888 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 an intelligent networked automobile chassis drive-by-wire simulation method and system based on multi-domain modeling, and relates to the technical field of adaptive control, and the method comprises the steps: obtaining structural parameters and kinetic parameters of an intelligent networked automobile chassis, constructing a finite element grid, building a multi-flexible-body kinetic model corresponding to the intelligent networked automobile chassis, and constructing a multi-flexible-body dynamic model corresponding to the intelligent networked automobile chassis; introducing a coupling coordination equation, establishing a multi-flexible-body kinetic equation, and solving to obtain vibration response and stress-strain distribution under different working conditions; generating a plurality of finite element models, performing multi-physical field fusion and multi-error source fusion models, performing online error identification and active compensation, performing all-condition drive-by-wire chassis closed-loop control, and generating a drive-by-wire chassis closed-loop integrated simulation model; constructing a road three-dimensional parameterized model, generating a vehicle-road coupling model, generating a simulation test case, identifying a performance short board, constructing a knowledge graph and an optimization rule base, and generating an optimal control strategy.

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 virtual marshalling multi-train cooperative adaptive sliding mode control method based on an extended state observer, and the method comprises the steps: firstly constructing an urban rail multi-train tracking error dynamic model based on a unit train dynamic equation; secondly, establishing a nonsingular terminal sliding mode surface according to the urban rail multi-train tracking error dynamical model to obtain an equivalent control law, combining the equivalent control law with a switching control law to obtain a nonsingular terminal sliding mode control law, and introducing a gain adaptive law and a saturation function into the nonsingular terminal sliding mode control law to obtain an adaptive nonsingular terminal sliding mode control law; and finally, an extended state observer is adopted to estimate external interference, an observation value of the interference is added to the output of the adaptive nonsingular terminal sliding mode controller to serve as feed-forward compensation, and the adaptive nonsingular terminal sliding mode control method based on the extended state observer is constructed. According to the method, the multi-train cooperative operation tracking control precision and stability can be remarkably improved under the external interference condition.

The invention relates to a dynamic analysis optimization method for a high-speed stamping hybrid mechanism with a lubricating gap and considering an impact load. The dynamic analysis optimization method comprises the following steps: S1, defining structural parameters and design parameters; s2, establishing a lubrication gap motion model, a contact force model and an oil film bearing force model; s3, introducing a flexible beam unit model; s4, the relative motion state of the bearing and the shaft at the revolute pair element is judged; s5, establishing a kinetic equation; s6, solving the kinetic equation; s7, optimizing and improving the structural parameters of the mechanism; and S8, circulating the above process, and carrying out iterative solution until the kinetic analysis and parameter optimization are completed. The established rigid-flexible coupling kinetic equation containing the lubricating gap can more accurately predict the mechanism dynamic response characteristics of the high-speed stamping hybrid mechanism when the high-speed stamping hybrid mechanism is subjected to the impact load in actual work and operation, and the modeling method is suitable for dynamic response characteristic analysis and optimization design of high-speed stamping mechanisms of other configurations. The method has the advantages of wide applicability and the like.

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.

The present invention relates to an optimization solving method and system for metabolic flux in a biomanufacturing process. The method comprises: constructing a flux balance equation of a microbial fermentation process; taking metabolic flux as a control variable to be optimized, on the basis of the flux balance equation, constructing a kinetic equation system, and taking into account a constraint condition and a target function in the fermentation process to construct a dynamic flux balance analysis model based on a dynamic optimization problem; on the basis of a control time domain of a production cycle in the fermentation process, constructing a new time domain, and reconstructing the metabolic flux in the new time domain; parameterizing the reconstructed metabolic flux by means of a piecewise constant approximation strategy; on the basis of the parameterized metabolic flux, converting the dynamic flux balance analysis model from the dynamic optimization problem into a static optimization problem; and solving the optimal metabolic flux of the dynamic flux balance analysis model based on the static optimization problem. The present invention effectively improves the product quality by solving the optimal metabolic flux in the microbial fermentation process.

The invention provides a middle and primary school multi-person interactive teaching method and system based on a VR technology, and relates to the technical field of virtual reality, and the method comprises the steps: generating a model through deep learning based on pre-obtained teaching aid model data, determining subcomponents, combining a teaching aid generation engine, and constructing a virtual teaching aid; a color image and a depth image are obtained through a structured light depth camera, two-dimensional pixel coordinates are obtained, depth information is combined, a three-dimensional skeleton curve of limb movement of a student is generated, an optical motion capture result is obtained, an inertial motion capture result is obtained through inertial drift calibration based on the three-dimensional skeleton curve, and a limb movement three-dimensional track of the student is reconstructed; generating a force feedback signal by solving a kinetic equation through a collision detection algorithm based on the three-dimensional trajectory of the limb movement of the trainee; and rendering the virtualization model into a virtual teaching scene, synchronizing the limb movement three-dimensional track and the force feedback signal in real time, and generating a multi-person collaborative interaction process of the virtual teaching aid.

The invention discloses an indirect optimization method for a landing anti-interference trajectory of a small celestial body, and relates to the field of deep space exploration. Aiming at the problem that a small celestial body landing trajectory is sensitive to uncertain parameters, the following solving method is provided: firstly, establishing a stochastic dynamics model of small celestial body landing, and constructing an anti-interference trajectory optimization problem; secondly, establishing a relation between an anti-interference trajectory optimization problem and a gravity-energy-free optimal control problem through a performance functional, a kinetic equation and a homotopy function of process noise, and estimating a co-state initial value of the gravity-energy-free optimal control problem; and finally, gradually converting the zero-gravity energy optimal control problem into an anti-interference trajectory optimization problem by changing homotopy coefficients, and in the conversion process, converting the optimization problem corresponding to each homotopy function into a two-point boundary value problem by using a Pontryagin minimum principle, and solving the two-point boundary value problem by using a targeting method. The sensitivity of the trajectory to uncertainty is reduced, so that the anti-interference capability of the landing trajectory is improved.

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 discloses a virtual marshalling train distributed control method and system based on running track optimization, and the method comprises the steps: firstly, considering the resultant force in a train running process, and building a train simple substance point kinetic equation; secondly, in the virtual marshalling state, train operation conditions are divided according to the spatial position in combination with a train driving control strategy; thirdly, by means of the virtual marshalling technology, all train units in marshalling in the train running process are made to be consistent in speed, constraint conditions of safety protection distance and space-time safety protection are set, the train running energy consumption and comfort model is introduced into a multi-target hiking optimization algorithm, and the energy consumption and comfort of the train are optimized in combination with the constraint conditions; optimizing the running track according to the working condition state of the train; and finally, establishing a distributed self-adaptive sliding mode control law of the train according to the optimized running track. By optimizing the running track of the train, an accurate protection strategy is realized, and the control method established based on the optimized track can ensure stable running of the train while improving the railway transportation efficiency.

A method for reducing mDON concentration in wastewater, including a) acquiring a kinetics associated with production and consumption of a mDON of an activated sludge system, and importing a kinetic expression of the mDON into a conventional activated sludge model No. 1 (ASM1) to build a kinetic equation for the mDON; b) inputting component variables, parameter variables, model matrices, process rate equation and operating parameters of a predictive model into a simulation software to build an ASM-mDON model; c) inputting initial values of the component variables and the parameter variables into the simulation software for model initialization; d) acquiring initial mDON kinetic and sensitivity analysis results, selecting corresponding parameters, calibrating kinetic and stoichiometric parameters of the ASM-mDON model using a parameter estimation function of the simulation software; and e) replacing the initial values of the ASM-mDON model with optimal values obtained in d).

The invention discloses a method and system for optimizing nonlinear energy vibration absorber arrangement based on a particle swarm optimization algorithm, and belongs to the technical field of nonlinear energy vibration absorber arrangement method.According to design parameters of a nonlinear vibration absorber, the mass, damping coefficient and nonlinear rigidity parameters of the vibration absorber are determined, and according to physical characteristics and stress conditions of a stand pipe, the nonlinear energy vibration absorber arrangement is optimized. Establishing a coupling kinetic equation of the riser and the vibration absorbers, describing vibration behaviors under the action of ocean currents and waves, setting initial values of the number, the position and the speed of particles, defining a fitness function for evaluating the position quality of each particle, and calculating vibration responses of the riser system under different vibration absorber arrangement conditions through a time domain minimum residual value method. Taking the minimum vibration amplitude as a target, calculating the fitness value of the position of each particle, iteratively updating the position and speed of each particle according to the updating rule of the particle swarm algorithm, and gradually approaching the optimal solution.

The invention discloses a structural dynamic response obtaining method for a fixed offshore wind turbine. The method comprises the following steps: establishing an initial finite element model according to related model data of a fixed offshore wind turbine to be tested, correcting the initial finite element model in combination with obtained actually measured modal parameters, and solving a vibration mode function based on the corrected finite element model; solving kinetic energy and potential energy of the to-be-tested wind driven generator structure; and according to the obtained structural kinetic energy and potential energy, a mass matrix, a stiffness matrix and a damping matrix are constructed based on an Euler-Lagrange equation and a basic kinetic equation, so that a dimensionality-reduced structural kinetic model of the offshore wind turbine is established, an inherent frequency value is obtained through solving, and the dynamic response is obtained. The method effectively overcomes the defects that a model is established depending on finite element software to solve the dynamic response in the prior art, and has the advantages that the modeling process is simple, the solving time is short, multi-field coupling load application can be met, and the control technology is easy to implement.

The invention discloses a deformable unmanned aerial vehicle controllability analysis method, and relates to the field of flight mechanics and control, and the method comprises the steps: determining deformation characteristic quantities according to geometric parameters of a deformable unmanned aerial vehicle; according to the deformation characteristic quantity, the geometric parameters and the aerodynamic parameters, based on a longitudinal kinetic equation, an aircraft longitudinal kinetic model containing the deformation characteristics is constructed; determining static equilibrium points of the deformable unmanned aerial vehicle in a multi-deformation state and different flight states according to the aircraft longitudinal dynamics model containing the deformation characteristics; constructing a controllability matrix based on a constrained continuation method according to static equilibrium points of the deformable unmanned aerial vehicle in a multi-deformation state and different flight states; and carrying out controllability analysis on the deformable unmanned aerial vehicle in the multi-deformation state and different flight states according to the controllability matrix. According to the method and the device, the controllability of the multi-deformation state and the flight state of the deformable unmanned aerial vehicle can be accurately analyzed.

The invention relates to the technical field of under-actuated crane system motion control, in particular to an enhanced coupling positioning anti-swing control method and system for a crane with distributed mass loads. Based on a Lagrange kinetic equation, establishing a six-degree-of-freedom bridge crane nonlinear model with distributed loads, and analyzing the kinetic characteristics of the six-degree-of-freedom bridge crane nonlinear model; establishing an energy function of the model based on the bridge crane nonlinear model, constructing a new coupling signal based on a displacement signal of the model to enhance dynamic coupling among a trolley, a lifting hook and a load, and constructing a new state vector based on the constructed coupling signal to enhance dynamic coupling among the trolley, the lifting hook and the load. Substituting the constructed new state vector into an energy function of the model so as to obtain a new class energy function; establishing a nonlinear coupling controller with swing angle information according to the proposed new energy-like function; according to the method, linear processing does not need to be carried out on a kinetic equation of a crane system in controller design, and finally efficient trajectory tracking and positioning and load swing suppression are achieved.

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.

A balance control method and apparatus (1600) for a wheel-legged robot (200), a device, and a storage medium. The method is executed by a computer device (101). An n-order inverted pendulum model as which the wheel-legged robot (200) is equivalently represented comprises: wheels (1016), n connecting rods and n rotating joints; first connecting rods (1026, 1110) are equivalently derived from at least two leg mechanisms (1022, 1024) of the wheel-legged robot (200), and the wheels (1016) are equivalently derived from moving wheels (1012, 1014) respectively connected to the at least two leg mechanisms (1022, 1024). The method comprises: step 1310, acquiring an actual state quantity of the wheel-legged robot (200) at a first moment; step 1320, calculating an equivalent state quantity at the first moment on the basis of the actual state quantity at the first moment; step 1330, establishing a sliding mode surface on the basis of the equivalent state quantity at the first moment; step 1340, determining a force and torque instruction of the whole body joint on the basis of a dynamic equation of the sliding mode surface and the equivalent state quantity at the first moment; and step 1350, at a second moment, respectively controlling the n rotating joints on the basis of the force and torque instruction. The method is adapted to a wheel-legged robot (200) in movement, facilitating improvement of the robustness of balance control.

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 train operation situation deduction method based on a kinetic model, which comprises the following steps: constructing and solving a train kinetic equation according to parameter data of a train in line operation to obtain a train kinetic model; dividing a train running line into a plurality of sub-intervals according to different position areas and speed limitations; calculating target speed mode curve calculation models of the different sub-intervals according to the parameter distribution conditions of the train dynamics model in the different sub-intervals to obtain interval line parameter models; loading the speed limit values of all sub-intervals in the given interval from the line parameter knowledge base; judging the numerical calculation direction of each subinterval; and according to a judgment result of the numerical calculation direction, executing numerical calculation in a specified direction in each sub-interval by using an interval line parameter model, and deducing the train operation situation. The method is suitable for real-time calculation of a complex system, accurate analysis and prediction of the running state of the train, and can reflect the physical rule of train running more accurately.

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 relates to the technical field of ship water lubricated shaft testing, in particular to a dynamic stiffness and dynamic damping testing platform and method for a ship large-length-diameter-ratio water lubricated bearing in an unbalance loading operation state. Through cooperation of the rotor-bearing system, the driving system, the loading system, the lubrication system and the test system, different radial specific pressures can be flexibly and conveniently applied to two sides of the water-lubricated bearing so as to simulate various unbalanced motion working conditions of the rotor-bearing system, and the test platform is simple to operate, small in installation error, high in measurement precision and high in reliability. The dynamic characteristics of the water lubricated bearing can be accurately identified; the dynamic equation of the bearing system and the mechanical model of the bearing connecting part are established, the displacement impedance method is combined, the comprehensive rigidity coefficient and the damping coefficient of the liquid film and the structure of the water lubricated bearing can be accurately measured, and the testing method is short in calculation time, high in measurement efficiency and wide in application range.