1146 results about "Kinetics" patented technology

The invention relates to the technical field of engineering control, in particular to a hoisting control method of a safe and portable hoisting cage, which comprises a hoisting pre-stage, data pre-acquisition and analysis before hoisting, a hoisting control stage and hoisting landing control. In the prior art, position closed-loop control mainly depends on a stroke encoder and a position sensor, dynamic swing deviation caused by wind disturbance is difficult to accurately pre-judge and counteract in real time, and the defects of control lag and insufficient response exist. According to the scheme, the motion trail and posture of the cage are predicted in advance based on simple pendulum dynamic model numerical solution and the Runge-Kutta method, high-precision deviation detection is carried out in combination with a virtual-real vision calibration technology and AR enhanced display, a cage motion state control model based on feedforward prediction is established, trail prediction errors are greatly compressed, and the accuracy of the motion state of the cage is improved. The forward-looking inhibition of the movement of the cage, especially wind-induced swinging, is realized, and the accuracy and the response speed of an active swinging inhibition measure are obviously improved.

The invention relates to the technical field of testing of structural components or equipment, in particular to a method and a device for testing mechanical durability of a wheel hub motor angle module and electronic equipment, and the method comprises the following steps: calculating the mechanical durability of the wheel hub motor angle module on the basis of actual driving data and whole vehicle parameters of a vehicle carrying the wheel hub motor angle module; a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of a vehicle are constructed, a whole vehicle durability simulation working condition of the vehicle is established in combination with test field condition constraints, a test driving file is iterated based on a simulation analysis result, a tool clamp is designed by utilizing the rim size of a hub motor angle module and the position of a suspension mounting point, and a test result is obtained. Therefore, a target test bench is constructed, and the target test bench is used for executing the durability test task of the wheel hub motor angle module. Therefore, the technical problem that in the related technology, a vehicle carrying a wheel hub motor angle module can collect less data and does not have the real vehicle spectrum collection condition under the long-term and severe road condition, so that the durability test is difficult to carry out is solved.

Provided in the present invention is a modeling method for a simulation model of a multi-component single-bubble motion and mass transfer coupling process. The modeling method comprises the following steps: according to Newton's second law, establishing a bubble transient acceleration model on the basis of a viscous force dominant mechanism of spherical bubbles; according to a flow function in a spherical coordinate form, establishing a bubble transient non-equilibrium mass transfer model by means of a non-equilibrium mass transfer theory; establishing a bubble mass state equation on the basis of mass transfer kinetics and a mass state equation; and constructing a pollutant accumulation stagnation cap model on the basis of a stagnation cap model. In the present invention, multi-component expansion is performed on the basis of a single-component mass transfer model; the stagnation cap model is introduced; the mutual influence among motion, mass transfer and pollutant diffusion is solved by means of a mathematical model; and the simulation model is applied to the simulation of a multi-component single-bubble motion and mass transfer coupling process in a micro-interface scale range, and can predict, in view of bubble motion and mass transfer characteristics, the mutual influence between multi-component single-bubble motion and mass transfer, and the strengthening effect of bubble size on mass transfer.

The invention provides a smoothed particle fluid dynamics simulation wave impact structure boundary force processing method, which comprises the following steps: S1, initializing the speed, density and position of particles by establishing a numerical model; s2, dividing fluid particles and boundary particles; s3, calculating and correcting the density and speed variation of the particles according to the hydrodynamic equation and the boundary rejection effect; s4, calculating the pressure and the speed of boundary particles through a Schelerd interpolation method, and reflecting the interaction between the fluid and the solid; s5, based on the pressure and the position of the boundary particles, calculating the pressure intensity, obtaining the stress and the torque of the structure, and updating the degree of freedom; and S6, updating the particle state and entering the solution of the next time step. According to the method, when the influence of the boundary force is determined, the influence of the relative speed of fluid particles and wall surface particles is considered, meanwhile, the maximum speed in a flow field is approximately replaced by the artificial sound velocity, and the purposes of accurately simulating the interaction process of the ocean wave-ocean engineering structure and ensuring the stability of numerical simulation calculation are achieved.

The invention is suitable for the technical field of vehicle motion control, and provides a distributed drive-by-wire vehicle motion control method considering parameter robustness, comprising the following steps: establishing a nominal model of system state prediction based on a distributed drive-by-wire vehicle two-degree-of-freedom dynamic model; parameterizing model mismatch into bounded disturbance, constructing a system deviation model and a deviation suppression cost function, and solving a robust state feedback matrix by using an LMI method; based on a tube-based MPC theory, approximately solving a minimum robust invariant set of the nominal model, reconstructing state quantity and control quantity constraints, and solving front and rear wheel turning angles and expected additional yaw moment through rolling optimization; the wheel drive torque is distributed in response to the desired additional yaw moment. According to the control method provided by the invention, the parameter robustness of distributed drive-by-wire vehicle cooperative motion control is improved, and the vehicle handling stability under the model mismatch working condition can be effectively improved.

The invention discloses a multi-dimensional aeroelastic calculation method and device based on a nonlinear Euler-Bernoulli beam and a storage medium, and belongs to the technical field of wind turbine aerodynamics, the method comprises the following steps: inputting the stiffness of each section of a blade into a nonlinear Euler-Bernoulli beam equation to obtain a modal-displacement transformation matrix; the rigidity, the weight and the external force of each section of the blade are converted to obtain a generalized rigidity matrix, a generalized mass matrix and a generalized force; starting circulation, substituting into a forced coupling vibration equation, solving modal displacement of each order at the current moment, and inputting into a modal-displacement inverse transformation matrix to obtain blade displacement; the generalized force is substituted into a blade element momentum theoretical formula to solve aerodynamic force at the next moment, the generalized force is updated to obtain updated generalized force, and aerodynamic force at each moment is obtained; and calculating to obtain the multi-dimensional aerobomb. According to the method, the calculation of the blade deformation and the load considers the change of the torsional degree of freedom, and more accurate and more efficient load and deformation calculation can be carried out.

The invention relates to the crossing field of mechanical engineering and automatic control, in particular to a global path planning and anti-swing control method for a ship unloader, and aims to solve the problems of rigid path planning and poor synergism of out-of-control swing of a lifting appliance in traditional ship unloading operation. The method comprises the following steps: constructing a dynamic three-dimensional operation space model with fusion of a laser radar and binocular vision, and updating obstacle information in real time; an improved fast extended random tree algorithm is adopted to generate a high-smoothness initial path; establishing a six-degree-of-freedom lifting appliance swinging dynamic model and identifying parameters on line; path tracking and anti-swing torque are synchronously optimized through a model prediction controller, and the control period is smaller than or equal to 20 milliseconds; and closed-loop feedback correction is implemented by combining an encoder and an inertial measurement unit. According to the scheme, environment dynamic sensing, path-anti-swing depth cooperation and multi-disturbance self-adaptive compensation are achieved, the operation rhythm is improved by 30% or above, the system still operates stably under the 8-level wind condition, and high precision, high robustness and engineering implementability are achieved.

The invention discloses an engine additive component service life prediction method based on modal polycondensation and expansion, and the method specifically comprises the steps: firstly, achieving the grid discretization of an initial defect structure based on a finite element method, and carrying out the local refinement of a defect region; performing modal polycondensation on the overall model to obtain a low-dimensional system model, and performing rapid calculation under the low-dimensional model to obtain modal response; establishing a conversion relation between a displacement vibration mode and a stress vibration mode, and obtaining full-field stress by utilizing modal response and based on modal extension; and solving a stress intensity factor-time history of the crack tip by adopting a stress extrapolation method, obtaining a delta K-R-n three-variable rain flow matrix by utilizing a rain flow counting method, and finally carrying out residual life evaluation through an iLAPS model. According to the method, system dynamics, fracture mechanics and modal order reduction technologies are fused, a new efficient and accurate fatigue life prediction path adapting to complex working conditions is provided for additive manufacturing components with defects, and the method has remarkable engineering application value and popularization potential.

The invention provides a wind power blade aeroelastic coupling modeling method considering a pre-bending shape, which comprises the following steps of: establishing a finite element kinetic equation of a geometric precise beam structure of a pre-bending blade and solving to obtain the section speed of the blade; calculating the inflow velocity according to the section velocity of the blade; calculating a lift coefficient after dynamic stall of the blade; establishing an unsteady aerodynamic load calculation equation according to the inflow velocity and the lift coefficient after dynamic stall of the blade; and constructing a pre-bent blade aeroelastic coupling model according to the unsteady aerodynamic load calculation equation. The method can solve the technical problems that a modeling method in the prior art cannot accurately describe nonlinear deformation of the blade, the continuity of a blade model is poor, the number of calculation units is too large, the calculation efficiency is low, and the modeling method is not suitable for the long flexible blade.

The invention belongs to the related technical field of mobile robots, and discloses a rolling-walking composite motion control method and device for a double-wheel-foot robot, and the method comprises the steps: (1) simplifying the rolling motion of wheels of the double-wheel-foot robot into the sliding motion of a sliding block; (2) constructing a system kinetic equation of the double-wheel-foot robot based on the simplified kinetic model; constructing a constraint equation based on the contact state of the two legs and the ground; discretizing the system kinetic equation, the cost function and the constraint equation, and converting model prediction control problems corresponding to the system kinetic equation, the cost function and the constraint equation into nonlinear problems for numerical solution so as to complete leg motion planning; (3) calculating the rotation speed of the wheel based on the leg motion planning result; and (4) based on the rotation speed of the wheels and the leg motion planning result, a whole-body control algorithm is adopted to calculate and obtain moment instructions of leg joints and the wheels. According to the invention, the state space dimension is reduced, and the wheel-ground contact constraint is simplified.

Disclosed in the present invention are a two-scale numerical value calculation method for the performance of a sliding bearing with the impact of roughness taken into consideration. The method solves the problem of the calculation accuracy and speed regarding the impact of roughness on lubrication performance of sliding bearings, and overcomes the problem of calculation being inaccurate and unsuitable in conventional methods without taking roughness into consideration. In the present invention, cavitation in sliding bearings is taken into consideration, and a fluid dynamic behavior model is established on the basis of roughness. In order to solve the problem of fluid dynamics in a macroscopic domain, a two-scale normalization method is provided, such that microscale effects are coupled into a macroscopic scale by means of finite difference partial derivatives, and then a response of a fluid dynamic behavior in a microscale domain to roughness is calculated by using the normalization method; and a linearization method is provided to calculate finite difference partial derivatives. The present invention provides a two-scale normalization-based numerical value calculation method for the bearing capacity and friction coefficient of a sliding bearing, thereby providing a more accurate and more universally applicable method for numerical value calculation of the performance of sliding bearings with the impact of roughness taken into consideration.

The invention provides a DL-MVCNN-based wind power subsynchronous oscillation traceability method and system, and relates to the technical field of wind power grid connection and oscillation traceability, and the method comprises the steps: constructing a multi-wind power plant grid connection model, and obtaining instantaneous current and power high-dimension subsynchronous oscillation data; modeling is carried out on instantaneous current and power subsynchronous oscillation intrinsic dynamics based on sampling determination learning, subsynchronous oscillation dynamic characteristics are extracted in a given state space, and a subsynchronous oscillation dynamic diagram is generated; inputting the subsynchronous oscillation kinetic graph into a multi-modal oscillation traceability model, extracting respective kinetic mode characteristics of each wind field, and fusing the kinetic mode characteristics of each wind field through a channel attention mechanism in the multi-modal oscillation traceability model to obtain fused characteristics; different oscillation sources correspond to different determined learning dynamics characteristics, based on fusion characteristics, adjusting a weight giving channel, calculating a corresponding channel weight, and outputting a classification result of wind field traceability.

The invention relates to a large-span bridge flutter critical wind speed prediction method based on an L-P perturbation method. The method comprises the following steps that S1, physical characteristics and aerodynamic parameters of a bridge are obtained through a wind tunnel test to serve as basic data; s2, establishing a bridge motion control matrix equation based on modal displacement; s3, deriving an explicit solution of the modal frequency, the damping ratio and the modal characteristic of each modal branch based on an L-P perturbation method; s4, iteratively solving the modal frequency, directly solving the damping ratio, the amplitude ratio and the phase difference on the basis, observing the change of the modal damping ratio xi in each direction along with the wind speed U, and determining the flutter critical wind speed; the problems that an explicit closed solution of an existing three-degree-of-freedom flutter starting condition needs to carry out multiple times of iterative calculation on modal frequency, damping ratio and vibration mode, the influence of structural parameters and pneumatic parameters on pneumatic instability is difficult to clearly explain, and the flutter critical wind speed of a large-span bridge cannot be well predicted are solved.

The invention relates to the technical field of aero-engines, and discloses a dry friction damper multi-target robust optimization method considering multi-source uncertainty, and the method specifically comprises the following steps: 1, quantifying the uncertainty parameters of a dry friction damper; step 2, performing hyper-Latin cube (LHS) sampling on value ranges of geometric parameters and contact parameters caused by abrasion to obtain parameter combination sampling capable of expressing global characteristics in a global sample space; 3, calculating a corresponding nonlinear dynamic response by using a multi-dimensional harmonic balance method (MHBM) by using the nonlinear parameters obtained by sampling; by means of the mode of synchronously optimizing key design parameters of the friction-damping system, the optimal robustness design of the friction-damping system is allowed to be carried out under parameter uncertainty with the purpose of vibration reduction, the damping effect of the dry friction damper is improved, the Pareto optimal solution of the neural network is solved through the genetic algorithm, and the optimal stability of the friction-damping system is improved. Therefore, the multi-objective optimization is realized and the calculation efficiency is improved.

A multi-body dynamics simulation method, system, device and medium for a chain system, the method comprising: acquiring a connection relationship among a plurality of target components in the chain system, a structure parameter, a space environment parameter and a task parameter of each target component, and a physical property of a lubricating medium of the chain system under the space environment parameter; correcting the structure parameter of each target component based on the space environment parameter to obtain a target structure parameter; based on the target structure parameters and the connection relation, determining friction characteristic indexes and motion freedom degrees among the multiple target assemblies; constructing a lubrication-volatilization-friction coupling matrix among the plurality of target components; constructing a multi-body dynamic model according to the target structure parameters and the lubrication-volatilization-friction coupling matrix; and acquiring a rotating speed fluctuation curve and load torque data corresponding to the task parameters, and inputting the rotating speed fluctuation curve and the load torque data into the multi-body dynamic model to obtain a dynamic simulation result of the chain system. The reliability of multi-body dynamics simulation of the chain system can be improved.

The invention relates to a stern bearing lubrication characteristic analysis method coupled with the influence of three-dimensional vibration of a stern shaft, and the analysis method comprises the steps: S1, inputting global parameters into a bearing lubrication performance and kinetic parameter calculation module and a propulsion shaft system vertical, horizontal and torsional three-dimensional vibration calculation module, and completing the corresponding calculation; s2, obtaining a bearing transfer matrix; s3, obtaining a system transfer matrix; s4, the forced vibration calculation module completes corresponding calculation; s5, a bearing relative position feedback module completes corresponding calculation; and S6, judging whether the calculation of one work cycle is completed or not, and storing and outputting the working characteristic result of the stern shaft-stern bearing in the cycle. By designing a bearing lubrication performance and kinetic parameter calculation module and a propulsion shafting vertical and horizontal torsion three-dimensional vibration calculation module, the vibration and lubrication coupling effect between a stern shaft and a stern bearing is fully considered, and a stern shaft vertical and horizontal torsion three-dimensional vibration and stern bearing lubrication characteristic bidirectional coupling model is established. And a vibration lubrication mutual feedback mechanism under a complex vibration condition is disclosed.

The invention discloses a method, a device, equipment and a medium for simulating migration of a proppant, and relates to the technical field of analogue simulation. Simulation is carried out through fluid dynamics and a discrete element analysis model, specifically, fluid parameters are obtained, a calculation model is constructed, and constraints are set; parameters are input for fluid and particle stress analysis, and particle displacement and grid updating are calculated; contact is judged through the particle collision sequence, boundary force is calculated, and the particle motion state is updated; and cyclically feeding back the flow field parameters to particle stress analysis until the number of iterations is met so as to obtain the void ratio, the flow velocity, the position and the momentum of the particles. According to the invention, the motion among particles can be captured and accurately calculated in a high-concentration particle flow or particle dominated collision system.

The invention provides a joint prediction method and system for a wind resistance coefficient and a surface pressure field of an automobile, and relates to the technical field of automobile aerodynamics. According to the joint prediction method, the pressure field and the wind resistance coefficient are predicted in the same network in parallel, and the wind resistance coefficient obtained by pressure field integration and derived from the pressure field and the wind resistance coefficient obtained by network direct regression are calibrated by physical consistency constraint. The model has physical confidence and interpretability while ensuring numerical precision, so that a key stress area can be positioned and serves an automobile modeling iteration process.

The invention discloses an aviation fuel gear pump performance prediction method based on lumped parameters. The method comprises the following steps: 1, dividing internal control volumes of the gear pump and analyzing communication relations of the control volumes; 2, establishing a gear pump dynamic mathematical model by combining the internal pressure and flow characteristics of the gear pump and the geometric structure characteristics of the gear pump; step 3, establishing a gear pump 3D model based on UG and measuring related data, storing the data in a 1D table as the input of a gear pump Amesim lumped parameter model, and simulating the change relation of the gear cavity volume and the area of each throttling channel along with the rotation of the gear pump; and 4, establishing a gear pump lumped parameter performance model based on Amesim, inputting data according to oil liquid characteristics and the gear pump 3D model, setting corresponding parameters, performing gear pump multi-working-condition performance simulation, and analyzing and predicting pressure characteristics and flow characteristics of the gear pump under different working conditions. According to the method, a gear pump lumped parameter performance model is built based on Amesim modeling software and UG geometric modeling software, so that the internal flow pressure characteristic and the output pressure flow characteristic of the gear pump are predicted.

The invention provides a vehicle dynamics performance analysis method and system considering suspension parameter performance degradation, and relates to the technical field of railway vehicle dynamics, and the method comprises the steps: building a nonlinear Maxwell hydraulic damper model; establishing a vehicle system dynamics model in simulation software based on a vehicle dynamics theory; integrating the nonlinear Maxwell hydraulic damper model into a vehicle system dynamic model, and establishing a vehicle system nonlinear dynamic model considering suspension parameter performance degradation; setting model parameters of the nonlinear Maxwell hydraulic damper to obtain a simulation result; and analyzing the dynamic performance evaluation index of the vehicle so as to complete dynamic performance evaluation of the vehicle under the conditions of actual service mileage and environment temperature. The method effectively reflects the influence of suspension parameter degradation on the dynamic performance of the vehicle, improves the precision of a dynamic simulation model of the railway vehicle and the reasonability of an analysis method, and has important theoretical research significance for innovative design and intelligent operation and maintenance of the railway vehicle.

The invention discloses a plasma-based variable mach number wind tunnel design method, and belongs to the technical field of wind tunnel design in aerodynamics. The problem that in the prior art, a traditional variable Mach number wind tunnel needs to replace a specific spray pipe, so that the test efficiency is low is solved. The method comprises the steps of determining overall aerodynamic parameters; determining the section size of the stable section according to the wind tunnel flow, the set simulation temperature and the set simulation pressure; the method comprises the following steps: constructing axial Mach number distribution by setting an idea of calculating a wall surface profile by axial Mach number distribution, designing a nozzle outlet Mach number in combination with a transonic speed theory, and verifying the nozzle outlet Mach number by a computational fluid mechanics method; and the number of excited plasma generators is controlled, a volumetric force field generated by plasma excitation is solved by adopting a aesthetic model, the changed nozzle outlet Mach number is obtained, and the variable Mach number wind tunnel design is completed. The method effectively improves the efficiency of the test adopting the variable Mach number wind tunnel, and can be applied to design of the variable Mach number wind tunnel.

The invention discloses a six-degree-of-freedom wheel-foot robot control method, system and device and a storage medium, and relates to the technical field of robotics.The method comprises the steps that whole-body dynamics modeling is conducted on a wheel-foot robot, and a target motion equation of the wheel-foot robot is obtained; calculating a current task state of the wheel-foot robot, a Jacobian matrix and a ground normal vector at a wheel-foot contact point according to the sensor data; determining a target expected acceleration according to the current task state and the reference task state; constructing an optimization problem by using the Jacobian matrix, the ground normal vector and the target expected acceleration; solving the optimization problem under the constraint of the target motion equation to obtain a driving torque; and controlling the wheel-foot robot to move according to the driving torque. The optimization problem constructed by the method comprises the ground normal vector at the wheel-foot contact point, leg dynamics is considered when the wheel-foot robot is controlled, the determined driving torque can more stably drive the wheel-foot robot to pass through the uneven terrain, and the robustness and the passing capacity are improved.

The invention belongs to the technical field of magnetic levitation rulers, and relates to a magnetic levitation ruler horizontal motion control method, which comprises the following steps: establishing a mathematical model of a horizontal system; according to the constructed mathematical model, estimating the position of the rotor iron core through induced electromotive force derivation to obtain the horizontal position and the deflection angle value of the rotor iron core; rotor iron core horizontal motion control based on SYSTD is carried out; and setting the parameters of the horizontal control system of the magnetic suspension ruler system. A mathematical model is established based on a magnetic circuit and a dynamics principle, the problems of nonlinearity and strong coupling of a magnetic levitation ruler horizontal displacement system are solved by applying an improved active-disturbance-rejection control algorithm, and a system structure is simplified by utilizing a position-sensorless control technology. According to the method, unknown dynamic and external disturbance is taken as total disturbance, and real-time estimation and compensation are carried out through an extended state observer; the ADRC not only can adjust errors, but also can actively process uncertain factors of the system and improve the control efficiency, does not depend on an accurate mathematical model, and is high in adaptability and robustness in a complex system.

The invention discloses a rigid-flexible coupling mechanical arm trajectory planning and tracking dynamics simulation method based on an intelligent algorithm. The rigid-flexible coupling mechanical arm trajectory planning and tracking dynamics simulation method is a method integrating dynamics modeling, trajectory planning and trajectory tracking. The method comprises the following steps: performing dynamic modeling on the two-connecting-rod rigid-flexible coupling mechanical arm by using a second-type Lagrange equation, performing reasonable trajectory planning by taking residual vibration energy of a flexible rod as an optimization target and using a particle swarm algorithm when a point-to-point motion task is performed on the mechanical arm, searching an ideal joint trajectory for effectively inhibiting residual vibration, and performing point-to-point motion on the mechanical arm. And finally, in order to enable the mechanical arm to run along a high-quality trajectory preset by trajectory planning, a trajectory tracking method based on deep reinforcement learning is used for tracking an ideal joint trajectory generated by trajectory planning in real time. Reasonable planning and tracking of the joint track of the rigid-flexible coupling mechanical arm can be achieved, and the adverse effect of vibration deformation on the working precision is effectively reduced.

The invention relates to a dynamic modeling method for an attitude control system under a dynamic fault. The method comprises the following steps: determining a modeling hypothesis of a nonlinear dynamic model; establishing a coordinate system used for modeling; rocket configuration parameters and engine related parameters are obtained; building displacement and acceleration descriptions of the three types of structures on the rocket; establishing a rigid body translation equation, a rigid body rotation equation, a rocket body elastic vibration equation, a propellant shaking equation and a sensitive element measurement equation; summarizing the five established equations to form a nonlinear dynamic equation set; and performing small-disturbance linearization expansion on the nonlinear dynamic equation set on the basis of the nominal reconstructed trajectory to obtain a linearized small-deviation equation set suitable for controller design and stability analysis. According to the method, the influence of the thrust drop fault is comprehensively considered, and the model can be used for carrying out relatively accurate dynamic response analysis and reconstruction scheme design under the fault.

The invention provides a rotary steering fatigue life prediction method and system considering dynamic characteristics, and the method comprises the steps: building a three-dimensional structure model based on a set target test structure, analyzing dangerous points based on a statics finite element simulation model in combination with a set test well section, and determining the static Mises stress of each point; introducing a dynamic boundary load to construct a dynamic finite element simulation model, and analyzing the dynamic Mises stress of each point; calculating a dynamic load addition coefficient of each point according to the dynamic maximum stress and the static stress; in addition, dynamic load characteristics at all points are analyzed from multiple aspects of bit pressure, torque and bending moment; analyzing fatigue characteristics according to the material of the structure corresponding to the dangerous point; and designing a linear damage accumulation operation model, integrating the calculation results to calculate a fatigue index value for multiple input rounds, and further determining the fatigue life of the whole string of tools. According to the scheme, the defects of incomplete operation angles and insufficient accuracy in the prior art can be overcome, and accurate prediction is realized by fully considering dynamic load characteristics and material characteristics of different structures.

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

The invention relates to the technical field of robot control, in particular to a high-precision double-closed-loop robust control method for a rope-driven super-redundancy mechanical arm, which is characterized in that dynamics modeling is performed on the rope-driven super-redundancy mechanical arm based on an equivalent moment method, control is divided into a joint space and a driving space, and a double-closed-loop controller is designed for the two spaces. In a joint space, a kinetic parameter adaptive estimation algorithm is designed, so that kinetic parameters converge to correct values within finite time, the accuracy of a dynamic feed-forward quantity is improved, and in a driving space, feed-forward compensation is performed on nonlinear dynamics of a motor, a sliding block, a guide rail and a rope in a driving module based on time delay estimation, so that the dynamic performance of the motor is improved. And sliding mode control is used as a feedback control law, the robustness of nonlinear friction and external disturbance of the rope is improved, and accurate and stable control over the rope-driven super-redundancy mechanical arm can be achieved.

The invention relates to the technical field of maglev motor dynamics and control, and discloses a bearingless asynchronous motor multi-frequency harmonic vibration cooperative suppression method, which comprises the following steps: acquiring radial displacement signals and mechanical angular velocity of a rotor in an x axis and a y axis under a stator fixed coordinate system, and stacking double-axis displacement signals into an observation vector; calculating a weighting coefficient of the normalized residual error through a Huber robust cost function, and outputting the amplitude, the phase and the confidence of each order of harmonic wave; estimating the total disturbance of the system by using a linear extended state observer with harmonic energy injection, wherein the total disturbance is obtained by weighted summation according to the confidence, order and mechanical angular velocity of each order of harmonic; calculating a feedback control force according to the total disturbance estimated value, and superposing the feedforward compensation force and the feedback control force to generate a total suspension force instruction; and according to the total suspension force instruction, inversely calculating a suspension winding current reference value and outputting a control instruction. According to the invention, a mutually complementary cooperative suppression mechanism is formed, and the suppression precision of multi-frequency vibration is improved.

The invention discloses a three-dimensional fluid-solid coupling simulation method and device for a rod falling behavior of a control rod drive line, and relates to the technical field of simulation of the rod falling behavior of the control rod drive line. Fluid boundary updating in the rod falling process of the control rod is processed through a structural grid and dynamic grid layer laying technology on the basis of computational fluid dynamics and multi-body dynamics theories; a modal synthesis method and a Hertz contact model are adopted to solve the problems of flexibility and contact friction of a large-length-diameter-ratio moving part, key factors including fluid resistance and mechanical friction resistance influencing rod falling simulation accuracy are calculated, fluid-solid coupling is achieved through one-way data transmission, three-dimensional fluid-solid coupling of the rod falling behavior of the control rod drive wire is achieved, and the control rod drive wire rod falling simulation accuracy is improved. The accuracy of a simulation result is improved, the degree of dependence on a prototype test is reduced, and a technical basis is provided for researching the rod falling behavior of the reactor control rod drive wire.