687 results about "Kinetics equation" patented technology

The invention relates to the technical field of power supply devices, in particular to an energy-saving optimization method for an electric energy storage device, and the method comprises the steps: fusing a lithium ion battery solid-liquid phase change kinetic equation, a flow battery fluid mechanics equation and a flywheel rotor rigid-flexible coupling equation through a neural differential equation; constructing a dynamic meta-knowledge base containing cross-time scale nonlinear interaction features; performing dynamic parameter compensation on the polarization voltage hysteresis effect and the electrolyte flow resistance coupling effect by using a physical information neural network to generate a decoupled residual feature vector; according to the method, multi-physics field coupling modeling is achieved through the dynamic meta-knowledge base, and the energy efficiency optimization effect of the energy storage device is improved by combining the physical information neural network and the quantum optimization algorithm.

The invention provides a water conservancy construction progress intelligent management method and system. Wherein hydraulic engineering project plans are collected, dynamic changes in a life cycle are obtained through an integrated building information model technology, and a hydraulic engineering construction progress management framework is generated; extracting multi-source heterogeneous data, performing cross-modal information integration by applying a multi-modal fusion network algorithm, evaluating specific influence of external environment factors by adopting a causal forest technology, and generating a water conservancy construction progress and risk early warning report; establishing a kinetic equation by applying a graph neural differential equation algorithm, performing dynamic system simulation, and constructing a virtual water conservancy construction environment by adopting an enhanced digital twinborn simulation technology to capture construction efficiency and resource utilization conditions and generate a water conservancy construction resource allocation optimization report; and a lean six-sigma methodology is introduced to set a lean improvement plan, project feedback is collected, and a water conservancy construction progress intelligent management scheme is generated. According to the technical scheme provided by the invention, the intelligent level of water conservancy construction progress management is remarkably improved.

The invention discloses a four-rotor unmanned aerial vehicle model prediction control method based on a deep Q-network (DQN). The method comprises the following steps: firstly, establishing an inertial coordinate system and a body coordinate system, and establishing a kinematic equation and a kinetic equation of the four-rotor unmanned aerial vehicle based on a Newton second law and an Euler-Lagrange equation; according to the method, an unmanned aerial vehicle robust controller based on model predictive control (MPC) is designed, optimal control input is generated through dynamic optimization, and the trajectory tracking performance of the unmanned aerial vehicle is improved. For various disturbances existing in the whole tracking process, a DQN reinforcement learning algorithm and an MPC method are combined to design a flight control system, control rate errors caused by the disturbances are compensated, the stability of attitude control is enhanced, and the tracking precision and the anti-interference capability are improved. And finally, verifying the robust performance of the flight control system through a simulation experiment.

A balance control method for a wheel-legged robot is provided. The robot includes a moving wheel, n links, and n rotating joints, the moving wheel being connected to a first link through a first rotating joint of the n rotating joints, and the n links being connected in series through n−1 rotating joints other than the first rotating joint, n being a positive integer greater than 1. The method includes: acquiring a state quantity of the wheel-legged robot at a first moment; determining dynamics model parameters according to a dynamics equation of the wheel-legged robot and the state quantity at the first moment; establishing a sliding surface according to the state quantity at the first moment; calculating rotation torques of the n rotating joints according to the sliding surface and the dynamics model parameters; and controlling the rotating joints according to the rotation torques of the n rotating joints.

The invention relates to an optimization design method for a multi-fulcrum elastic ring supporting structure of an aero-engine rotor system, and belongs to the technical field of aero-engine vibration control and rotor dynamics simulation. Firstly, a finite element or lumped unit model is adopted to establish a coupling kinetic equation of a rotor and an elastic ring, and fluid-solid coupling factors such as inner and outer oil films of the elastic ring and orifice flow are considered; then, through critical rotating speed and vibration harmonic response analysis, sensitivity evaluation is carried out on rigidity and damping characteristics of different supporting positions, and target vibration reduction modes corresponding to all fulcrums are identified; then, coupling simulation and multi-objective optimization are carried out around the number of bosses of the elastic ring, the height of the bosses, the damping aperture, the thickness of a thin wall and other key structure parameters, and the optimal design meeting the vibration reduction requirement of a rotor system and the strength reliability requirement of the elastic ring is obtained through iteration; and finally, an optimization result is applied to structure manufacturing and assembling. The method can effectively reduce the vibration amplitude of the rotor when the rotor crosses the multi-order critical rotating speed.

The invention relates to the technical field of belt conveyor dynamic characteristic research, in particular to a trailer type belt conveyor dynamic characteristic simulation method, which comprises the following steps: respectively carrying out stress analysis on a trailer frame, each wheel and a conveying belt unit in a trailer unit, and sorting the degree of freedom; establishing an overall coordinate system, a vehicle body coordinate system, a contact coordinate system and a conversion relation; respectively establishing kinetic equations of the wheel pair and the vehicle supporting frame; kinetic parameters of the trailer unit are determined; according to the Hamiltonian principle, a vehicle supporting frame vertical motion equation and a vehicle supporting frame nodding motion equation are established, and then a linear second-order differential equation of a vehicle supporting unit is obtained; and compiling a calculation program by using numerical calculation software, and simulating the wheel-rail vibration characteristics of the trailer unit in the straight-line-segment advancing process. On the basis of the multi-degree-of-freedom multi-body dynamics theory, a trailer type belt conveyor system nonlinear dynamics equation is constructed, and a wheel pair, a trailer frame and a six-degree-of-freedom motion equation for coupling the wheel pair and the trailer frame are analyzed.

The invention relates to the technical field of power equipment fault diagnosis, in particular to a transformer overheating fault intelligent diagnosis system based on a physical information neural network. According to the invention, physical constraint filtering is carried out on signals through the adaptive noise suppression module; a loss function fusing a heat conduction equation, a gas decomposition kinetic equation and an insulation aging kinetic equation is constructed through a physical information neural network, and coupling modeling of temperature and gas and collaborative prediction of the aging state of insulation paper are achieved; spatial topological features and time sequence features are extracted through a multi-modal feature fusion module, and cross-modal association is established by adopting an attention mechanism; predicting a future feature trajectory through a fault evolution prediction module and outputting hierarchical early warning; and finally, outputting fault types, severity and maintenance suggestions. According to the method, a physical mechanism and data intelligence are deeply fused, advanced early warning and accurate positioning of an overheat fault are realized, and meanwhile, the blank that insulation failure cannot be pre-judged in the prior art is filled.

The invention relates to the technical field of industrial robots, in particular to a five-degree-of-freedom industrial robot path planning method and system based on D-H parameters and dynamics modeling, and realizes high-precision path planning and dynamic environment adaptation by combining kinematics modeling, dynamics analysis and MATLAB simulation technologies. The method comprises the steps of building a robot kinematics model, building a kinetic equation, mixing a path planning strategy, solving inverse kinematics and performing multi-sensor fusion control. The system covers modeling, calculation, planning, simulation and feedback modules, and the operation efficiency and safety of the industrial robot in a complex scene are effectively improved.

The invention discloses a simulation method, device and equipment for predicting flow and deformation of a porous medium and the medium. The method comprises the steps that a computational domain is selected, a corresponding computational grid is generated, and porosity initialization is conducted on the computational domain; determining a time step length and a discrete format, and setting a non-uniform factor to solve a control equation set which comprises a continuity equation, a fluid dynamics equation, a skeleton mechanics equation and a porosity updating equation; and analyzing and displaying a solving result. According to the porous medium flow and deformation simulation method independent of hypothesis and empirical parameters, the method is based on the basic principle of the microcosmic fluid-solid coupling effect, a porous medium fluid-solid coupling body kinetic equation is adopted, the situation that a traditional modeling method depends on volume averaging hypothesis and depends on a multi-phase interaction model is avoided, and the modeling efficiency is improved. The method has cross-scale applicability, and provides a new theoretical basis and prediction means for the development of technologies related to porous medium multiphase dynamics and multi-field coupling problems.

The invention provides a motion simulation method and system for charged particles in a magnetic field, and the method comprises the steps: substituting the magnetic vector potential of an electromagnetic field where the charged particles are located into an established kinetic equation, solving the kinetic equation, and obtaining the motion trail of the charged particles; the kinetic equation is a Hamiltonian equation corrected by a narrow relativistic added with Lorentz force. The method has the advantages that a more comprehensive simulation method for the movement of the charged particles in the electromagnetic field is constructed, a simulation model based on energy conservation is considered, the divergence behavior of long-period prediction of a simulation system is improved, and long-period and high-precision simulation of the high-speed charged particles in the earth magnetic field is achieved.

The invention discloses a dynamic response analysis method of a floating breakwater anchor chain system. The dynamic response analysis method comprises the following steps: determining parameters of a floating box and an anchor chain system in the floating breakwater system; a sea condition environment where the system is located is given; motion of the anchor chain unit is described, and a global position vector of any point P on the axis of the anchor chain unit is given; constructing an expression of an anchor chain unit kinetic energy and mass matrix; calculating strain energy and elastic force of the anchor chain unit; calculating the environmental load borne by the floating breakwater anchor chain system; assembling a system mass matrix and a constraint equation of the system; establishing a dynamic equation set of the system, and correcting to obtain a first-order differential equation set; performing simulation to extract displacement, speed and acceleration data of the top end of the anchor chain rope, and substituting the data as external constraint conditions of the top end of the anchor chain into the dynamic equation set; and performing dynamic solution on the first-order differential equation set. According to the invention, the accuracy of dynamic response calculation is improved.

The invention discloses a motion control method based on an empty-wall cross-medium robot and a related device. The method comprises the following steps: constructing a kinetic equation and a mixed control matrix of the empty-wall cross-medium robot in different modes; actual motion parameters and target parameters of the empty-wall cross-medium robot are obtained, calculation operation is conducted through the controller according to the target parameters and the actual motion parameters, control parameters of the controller are adjusted through the kinetic equation, and a control signal is generated; and state mapping is carried out according to the control signals through the mixed control matrix, and the motor driving state of the empty-wall cross-medium robot is output. According to the invention, the motion stability of the empty-wall cross-medium robot in a complex scene can be improved, and flexible switching control of the motion modes of the robot on the ground, in the air and on the wall surface is realized.

The invention discloses a gear service life prediction method based on a lubrication-vibration coupling model and a related device, and relates to the technical field of gear service life prediction.The method comprises the steps that firstly, according to gear transmission input data, a three-dimensional mixed lubrication model containing a Reynolds equation coupling solving system is established, and meanwhile system excitation is calculated; then the oil film and the meshing rigidity are connected in parallel to form comprehensive rigidity, a bending-torsion coupling kinetic equation containing torsion and transverse freedom degrees is established, and a lubrication-vibration coupling model is constructed; finally, by means of coupling model output, the lubrication state is evaluated, the vibration characteristic is optimized, and the fatigue and abrasion life is predicted. According to the method, the three-dimensional mixed lubrication model and the system excitation calculation and coupling dynamics model are integrated, the lubrication and vibration coupling effect is considered, the limitation of independent analysis is overcome, the evaluation precision is improved, gear parameter optimization, lubrication scheme making and fault diagnosis can be guided, and the method has engineering application value.

The invention discloses a strict safety trajectory optimization control method and system for an under-actuated bridge crane. The method comprises the following steps: constructing a variable rope length kinetic equation model of the bridge crane; setting an end point constraint, a speed constraint and an acceleration constraint for a given initial trolley and rope length expected running track; respectively optimizing a trolley reference speed and a rope length reference speed based on the end point constraint, the speed constraint and the acceleration constraint; performing angle constraint by using a first control obstacle function, and setting an upper bound and a lower bound of a swing angle state variable; performing obstacle avoidance constraint by using a second control obstacle function; obtaining a cost function according to the first control barrier function and the second control barrier function; and solving the QP problem to obtain the corrected control input mu meeting the angle constraint and the obstacle avoidance constraint. According to the strict safe trajectory optimization control method and system for the under-actuated bridge crane, the moving trajectory is optimized, meanwhile, obstacles can be effectively avoided, and swing of the load is reduced.

The invention discloses a bridge flutter control method, device and equipment and a storage medium, and relates to the technical field of bridge wind engineering.The method comprises the steps that a kinetic equation of a bridge-tuned mass damper-nonlinear flutter coupling system is established for two-freedom-degree vertical and torsional coupling nonlinear flutter of a target bridge; the tuned mass dampers are symmetrically arranged on the two sides of the section of the target bridge girder; under the target wind speed, by calculating the time domain response of the kinetic equation, with the principle that the steady-state amplitude value of the target bridge girder is minimum, parameter optimization is conducted on the tuned mass damper, and optimized parameters are obtained; and designing the tuned mass damper based on the optimized parameters, and performing nonlinear flutter control on the target bridge through the obtained tuned mass damper. Therefore, under the nonlinear flutter control target, the coupling effect of the wind, the bridge and the tuned mass damper is considered, better tuned mass damper parameters are designed, and the method can be applied to actual engineering.

The invention discloses a hydraulic arm safety control method and device based on parallel learning and a high-order CBF, and the method comprises the steps: building a kinetic equation of a hydraulic mechanical arm through a Lagrange method, integrating unmodeled dynamics, structural parameter change and external interference into an uncertain item, and describing the generalized uncertainty of the uncertain item in a linear parameterization form; for the problem of insufficient excitation in a complex environment task, a parallel learning mechanism is introduced, and historical data and real-time data are combined to realize parameter identification. For high relative order safety constraints (such as obstacle distance constraints and joint limiting constraints) in a task space, an obstacle function family is constructed. A dynamic error buffer function is introduced, and a high-order adaptive control barrier function condition is designed. The high-order self-adaptive control obstacle function constraint is embedded into a real-time quadratic programming solving problem, input obtained through optimization solving can keep the track precision, meanwhile, a joint instruction is automatically corrected to prevent constraint failure, and minimum intervention type safety control is achieved.

The invention discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

The present invention belongs to the field of lifting equipment control technology, and specifically relates to a dynamic modeling method and control method for double-bridge lifting equipment. The dynamic equations of a five-degree-of-freedom double-bridge crane are constructed using the Lagrangian method, and the geometric constraint relationships between trolley I and trolley II in the direction parallel to the bridge and the vertical direction are constructed. The dynamic model of the double-bridge crane is constructed by combining the dynamic equations and the geometric constraint relationships, and the dynamic model is transformed into a general model. Based on the general model, a first error function is constructed based on the difference between the actual position and the expected position, and a virtual controller is constructed based on the first error function. A second error function is constructed based on the virtual controller, and an actual controller is constructed based on the first error function, the virtual controller, and the second error function. This technical solution models the system as a whole through the constraint relationship between the two trolleys, taking the mass of the hook into consideration during the modeling process, and solving the singularity problem.

The invention belongs to the related technical field of robot machining deformation optimization, and discloses a redundant angle and process parameter joint optimization method and device for complex curved surface robot machining, and the method comprises the steps: (1) forming a multi-domain composite constraint by a joint movement limit constraint, a pose singularity constraint and a machining deformation error constraint corresponding to a robot machining system; carrying out fusion modeling in the redundant angular space based on multi-domain composite constraints so as to map constraints of different dimensions in different spaces into a unified fusion potential field; (2) establishing a kinetic equation taking a virtual torque generated by the fusion potential field as driving input, sequentially solving based on the obtained kinetic equation and a numerical solution method to obtain a redundant angle of each cutter location point, and then obtaining a continuous and smooth redundant angle track; and (3) based on the obtained redundant angular trajectory, performing iterative solution on the optimization model by using an optimization algorithm to obtain an optimal processing parameter combination. According to the method, collaborative optimization of the process parameters and the redundant corners is realized.

The invention relates to the technical field of belt conveyor dynamic characteristic research, in particular to a rail type belt conveyor turning section dynamic characteristic simulation method, which comprises the following steps: carrying out stress analysis on a trailer unit and arranging the degree of freedom; establishing an overall coordinate system, a vehicle body coordinate system, a contact coordinate system and a conversion relation; establishing a kinetic equation of the trailer unit; kinetic parameters of the trailer unit are determined; establishing a left and right wheel set motion equation of the trailer unit according to the Hamiltonian principle, and further obtaining a linear second-order differential equation of the trailer unit; and compiling a calculation program by using numerical calculation software, and simulating the wheel-rail vibration characteristics of the trailer unit in the advancing process of the turning section. Based on a multi-degree-of-freedom multi-body dynamics theory, a nonlinear kinetic equation of a belt conveyor system is constructed, and a six-degree-of-freedom motion equation of a trailer unit is analyzed.

The invention discloses a fluid-structure interaction numerical simulation method, device and equipment and a medium, and the method comprises the steps: selecting a fluid-structure interaction computational domain, generating a computational grid, and marking the computational domain according to fluid and solid distribution information; determining a solving time step length and a discrete format, and selecting a control equation set for solving, the control equation set comprising a continuity equation, a fluid dynamics equation, a solid dynamics equation and a phase transfer equation; and analyzing and displaying a solving result. According to the efficient fluid-solid coupling numerical simulation method, global unified calculation is achieved, explicit fluid-solid decoupling is not needed, a global fluid-solid coupling body kinetic equation is adopted, errors caused by fluid-solid decoupling processing in a traditional split-phase solving method are avoided, and the method does not need to depend on and repeatedly generate a complex body-fitted grid; the control equation is based on each phase conservation equation on a physical continuous domain and realizes interphase accurate association through an interface continuity condition, and the fluid-solid coupling problem can be accurately and quickly solved.

The invention discloses a simulation method for calculating rigid-flexible-electric-thermal coupling dynamic response of a space structure, which comprises the following steps of: simplifying the space structure into a central rigid body-cantilever slab model, describing and dispersing the model through a constructed absolute node method mixing unit, deducing a dynamic equation of the model and a temperature field and electrostatic field control equation, and calculating the dynamic response of the rigid-flexible-electric-thermal coupling dynamic response of the space structure. The method comprises the following steps of: obtaining a rigid-flexible-electric-thermal coupling equation set of the system by taking a dynamic response result of the structure into consideration, considering a bidirectional coupling effect between a displacement field and a physical field, solving the equation set by utilizing a solver based on a generalized alpha method, obtaining the dynamic response result of the structure, performing visualization processing, and displaying the change condition of physical quantities such as temperature, potential and displacement along with time. According to the method, the influence of physical field factors is comprehensively considered, the spatial structure dynamic behavior under multi-physical field coupling can be accurately simulated, and a certain basis is provided for the simulation design of the spatial structure.

The invention relates to a numerical simulation method for multiphase fluid stratum seepage, which belongs to the technical field of numerical simulation and comprises the following steps: S1, generating an unstructured grid by adopting a mode of combining a leading edge propulsion method and Delaunay triangulation; s2, performing dynamic adjustment through an adaptive grid encryption technology according to the change of the seepage physical quantity; s3, establishing a dynamic phase change model, and obtaining a function of representing the phase change rate as temperature, pressure and concentration of each phase; s4, the mass and energy change of each phase in the phase change process is calculated in real time through a kinetic equation; s5, processing dynamic evolution of a phase interface by adopting a phase field method, and describing distribution conditions of different phases through phase field variables; and S6, coupling the grid system obtained by dividing the multi-scale unstructured grid with the dynamic phase change model through a numerical solution algorithm. According to the method, the complex geometrical shape of the stratum can be better fitted through multi-scale unstructured grid division, and then the change of the phase change process along with time and space can be tracked in real time through the dynamic phase change model.

The invention provides a glyceryl triacetate production parameter control method and system based on reinforcement learning, and relates to the technical field of optimization control methods, and the method comprises the steps: obtaining the production parameters of glyceryl triacetate; based on the kinetic model, constructing a kinetic equation of the esterification reaction of glycerol and acetic acid; constructing a digital twinborn simulation environment of the glyceryl triacetate production process; defining a reinforcement learning framework by taking a digital twin simulation environment as a scene; according to the reinforcement learning framework, taking the Elman neural network as a state predictor, and predicting the state of the glyceryl triacetate; solving the reinforcement learning framework through an MO-MPO algorithm, and determining an optimal control strategy and an optimal production parameter sequence corresponding to the optimal control strategy; judging whether the process capability index is smaller than a process capability index threshold value or not; if yes, continuing to solve the reinforcement learning framework; otherwise, outputting an optimal production parameter sequence; and controlling the optimal production parameter sequence through a PID (Proportion Integration Differentiation) control algorithm.

The invention relates to the technical field of geotechnical engineering and geological disaster monitoring, in particular to a rockburst tendency dynamic discrimination method, and aims to solve the limitation caused by the fact that a dynamic evolution process is simplified into a quasi-static attribute in traditional rockburst tendency evaluation. According to the method, rockburst tendency is defined as a hidden state variable evolved along with time, a physical constraint state space model containing a hidden state kinetic equation and a multi-modal observation equation is constructed, continuous stress-strain and discrete acoustic emission data are fused, hidden state probability distribution is estimated in real time through online Bayesian inference, and the probability distribution of the hidden state is estimated in real time. And in combination with adaptive information weight updating and physical consistency constraint, predicting a future state trajectory, calculating a risk probability exceeding a critical threshold, and outputting a dynamic rockburst tendency level. According to the scheme, continuous, dynamic and prospective judgment of the rockburst tendency is realized, and the accuracy and reliability of early warning are improved.

The invention discloses a confidence embedded model predictive control method, a medium and equipment, and belongs to the technical field of suspension control. According to the method, a kinetic equation of a suspension system is established, a data-mechanism dual-drive uncertainty quantification method is adopted, original operation data of a maglev train and suspension state information measured on line are utilized, and dynamic characteristic learning modeling is conducted on the suspension system under the constraint of the kinetic equation; state quantity distribution of suspension air gaps, vertical speed, electromagnet current and the like at future moments is predicted, and prediction mean values and prediction standard deviations of corresponding states are obtained. In model prediction control optimization, a nominal trajectory of the suspension system is constructed by a predicted state mean value, and a penalty term proportional to prediction uncertainty is added into a cost function; meanwhile, confidence coefficient constraint is constructed based on the predicted standard deviation, and dynamic constraint tightening of key physical quantities such as suspension air gaps, vertical speed and coil current is achieved. According to the invention, real-time sensing and self-adaptive closed-loop control of the operation risk of the suspension system are realized.

The invention discloses a floating fan aerodynamic load real-time mixing test method and system based on AI enhancement, and the method comprises the steps: calculating the six-degree-of-freedom motion information of a floating foundation through a numerical calculation model based on a real-time floating foundation kinetic equation; the method comprises the following steps: carrying a reduced-scale fan model on a six-degree-of-freedom motion platform, placing the six-degree-of-freedom motion platform on a wind tunnel atmospheric boundary layer, controlling the six-degree-of-freedom motion platform based on floating foundation six-degree-of-freedom motion information, driving the reduced-scale fan model to move, generating an aerodynamic load in a simulated wind environment, measuring an original load signal, and correcting the original load signal. Synchronously recording the actual pose of the six-degree-of-freedom platform; and AI correction is carried out on the corrected load signal and the actual pose of the six-degree-of-freedom platform to obtain a net aerodynamic load, the net aerodynamic load is fed back to the numerical calculation model, and closed-loop updating is carried out to realize coupling circulation. According to the method, the problem of interaction between numerical values and physical boundaries is solved, and the test precision of the large floating fan under the complex environment load can be remarkably improved.

The invention discloses a pseudo-spectral convex optimization-based method for optimizing a low-thrust trajectory near an asteroid, which comprises the following steps of: establishing a kinetic equation of an orbital motion of a spacecraft near the asteroid, discretizing the kinetic equation through a flipped Radau pseudo-spectral method, establishing a problem of no gravitational field and no anti-collision constraint, and solving by using a convex optimization method to obtain an initial nominal solution; constructing a gravitational field model in the kinetic equation based on a four-mass-point model, and establishing an asteroid nearby anti-collision model; establishing a convex optimization problem of an anti-collision small-thrust trajectory near the asteroid through convex methods such as nominal value replacement and Taylor expansion; establishing a successive solution model, and obtaining an optimal solution through sequence convex optimization; according to the method, a flipped Radau pseudo-spectrum method and convex optimization combined pseudo-spectrum convex optimization method is adopted, the motion low-thrust trajectory optimization of the spacecraft near the asteroid is realized, and the calculation efficiency is improved by using a four-mass-point gravitational field model.

The invention discloses an exoskeleton manipulator control method which comprises the following steps: constructing a hand biomechanical model, defining the degree of freedom of finger joints, and carrying out joint division modeling based on a drive kinetic equation of a Bowden cable; deploying a high-density sensor on the hand; s3, a hand specificity Bouc-Wen model is improved, an inter-finger coupling term is introduced to correct a lag state equation, and micro-lag parameters are identified through a hierarchical identification algorithm; s4, designing a self-adaptive cooperative control strategy, realizing fuzzy mapping from the electromyographic signals to the joint torque, and optimizing a cooperative tracking error through a multi-joint parameter coupling self-adaptive law; s5, dynamically compensating the mechanical resistance of the hand by adopting the corrected double-Kalman filter; and S6, optimizing closed-loop execution and a security policy. According to the exoskeleton manipulator control method, through the improved Bouc-Wen model and the self-adaptive cooperative control strategy, the mapping relation between the electromyographic signal and the action of the manipulator can be effectively processed, and the exoskeleton manipulator control method adapts to different operation environments.

The invention discloses a rigid chemical kinetic equation solving method based on a hard conservation constraint PINN model, and belongs to the technical field of chemical kinetic equation solving. According to the method, a hard conservation constraint strategy is introduced into the PINN, only calculation is carried out in the calculation process, s3 and s1 are indirectly deduced through a conservation expression, it is ensured that the PINN can conform to the solution of an equation set in the training process, meanwhile, the material conservation law is strictly obeyed, and the invariance of the material conservation quantity is ensured. Compared with a neural network model depending on pure data driving or a soft constraint mode adopted in a PINN, the method has the advantages that the prediction precision is improved on the basis of ensuring physical consistency, and the relative error between a prediction solution and a numerical solution is effectively reduced.