurately obtained. The invention also discloses a predicating method for the air dynamic traffic volume in the terminal airspace, and the traffic flow information and analysis for historical weather and predicating weather for the specific terminal airspace are increased, so the obtained volume predicating information of the terminal airspace is more accurate. The invention also discloses a predicating system for the air dynamic traffic volume in the terminal airspace; the system comprises a data collecting module, a data processing module, a control module and a display module; the system is used for realizing the method for obtaining the basic operation volume of the terminal airspace and realizing the predicating method for the air traffic volume in the terminal airspace. According to the predicating system and method for the air dynamic traffic volume in the terminal airspace, the effectiveness and accuracy for establishing a flight schedule of an airline are improved, and a basis is provided for an air traffic control unit to effectively determine the management and control of the air traffic in a pre-tactics stage according to the dynamic volume distribution.

The invention discloses a design method for a boundary control law of a flexible mechanical arm-based partial differential equation model. The design method comprises five steps of: 1, establishing a double-link flexible mechanical arm dynamic model; 2, decomposing the double-link flexible mechanical arm dynamic model; 3, designing an adaptive boundary control law; 4, verifying the global stability of a closed-loop system; and 5, finishing the design. By the design method, a condition that the frequency of joint angle movement is different from that of elastic oscillation is considered first, and a partial differential dynamic model is decomposed into a fast subsystem and a slow subsystem by a singular perturbation method; a slow adaptive boundary control law is designed on the slow subsystem, so that a joint motor can move to an expected position; a fast adaptive boundary control law is designed on the fast subsystem to inhibit the elastic oscillation; and the fast and slow subsystems form a hybrid controller to control the joint angle and oscillation of a double-link flexible mechanical arm and ensure the global stability of the closed-loop system.

The invention provides a vehicle running state nonlinear robust estimation method based on a sliding mode observer. The method comprises the following steps of: determining an automotive nonlinear kinetic model closer to the actual situation aiming at high mobility running conditions and complex variable road environments, designing the corresponding sliding mode observer, establishing external input quantity and measurement information of the sliding mode observer system by using low-cost vehicle-mounted wheel speed and steering wheel turning angle sensors, and thus implementing estimation of multiple running states of an automobile by a sliding mode observer estimation recursion algorithm. The method has the characteristics of strong anti-interference capacity, high precision, low cost and the like, and is easy to implement.

The invention discloses a system for kinetic model test of the ballastless track subgrade of a high-speed railway. The system comprises a model test box, a model of the ballastless track subgrade of the high-speed railway, an excitation system and a monitoring system, wherein the model of the ballastless track subgrade of the high-speed railway is formed by the foundation, a foundation bed bottom layer, a foundation bed surface layer, a concrete base, CA (cement asphalt) mortar, a track plate, a fastener system and a steel rail in sequence; the excitation system comprises a series of vibration exciters; simulation of train loads at different running speeds is realized by cooperatively controlling the vibration excitation frequency and phase of each vibration exciter; and dynamic earth pressure sensors and layered settlement gauges are arranged in the model of the subgrade, steel strain gauges are embedded in the concrete base and displacement and acceleration sensors are arranged on the track structure to jointly form the monitoring system of the system. The system can be used for carrying out study on the kinetic model test of the subgrade under the running load of the train and can evaluate and predict different foundation conditions, subgrade structures and track irregularity.

The invention relates to an identification method of a kinetic model of a six-degree-of-freedom mechanical arm. The identification method comprises the steps of establishing a linear kinetic model of the mechanical arm according to joint friction by utilizing an improved Newton-Euler method first, then introducing a PSO (Particle Swarm Optimization) algorithm, establishing an algorithm for estimating unknown kinetic parameters on the basis of the improved PSO algorithm according to the concept of variation in a genetic algorithm at the same time, finally, using an UR (industrial robot) as an experimental subject, exciting joints of the industrial robot to move by designing an exciting track, and sampling joint movement parameters, so that the estimation of the kinetic parameters of the UR is realized, and the kinetic model is verified according to the moment prediction accuracy. Experiments verify the accuracy and effectiveness of the kinetic model, which is identified by the identification method, of the industrial robot.

The invention relates to an industrial robot positioning precision calibration method used for improving robot absolute positioning precision. The method comprises the steps that: a robot kinetics model is established; a rotary joint equation is established by using a circumferential method; joint torsion angle parameter values are calculated; the actual pose of a robot end is measured accurately by utilizing a laser tracker; D-H algorithm inversion kinetics equation is improved to obtain geometrical structural parameters; calibration of joint distance parameter values and calibration of joint offset are realized, and thereby first calibration is completed. Error correction is carried out on D-H parameters based on first calibration results, and if positioning precision can not meet requirements, second calibration can be carried out by substituting parameter correction values, instead of theoretical parameter values, into the kinetics equation. Absolute positioning precision of the robot is improved with the calibration method, which is proved in experiments. According to the invention, the calibration method is advantaged in that the method is simple and practical and introduces small external errors.

The invention relates to a feedforward torque compensating method used for an industrial robot. The method includes the steps that (1) a buffer queue is established according to an interpolation point queue obtained after all motors are subjected to interpolation calculation, and the central difference method is adopted for obtaining the theoretical joint angular velocities and joint angular accelerations corresponding to all the motors of interpolation points; (2) the lagrange equation is used for obtaining the feedforward compensating torques of all joints during all interpolation periods according to the expected rotating angles, angular velocities and angular accelerations of all the joints during the interpolation periods and a kinetic model of the robot; and (3) the feedforward compensating torque tau feedforward is added into the electric current loop input position of the motor bottom layer to serve as a PD feedback torque tau feedback supplement. By means of the feedforward torque compensating method provided by the invention, calculation is easy and convenient, and after torque compensating is completed, trajectory tracking errors of the robot can be reduced, and positional accuracy of the robot can be improved.

The invention provides an unmanned surface vessel full state constraint trajectory tracking control method based on the saturation compensation technology, relates to the unmanned surface vessel fullstate constraint trajectory tracking control method, and aims at solving the problem of high control error caused by the fact that the present control method for unmanned surface vessel trajectory tracking control does not process the problem of state constraints and saturation. The unmanned surface vessel full state constraint trajectory tracking control method comprises the steps that step one,the kinetic model of the unmanned surface vessel is established; step two, a saturation compensation auxiliary system is designed according to the kinetic model of the unmanned surface vessel established in the step one; step three, the saturation function of the unmanned surface vessel control law is established according to the saturation compensation auxiliary system designed in the step two; step four, the closed-loop system of the unmanned surface vessel is established; step five, the external interference is processed by using the adaptive method so as to obtain the adaptive estimation error; and step six, full state constraint trajectory tracking control of the unmanned surface vessel can be realized according to the adaptive estimation error obtained in the step five. The unmannedsurface vessel full state constraint trajectory tracking control method based on the saturation compensation technology is used for the field of trajectory tracking control.

The invention discloses a feedforward control method for a flexible torque of a robot based on a flexible kinetic model. The method comprises the following steps: S1, establishing a cognizable minimuminertial parameter model of a flexible joint of the robot; S2, carrying out data sampling and pretreatment on joint movement parameters in the moving process of the flexible joint of the robot in real time periodically; S3, substituting the pre-treated joint movement parameters into the cognizable minimum inertial parameter model, recognizing flexible kinetic parameters by means of the least square estimation method, and substituting the parameters back to calculate a torque value needed by the flexible joint; S4, sending the torque value as a feedforward amount to a bottom layer of a servo driver periodically; and S5, overlaying the feedforward amount and an output amount of an electric current loop in a form of compensation to achieve flexible control of the robot. By establishing the kinetic model of the flexible joint of the robot and recognizing the torque rigidity parameter of the flexible joint and the minimum inertial parameter to obtain the torque value as the feedforward amount, dynamic response and positioning precision of the robot are improved.

The invention discloses a CKF filtering-based vehicle dynamic model auxiliary inertial navigation combined navigation method. The CKF filtering-based vehicle dynamic model auxiliary inertial navigation combined navigation method comprises the following steps: calculating posture, speed and position of a vehicle according to angle increment and specific force output by a micro-inertia device and by an inertial navigation numerical value updating algorithm; establishing a three-degree-of-freedom vehicle dynamic model, and calculating the speed of a carrier by taking a steering wheel angle and a longitudinal force as control input quantity and by a fourth order Ronge-Kutta method in real time; designing a CKF filter by taking an inertial navigation equation as a state equation and speed difference between a dynamical model and inertial navigation calculation to perform state estimation on a combined navigation system; performing output correction on strapdown inertial navigation calculation result by the position the speed and the posture error obtained by CKF estimation, and performing feedback correction on the inertial navigation through peg-top and adding error. The method aims at the problems that the inertial navigation error is accumulated along with time and navigation precision cannot be maintained for a long time, and the accuracy and the reliability of a vehicle navigation system can be improved.

The invention provides a torque adjusting method of an electric automobile adaptive cruise system, and relates to the field of automobiles. The method includes the steps: calculating desired acceleration speed Vdes (n) by the aid of an adaptive cruise controller; detecting automobile tire pressure Ptir by the aid of a tire pressure sensor; detecting a road gradient Phi by the aid of a tilt angle sensor; detecting weight M of an integrated automobile by the aid of a pressure sensor; detecting actual speed v(n) of a vehicle by a vehicle speed sensor; detecting actual acceleration speed Vact (n)of the vehicle by an acceleration speed sensor; inputting driving environment information by a man-machine interactive system; acquiring a rolling resistance coefficient according to relation functions among the rolling resistance coefficient, a road and tire pressure; implementing front feed adjustment of a standard torque Tfid(n) through a dynamical model; performing correction through adaptivePID feedback to obtain a desired torque Tdes (n); switching maintaining areas to achieve effective switching of driving control and braking control; implementing adaptive cruise control. According tothe method, adjusting time from stabilization to final target acceleration speed is shortened, and stability of the system is improved.

The invention provides a sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking. The sliding-mode control method comprises the following steps: I, performing initialization; II, acquiring a current state of a UUV; III, establishing an error equation of the horizontal plane of the driving-free UUV so as to obtain position deviation values xe and ze and course deviation value theta e; IV, according to a sliding-mode control method, respectively designing traveling speed sliding-mode self-adaptive control rules, position sliding-mode control rules and trimming angle sliding-mode self-adaptive control rules, controlling propelling force Xprop, an excepted traveling speed U and a torque Mprop, wherein eu is 0, xe is 0 and theta e is 0; V, designing fuzzy control rules for a boundary layer, setting k to be equal to k+1, turning to step II, and updating control rules and self-adaptive rules of a next time. By adopting the sliding-mode control method, a controller for stabilizing a system can be designed only according to a vertical surface kinetic model, self-adaptive rules can be designed for water kinetic parameters with uncertainties, furthermore a control system can be relieved from dependency on parameters, the system has robustness, and the influence of the uncertainties on the sliding-mode control approaching process can be reduced.

The invention relates to a zero-force control method and system for a robot. The zero-force control method comprises the following steps: S1, a robot kinetic model is built on the basis of inertia force, centrifugal force, coriolis force, viscous friction force, static friction force and gravity; S2, external force moments of all the joints of the robot are calculated on the basis of the robot kinetic model and feedback data; S3, a speed command is calculated according to the external force moments calculated in the step 2; and S4, a position command is calculated according to the speed command and position feedback. Through the building of the kinetic model, the external force moments of all the joints can be directly calculated, without the assistance of a power-assisted sensor or a torque sensor, so that the cost and the complexity of the system are reduced; by the adoption of a position command control manner instead of a direct torque control manner, the design difficulty in the safety and the stability of the system is reduced; and in addition, since inertia force is considered when the external force moments are calculated, the zero-force control method and system can be suitable for robots with greater dead weight.

The invention discloses an automobile active anti-collision automatic lane change control system and an operating method thereof. The system comprises a real-time driving safety state judging module and an automatic lane change control module which are connected with each other; the real-time driving safety state judging module comprises a critical braking distance calculation module and a safety state judging module unit; the automatic lane change control module comprises a lateral dynamics and CarSim vehicle dynamics model establishing module, an expected yaw velocity acquiring module and a design terminal sliding formwork lane change controller module. The method includes two steps of driving safety state judgment and automatic lane change control. The system and method adopt pedestrians in front as the study objects of active anti-collision, whether driving is in the dangerous state or not can be judged by calculating the critical braking distance and corresponded automatic control is performed, the smoothness and operating stability during lane change are guaranteed, and safety of the pedestrians in front is guaranteed.

The invention discloses a preset performance ocean bottom flying node trajectory tracking control method based on a disturbance observer, relates to a preset performance ocean bottom flying node trajectory tracking control method, and aims to solve the problems that an existing method does not consider modeling uncertainty and ocean environment disturbance and propeller faults affect the OBFN (Ocean Bottom Flying Node). The method comprises the following steps that: 1: establishing a Fossen outline six-degree-of-freedom nonlinear kinetic model; 2: carrying out OBFN kinetic model transformationon the nonlinear kinetic model established in S1 to obtain an OBFN kinetic model, and determining an OBFN tracking error equation according to the OBFN kinetic model; 3: establishing a performance function; 4: carrying out error transformation on the tracking error in the S3 to obtain a transformed error; and 5: according to the transformed error obtained in S4, designing an OBFN system total uncertainty observer and a preset performance trajectory tracking controller. The method is used in the field of trajectory tracking control.