563 results about "Kinetics" patented technology

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 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 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 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 relates to a vehicle stability evaluation and early warning method and device, computer equipment and a medium. The method comprises the following steps: constructing a high-dimensional feature space fusing vehicle lateral, yaw, heeling and tire dynamic states; obtaining a vehicle dynamic state estimation value in the high-dimensional feature space based on the multi-source sensor data; determining a local stable manifold boundary representing the stable motion limit of the vehicle in the high-dimensional feature space according to the current vehicle driving condition; extracting stability risk characteristics of multiple dimensions in parallel according to a geometrical relationship and a dynamic evolution trend between a vehicle dynamic state estimation value and a local stability manifold boundary; generating a comprehensive risk level through a probability fusion model, and identifying a dominant instability mode; and when the comprehensive risk level exceeds a preset threshold value, triggering a corresponding predictive cooperative chassis control strategy according to the dominant instability mode. By adopting the method, multi-dimensional states can be fused in real time, and different instability modes can be recognized and distinguished in advance.

The invention discloses a boundary layer cushion block leveling method suitable for a wind tunnel half-mode test, relates to the field of experimental aerodynamics, and aims to reduce interference of wind tunnel wallboards in the half-mode test and improve assembly efficiency. The method comprises the following steps: S1, measuring corresponding data according to an established three-dimensional model of a boundary layer cushion block and a balance adapter; s2, based on the data in the step S1, the sizes of the first tool, the second tool, the third tool and the fourth tool are determined; s3, a corresponding first tool, a second tool, a third tool and a fourth tool are manufactured; s4, a balance adapter is installed in the wind tunnel test section, and a balance is measured; and S5, a leveling tool is used for assisting in leveling of the boundary layer cushion block. By adopting the method, the leveling tool is simple and convenient to apply, measurement parameters are few, and the mounting and leveling operation of the boundary layer base plate is effectively simplified; meanwhile, the leveling precision is high enough, the requirement for the installation precision of the boundary layer cushion block of the half-mold test can be met, and labyrinth groove collision is avoided.

The invention provides a multi-pump zero-displacement hydraulic agile control system and a control method thereof. The system is composed of a hydraulic system, a mechanical system and an electric control system. According to the control method, a multi-pump zero-displacement switching mechanism and a deep reinforcement learning strategy based on an Actor-Critic architecture are fused, the effective oil supply amount is adjusted by dynamically starting and stopping part of hydraulic pumps, a servo motor rotating speed instruction is output in real time in combination with a neural network, and the strong coupling dynamic relation between sliding block displacement and the angle of a swing rod is coordinated. The system switches part of the pumps to a bypass state when approaching balance so as to reduce energy consumption, and starts all the pumps to guarantee recovery capacity when greatly deviating. According to the technical scheme, on the premise of not depending on an accurate mathematical model, agile, stable and energy-saving control over the inverted pendulum type under-actuated system can be achieved.

The invention discloses a device for simulating influence of ditch cleaning ice cover evolution on hydrodynamic parameters and an application method thereof, and relates to the technical field of ice water dynamics and hydraulic engineering experiments. The device comprises a low-level water tank, a high-level water tank, a centrifugal pump, a flow valve, a water tank, a steady-flow perforated plate, a ditch cleaning ice cover simulation device, a first water level control grid plate, a second water level control grid plate and a flow field measurement system. According to the invention, three key parameters of ditch cleaning length, ice cover submerging water depth and roughness of the bottom of the ice cover are independently regulated and controlled, and non-contact high-precision measurement is carried out by means of a PIV technology, so that systematic and refined research on hydrodynamic parameters of an ice cover ditch cleaning area is realized. According to the method, researchers can safely and systematically research the influence of a single variable on the ice cover ditch cleaning water power at low cost, and the fundamental bottleneck of traditional field measurement in the research is solved.

The invention discloses a multi-vortex system space energy evolution process analysis method, belongs to the field of fluid mechanics and aerodynamics, and aims to solve the problem of energy analysis errors caused by integral radius dependence and single-vortex hypothesis limitation in a traditional method. According to the method, a vortex core is positioned through a Liutex method, a vortex to be analyzed is translated to an original point, a pseudo time sequence is generated in combination with evolution direction slices, and a first modal energy distribution and evolution law is extracted through eigen-orthogonal modal decomposition. According to the method, the integral radius does not need to be manually set, the adaptability is high, the vortex global energy space change process can be comprehensively reflected, the method is particularly suitable for energy evolution analysis in complex vortex system scenes such as bird flight and complex aircraft wake flow, a brand new view angle is provided for vortex energy evolution, and the method has certain engineering practical value. The method can be used for quantitative analysis of complex vortex field scenes such as aircraft design, biological bionics and wind energy engineering, and has important engineering application value.

The invention relates to the technical field of special vehicle hydraulic control, in particular to a special vehicle hydraulic lifting process control system and method, and aims to solve the problems that in the prior art, a hydraulic system and a vehicle dynamics model cannot be deeply fused, load identification prediction and reinforcement learning optimization cannot be combined, system control precision and self-adaptive capacity are reduced, and system reliability is high. And safe, efficient and intelligent operation of the special vehicle under variable loads cannot be ensured. A hydraulic system and a vehicle dynamics model are deeply fused through the intelligent load regulation and control module, load recognition prediction and reinforcement learning optimization are combined, the system control precision and the self-adaptive capacity are remarkably improved, the module achieves accurate response to complex working conditions, the energy utilization efficiency and the operation stability are effectively improved, the system robustness is enhanced, and the system reliability is improved. And safe, efficient and intelligent operation of the special vehicle under variable loads is ensured.

The invention relates to the technical field of water turbine design and simulation, in particular to a water turbine guide vane structure optimization design method, system and device and a medium, and the method comprises the steps that a multi-physical field coupling simulation model of a guide vane working environment is built and solved, and guide vane multi-working-condition performance data is obtained; on the basis of the multi-working-condition performance data, a mixed agent model for predicting guide vane performance statistical characteristics is constructed in combination with self-adaptive test design and uncertainty quantitative analysis; performing multi-objective collaborative optimization on the design parameter set of the guide vane and sealing system by using the mixed agent model to generate a robustness optimization solution set; based on the robustness optimization solution set and guide vane dynamic characteristics extracted from the multi-working-condition performance data, dynamic modeling and parameter calibration are carried out on the sealing system; and performing simulation verification and sensitivity analysis on the robustness optimization solution set, and outputting a parameterized design result. The method aims at improving simulation fidelity, optimization efficiency and robustness of optimization design of the guide vane structure of the water turbine.

The invention belongs to the technical field of mixing equipment, and particularly relates to a non-intrusive homogenizer operation process abnormity monitoring method and system, and the method comprises the steps: calculating the mechanical angular acceleration according to the real-time rotating speed of a motor shaft end; on the basis of a pre-constructed inverse dynamic model, according to the motor orthogonal axis current, the motor shaft end real-time rotating speed and the mechanical angular acceleration, a rheological resistance characteristic index is calculated; processing the rheological resistance characteristic index by using a singular spectrum analysis algorithm, and extracting a trend line of the rheological resistance characteristic index through construction of a trajectory matrix, singular value decomposition and diagonal averaging operation; the information entropy of the first-order difference sequence of the trend line is calculated to serve as the mixing stability entropy, and the mixing end point of the operation process of the homogenizer is judged according to the convergence condition of the mixing stability entropy relative to the reference entropy, so that anomaly monitoring of the operation process of the non-intrusive homogenizer is achieved. According to the invention, abnormity monitoring and end point determination of the mixing process of the homogenizer are realized.

The invention provides a semi-analytic LBM-DEM method for simulating particle-fluid two-phase flow, and the method comprises the steps: constructing a semi-analytic LBM-DEM coupling model, enabling the model to firstly determine the range of an expansion domain of particles, and obtaining the information, such as the average fluid velocity, the vorticity, the pressure gradient and the porosity, near the particles through traversing units in the expansion domain; and then, based on a theoretical formula and a semi-empirical formula, calculating the acting force of the fluid on the particles, and correcting a solid collision operator weight coefficient of a particle covering unit according to the acting force, so that synchronous evolution of particle dynamics and flow field distribution is realized. Compared with a classical analysis LBM-DEM coupling method, the method has the advantages that the calculation cost can be remarkably reduced under the condition that the calculation precision is guaranteed, and the method is particularly suitable for particle two-phase flow simulation in complex flow channels such as porous media and fractures.

The invention discloses a humanoid robot joint motor control method with model prediction control, and relates to the technical field of robot motion control. The method is used for solving the problems of control instruction infeasibility and model disturbance caused by voltage saturation during high-speed motion. An error state space model of a joint motor system is established, and non-linear terms such as gravity are used as nominal feed-forward quantities for stripping; then, the rotating speed of the motor and the bus voltage of the driver are collected in real time, the back electromotive force is calculated, and the voltage margin is mapped into a dynamic torque physical limit value at the current moment; and meanwhile, estimating an unmodeled lumped disturbance value of the model by using an extended state observer. And finally, taking the dynamic limit as a real-time inequality constraint, introducing a disturbance value correction prediction equation, constructing and solving a quadratic programming problem, extracting an optimal compensation torque, superposing the optimal compensation torque with an inverse dynamic feedforward torque, and converting the superposed torque into a current signal to drive a motor, thereby realizing high-dynamic and high-precision robust control under the physical boundary constraint.

The invention discloses a planetary gear dynamic characteristic prediction method. Comprising the following steps: carrying out a planetary gear dynamic transmission test on a real planetary gear test bed, carrying out dynamic modeling on a healthy planetary gear, describing the vibration of a planetary gear system by adopting a fixed coordinate system fixed on a gear ring, providing a dynamic characteristic type, responding to signal analysis, and carrying out dynamic transmission. Comparing and judging the result obtained by analyzing the response signal obtained by the test with the result obtained by analyzing the response signal, and establishing a planetary gear dynamic fault knowledge base system, so as to form digital-analog combination in the field of planetary gear transmission, which is beneficial for identifying the dynamic characteristics of planetary gear transmission. The prediction efficiency of the dynamic characteristics of the planet gear and the prediction precision in the field of fault identification are improved, and the accuracy of dynamic characteristic identification is improved through continuous test and model interaction. And a planetary gear transmission dynamic characteristic knowledge base system is established to realize rapid and accurate analysis of vibration signals captured in tests and projects.

The invention discloses a tethered satellite system dynamics modeling method considering perturbation factors. The tethered satellite system dynamics modeling method comprises the steps that a geocentric coordinate system, an orbital coordinate system of a Kepler orbit where a tethered satellite system is located and a body coordinate system of a unit satellite are established; according to the movement of the centroid of the tethered satellite system on the orbit, the generalized coordinates are the distance from the centroid of the system to the earth center and the true anomaly of the orbit, the Lagrange function of the centroid of the system is obtained; according to the movement of the unit star relative to the centroid, the generalized coordinates are the distance between the unit star and the centroid, the relative first rotation angle and the relative second rotation angle, the relative Lagrange function of the unit star is obtained; comprehensively considering perturbation factors to obtain non-spherical earth, third gravitational force and solar pressure perturbation potential energy; establishing a system kinetic equation considering comprehensive perturbation factors; and obtaining a complete Lagrange equation of the tethered satellite system. The error problem caused by the fact that the master satellite directly serves as the mass point of the system and the influence of comprehensive perturbation on system motion is not considered is solved, and the number of the slave satellites is not limited.

The invention discloses a Fluent-based numerical simulation and experimental design method for shaking of liquid in a tank of a tank truck, and belongs to the technical field of numerical simulation of fluid dynamics (CFD). The method includes the steps that the hole opening position of the wave-proof plate serves as an independent variable, multiple hole opening position schemes are designed, liquid shaking related indexes are determined to serve as dependent variables, a geometric model is established according to the actual structure of a tank truck tank body, a fluid mechanics model and boundary conditions are set, a solver is configured, output parameters and numerical simulation initial values are set, and an experiment is executed. The liquid shaking process of a certain swash plate trepanning scheme is simulated, acting force data, namely shaking index data, between liquid shaking and the inner wall of the tank body is recorded, the advantages and disadvantages of each trepanning position scheme are evaluated based on the shaking index data, and the optimal scheme is determined. According to the method, a real object experiment is replaced by CFD numerical simulation, parameter setting is carried out, the experiment cost and the experiment risk are remarkably reduced, the experiment efficiency is improved, and data support can be provided for industry design.

The invention discloses an aerodynamic load determination method and device of a train and the train, and relates to the field of aerodynamics. The method comprises the steps that geometric shape data of the train with the load to be determined are obtained; inputting the geometric shape data of the train with the to-be-determined load into the prediction model to obtain the pressure and shear stress of the train with the to-be-determined load, which are output by the prediction model; and according to the pressure and the shear stress of the train with the to-be-determined load, determining the resistance, the lift force and the lateral force of the train with the to-be-determined load. The prediction model is trained through the data of the train with the known load, the trained prediction model only needs to input the geometric file of the train object to be calculated, the pressure and the shear stress can be obtained, the threshold in the professional field is not involved, and therefore all workers have the operable ability. Simulation calculation is replaced by the prediction model, the prediction model does not need to be subjected to simulation calculation again, the pressure and the shear stress are directly output, the calculation time is shortened, and the calculation efficiency is improved.

The invention discloses a spatial gear transmission system reliability evaluation method fusing failure physics and degradation data, and belongs to the technical field of mechanical reliability engineering and fault prediction. The method aims to solve the problem of reliability evaluation of the spatial gear transmission system under the conditions of extreme environment, small sample, multi-failure mode coupling and significant individual difference. The method comprises the following steps: firstly, establishing a gear dynamics model considering nonlinear excitation to obtain dynamic meshing force; then, respectively constructing wear and fatigue degradation models based on failure physics; then, introducing an inverse Gaussian random process considering individual differences to carry out single failure mode reliability modeling; and finally, a Copula function is utilized to construct a binary correlation competition failure model, and system-level reliability comprehensive evaluation is realized. Through the technical route of physical mechanism driving, uncertainty quantification and data statistics fusion, a complete evaluation system is formed, and key technical support is provided for on-orbit health management and life prediction of the space gear transmission system.

The invention discloses a spring operating mechanism simulation method and system based on hydraulic buffer modeling, terminal equipment and a storage medium, and belongs to the field of power equipment simulation. The method comprises the following steps: constructing a three-dimensional model of the spring operating mechanism according to moving part structure characteristics, moving part connection relationships and mechanical parameters of each moving part of the spring operating mechanism to be processed; constructing a hydraulic buffer mathematical model according to the mechanical parameters, the structural characteristics of the hydraulic buffer and the element parameters of the hydraulic buffer; performing dynamic simulation on the spring operating mechanism to be processed according to a multi-dynamic simulation model obtained by coupling the three-dimensional model of the spring operating mechanism and the mathematical model of the hydraulic buffer to obtain the motion displacement and the motion speed of the piston rod; updating buffer resistance in the mechanical parameters according to the piston rod movement displacement and the piston rod movement speed; and updating the multi-dynamics simulation model according to the updated buffer resistance. By implementing the method, the problem of low simulation accuracy in the prior art can be solved.

The invention relates to the technical field of mechanical dynamics analysis and mechanism simulation, and discloses a guide rail impact and dynamic analysis method for a three-degree-of-freedom flat-bottom push rod cam mechanism, which comprises the following steps of: establishing a global coordinate system and a local coordinate system, and defining a push rod as a rigid body with three degrees of freedom of transverse, longitudinal and rotation; the effective input displacement of the cam is corrected according to the rotation angle, and the normal contact force, the friction force and the total cam contact torque are calculated; meanwhile, collision between four corners of the push rod and the guide rail is monitored, and guide rail impact force and guide rail impact total torque are calculated. And constructing a coupling dynamics differential equation set by integrating the force and the torque, and solving a motion state by using numerical integration. And further identifying the dynamic behavior of the system by using a Poincare section and a quintuple impact mode code. Simulation of inclination, overturning and multi-point impact of the push rod is achieved, the period, bifurcation and chaotic motion states of the system can be effectively recognized, and theoretical support is provided for mechanism optimization design.

The invention relates to the field of transformer overload control, in particular to a method and system for dynamically evaluating the overload capacity of a transformer, and the method comprises the steps: firstly, precisely extracting load step features and eliminating interference through a high-precision collection and sliding window differential verification technology; then, operating a finite-state machine based on a fluid dynamics principle, and switching among three modes of steady-state coupling, inertial decoupling and linear recovery according to load change; especially, a decoupling mode is entered during load impact, adiabatic temperature rise is utilized to deduce and replace lagged actually measured top oil temperature, and the problem of calculation distortion of a traditional model during oil flow lagging is effectively solved. In addition, the system executes double-thread calculation of the standard model and the inertial sensing model in parallel, outputs the final hot spot temperature through the maximum arbitration logic, and deduces the remaining allowable operation time according to the final hot spot temperature so as to generate a protection control signal. According to the invention, the evaluation accuracy and the operation safety of the transformer under the short-time overload condition are obviously improved.

The invention belongs to the technical field of ocean new energy, and provides an anchor system multi-floating-body array wave flow motion response analysis method and system, and the technical scheme is that a joint simulation method of multi-body dynamics and computational fluid mechanics is adopted to carry out the comprehensive modeling and analysis of a mooring type multi-floating-body array, and the wave flow motion response analysis of the mooring type multi-floating-body array is realized. A universal joint connection structure for platform connection is designed, and an equivalent concentrated mass-spring unit is introduced to simplify modeling of a mooring chain. Joint simulation is implemented in a numerical wave generation and ocean current pool, and hydrodynamic force and structural response of the anchor system multi-floating-body array system under the steady-state ocean current and regular wave conditions is evaluated; the system studies the influence of the size of the floating ball, the weight of the mooring chain and the flow velocity on the hydrodynamic performance and the platform stability. And the performance requirements in a complex marine environment can be better met.

The application discloses a multi-axis mechanical arm motion trajectory intelligent planning method and relates to the technical field of automatic control, which comprises the following steps: setting a task target and initial parameters of a mechanical arm, collecting environment data to generate an environment map, and constructing a dynamic environment model; the task target comprises target point coordinates and a task time window, and the initial parameters of the mechanical arm comprise an initial position and posture, joint angles, speed and acceleration; a mechanical arm trajectory generation model is constructed, a preliminary trajectory of the mechanical arm is generated based on the mechanical arm trajectory generation model, the dynamics constraint of the preliminary trajectory of the mechanical arm is checked, and the preliminary trajectory of the mechanical arm is optimized; the future trajectory of an obstacle is predicted according to the dynamic environment model, and the motion trajectory of the mechanical arm is generated in combination with the optimized preliminary trajectory of the mechanical arm and the future trajectory of the obstacle. Through dynamic environment modeling, the application realizes accurate prediction of the motion trajectory of a dynamic obstacle, and significantly improves the real-time adaptability of the mechanical arm in a complex scene.

The invention provides a vehicle dynamic stability control method based on reinforcement learning and variable pole assignment, and relates to the field of vehicle dynamics control. According to the method, the stability state and the energy evolution trend of the vehicle are recognized in real time by constructing a multi-dimensional criterion of a side slip angle phase plane and an energy phase plane; a reinforcement learning agent is utilized to make an expected closed-loop pole position of a system according to a current state online decision, aggressive poles are configured under a stable working condition to improve the flexibility, and conservative poles are configured under an unstable working condition to guarantee the stability. Besides, a safety monitoring mechanism containing pole physical domain constraints is further designed, the dynamic characteristics of the vehicle are remodeled through feedback control on the premise that the steering intention of a driver is not changed, and the problem of real-time balance of flexibility and safety in intelligent chassis control is effectively solved.

The invention discloses an engine blade design method based on a high-quality curved surface. The engine blade design method comprises the following steps: S1, constructing a two-dimensional section of a turbine engine blade according to key parameters and a mathematical geometrical relationship; s2, constructing a three-dimensional model of the turbine engine blade by combining the two-dimensional cross section with a blade front edge vertex equation and a blade rear edge vertex equation; s3, performing high-quality optimization on the two-dimensional section of the turbine engine blade by referring to a high-quality curved surface standard; s4, performing high-quality optimization on the three-dimensional model of the turbine engine in combination with a high-quality curved surface standard; and S5, detecting the high-quality turbine engine blade model. According to the method, a turbine engine blade high-quality model which has good aerodynamic performance and meets a high-quality curved surface process is designed through parametric modeling, and the feasibility and effectiveness of the design and optimization method in the paper are verified through a fluid mechanics simulation experiment.

The invention belongs to the technical field of crossing of mechanical engineering and system simulation, and relates to a simulation and experimental analysis method for a multi-factor coupling influence rule of a low-speed bearing. Comprising the steps that a multi-body dynamics finite element model is established based on bearing geometry and working condition parameters, and a multi-physical-field two-way coupling simulation model integrating mechanics, heat, lubrication and vibration is established; building an experiment table to synchronously acquire load, temperature, vibration and oil film state data; model boundary parameters are corrected by comparing experimental data with simulation results, and multi-target parameters such as bearing clearance and hardness are optimized by adopting a genetic algorithm; and finally, predicting the life of the multi-failure mode based on the correction model in combination with accumulated damage and crack propagation theories, and outputting optimization design parameters and operation and maintenance strategies. According to the method, a'simulation-experiment-feedback-optimization 'closed-loop analysis framework is established, so that the service life prediction precision and the reliability evaluation capability of the bearing are remarkably improved, and reliable technical support is provided for design optimization, operation maintenance and fault early warning of the high-load low-speed bearing.

The invention provides a multi-axle vehicle modeling method fused with stability parameter estimation, and aims to solve the problems that in the multi-axle vehicle theoretical modeling process, part of stability parameters are unknown, and the real-time performance and working condition adaptability of a single identification method are insufficient, and the multi-axle vehicle modeling method comprises the following steps: firstly, establishing a semi-trailer six-degree-of-freedom dynamic model; for eight unknown parameters, such as triaxial tire cornering stiffness, existing in a state equation matrix, offline identification is carried out by initially adopting a genetic algorithm, and then online estimation is carried out by introducing a least square method with a forgetting factor. And finally, taking a parameter estimation result obtained by genetic algorithm offline identification as an initial value, further introducing a recursive least squares (RLS) algorithm with a forgetting factor for secondary identification, and realizing fusion of genetic algorithm offline estimation and a recursive least squares online estimation algorithm, so as to identify the obtained stable structure parameter.

The invention relates to the technical field of motor rotor dynamics modeling, in particular to a motor rotor assembly modal modeling and parameter identification method and device and a medium. The method comprises the following steps: firstly, acquiring rotor assembly data, performing simplification and mesh generation, and constructing an equivalent transition layer model to accurately simulate connection boundary characteristics by combining finite element analysis with component connection relation definition; material parameters are calculated based on the model, the inherent frequency and the vibration mode are extracted, and actual modal parameters are identified through modal analysis and experimental verification; performing data arrangement and parameter extraction on an identification result, and obtaining an optimization model by adopting modular processing and optimization calculation; and finally, performing experimental verification and error analysis on the optimization model to generate a final report. By introducing the equivalent transition layer and modular processing, the modal simulation precision and optimization efficiency of the rotor assembly are remarkably improved, and a reliable basis is provided for dynamic performance design and optimization of a rotor system.

The invention provides an anti-saturation fault-tolerant control method and device for a double-flexible-arm space robot, relates to the field of robot control, and solves the multiple challenges that in the prior art, a flexible mechanical arm faces continuous and difficult vibration suppression, an actuator is prone to failure, torque is limited, task time is constrained and the like. The dynamic state of the system is unstable; and the control capability is limited. The method comprises the steps that a hypothesis modal method and a momentum conservation theorem are combined to derive a double-flexible-arm space robot kinetic equation in a Lagrange form; a flexible system singular perturbation technology is utilized to obtain a slow-varying subsystem for representing rigid motion characteristics of a mechanical body and a quick-varying subsystem for representing residual vibration characteristics of a rod piece; for the slow-varying subsystem, designing a fixed-time anti-saturation fault-tolerant controller based on an extreme learning machine and a torque output function; and designing an anti-saturation controller based on state variable negative feedback for the quick change subsystem. The method is used in the robot control process.