72 results about "Kinetics equation" patented technology

A method and system for joint torque compensation in a remote teleoperated arm is disclosed. For each joint of the teleoperated arm, a friction torque prediction model, nominal dynamic equation, and compensation residual prediction model are constructed using the arm's historical joint command torque, joint angular velocity, and joint temperature. During each real-time control cycle of the teleoperated arm, real-time compensation calculations are performed using the constructed models to obtain a reference feedforward compensation torque. The end effector force deviation of the teleoperated arm is calculated and mapped to a joint torque increment. A feedback fine-tuning compensation torque is generated based on the joint torque increment. The total compensation torque is calculated based on the reference feedforward compensation torque and the feedback fine-tuning compensation torque. The final torque command for each joint servo driver is calculated based on the total compensation torque. This invention systematically solves the problems of model accuracy, dynamic response, and disturbance suppression, thereby achieving a truly high-fidelity force perception and presence.

The present application relates to a kind of plane five-pole closed-chain rehabilitation robot elimination modeling and force mapping control method, belong to rehabilitation robot control technical field.The method is aimed at the coupling of active joint and passive joint in plane five-pole closed-chain mechanism, control implementation difficulty under active joint coordinates and the problem that driving torque is difficult to accurately map as end force, establishes closed-chain position constraint equation, obtains velocity constraint relationship by derivation to constraint equation, under the nonsingular condition of passive joint constraint jacobian matrix, passive joint variable is explicitly eliminated, constraint consistent jacobian matrix is constructed, reduced dynamics equation under active joint coordinates is established, end force estimate is solved, and motor driving torque instruction is generated according to the end force estimate.The method is suitable for end impedance control, trajectory tracking control and rehabilitation training boost control of plane five-pole closed-chain rehabilitation robot.

The application discloses a rotor coupling dynamics calculation method of complex three-dimensional shape layout. A coordinate conversion relationship caused by a front protrusion / after-sweeping / downward-reversing configuration is established; nonlinear elastic deformation of elastic blades waving, oscillating and twisting and nonlinear coupling relationship among them are described; nonlinear motion caused by the complex three-dimensional shape layout is described based on the coordinate conversion relationship and the nonlinear coupling relationship; and the relationship among strain energy, kinetic energy and virtual work of external force of the rotor is established based on the Hamilton principle according to the description of the nonlinear motion, and a finite element method of a 15-degree-of-freedom beam element is used to establish a rotor dynamics equation. The application can effectively reflect the structural coupling characteristics and coupling degree of the waving-torsion direction caused by the front / rear sweep of the blade tip, effectively reflect the structural coupling characteristics and coupling degree of the oscillation-torsion direction caused by the upward / downward reversal of the blade tip, and effectively reflect the rotor dynamics characteristic behaviors caused by the three-dimensional shape of the blade.

This invention discloses a phase-field method for multi-topological domain cyclic transformation in lead titanate (PTO) ferroelectric thin films. A computational model of the PTO ferroelectric thin film is established, defining polarization, potential, displacement, and oxygen vacancy concentration as field variables. Based on Ginzburg-Landau theory, a total free energy expression for the PTO ferroelectric thin film is established, incorporating oxygen vacancy transport processes and the coupling between oxygen vacancies and the electrostatic field. Combining time-correlated Ginzburg-Landau kinetic equations, mechanical equilibrium equations, electrostatic equilibrium equations, and Nernst-Planck equations, a phase-field model of the PTO ferroelectric thin film coupled with multiple physics fields is established. A stable initial skyrmion domain structure is constructed, and a preset uniform electric field sequence is applied to simulate the cyclic transformation process between skyrmions and flux-closed domains and / or stripe domains. This method can analyze the evolution path, transformation threshold, oxygen vacancy distribution, and cyclic stability of topological domains in PTO ferroelectric thin films under the synergistic effect of an applied electric field and oxygen vacancies, providing a theoretical basis for the design of ferroelectric topological domain multi-state storage devices.

The embodiment of the specification provides a kind of based on quasi-static electric quantity discrete electric aircraft reachable domain evaluation method and system, wherein, method includes: the quasi-static dimension reduction conversion of electric aircraft dynamics model, according to quasi-static hypothesis, simplify electric aircraft dynamics equation, it is decoupled as horizontal plane kinematics equation and push resistance balance and lift weight balance equation constraint, reduce state quantity dimension, obtain dimension reduction flight dynamics model;The electric quantity discrete conversion of dimension reduction flight dynamics model, the form of relative to time dynamics equation is converted into relative to electric quantity consumption value, determines simulation interval and discrete grid;Based on the dimension reduction flight dynamics model, by setting roll angle numerical sequence, numerical integration simulation is carried out on the simulation interval and discrete grid, and the horizontal plane maneuvering reachable domain boundary of electric aircraft is obtained.

The application discloses a method for intercepting a maneuvering target based on linear quadratic differential game proportional guidance, which comprises the following steps: obtaining a meeting state quantity and constructing a locally linearized relative lateral dynamic equation rate based on the two-dimensional relative motion relationship between a pursuit side and a target; describing the locally linearized relative lateral dynamic equation as a finite time domain zero-sum linear quadratic differential game, constructing a lateral deviation and lateral velocity approximate state vector according to the meeting state quantity, and solving an optimal lateral control quantity of the pursuit side; corresponding the optimal lateral control quantity of the pursuit side with a proportional guidance law, calculating an instruction angular velocity of the pursuit side, and realizing online interception of the target. The application can realize real-time adjustment of the heading angular velocity of a fixed-wing unmanned aerial vehicle, and improve the success rate of online interception of a target rotor-wing unmanned aerial vehicle. The application can be widely applied to the technical field of maneuvering target interception.

The application provides a construction method and device of a feedforward torque model of a coupling span driven joint, and the method comprises the following steps: constructing an initial dynamics equation of each joint according to a steel wire rope torque between coupling span driven joints of a target object, an effective torque of each joint of the target object, and a motor torque corresponding to each joint; establishing a friction force model of each joint according to an actual speed of each joint and an actual friction force of each joint, and constructing a gravity model of each joint according to a low-speed reciprocating motion state quantity of each joint; constructing a target feedforward torque model of each joint according to the initial dynamics equation of each joint, the friction force model of each joint, the gravity model of each joint, and an optimal trajectory, wherein the target feedforward torque model comprises an observation matrix and a minimum parameter inertia set; and controlling the motion of each joint in the target object based on the target feedforward torque model of each joint. The accuracy of tendon coupling span driven joint parameter identification is improved.

The application belongs to the technical field of robot dynamics parameter identification, and discloses a double sparse efficient identification method and system for robot dynamics parameters. The method comprises the following steps: S1, collecting joint positions, joint speeds, joint torques and joint accelerations of a robot to be processed at each time; S2, constructing an implicit dynamics equation of the joint torque by taking the joint torque as a target; S3, constructing a base function database, evaluating the importance of each base function in the base function database, thereby completing the first sparse of the base function; and performing sparsification on the coefficient matrix to make some elements in the coefficient matrix 0, thereby completing the second sparse of the base function, determining the base function and the coefficient matrix, and realizing the acquisition of an explicit dynamics equation of the joint torque. Through the application, the technical problems of complex theoretical modeling or low interpretability of a black box model in the prior art are solved.

This invention relates to a dynamics-based simulation method for the orbits of target asteroids and impactors, belonging to the technical field of aerospace technology and its applications. The invention aims to address the problems of poor accuracy and stability in existing asteroid impact simulation processes. This invention establishes the asteroid orbital dynamics equations, substituting the position vector into these equations to recursively obtain the asteroid's orbital model; it also establishes the impactor orbital dynamics equations, substituting the impactor's initial three-dimensional position, velocity, and acceleration into these equations, and combining them with the target asteroid's orbital model to recursively obtain the initial orbital model from the impactor's initial position to a distance of S km from the target asteroid; using this initial model, it establishes the full dynamics equations for the final segment of the impactor's orbit, obtaining the orbital model from the impactor's position S km from the target asteroid to the point of impact. This method is primarily used for impactor orbit simulation.

This invention provides a method for analyzing the dynamic characteristics of a corrugated sidewall belt lifting system for a ship unloader. The method includes: constructing a fractional derivative viscoelastic model of the corrugated sidewall conveyor belt and establishing the basic dynamic equations of the corrugated sidewall conveyor belt; establishing discrete dynamic equations for the conveyor belt, the drive device, and the tensioning device, and establishing a discrete dynamic model of the corrugated sidewall belt lifting system; establishing continuous dynamic equations for the conveyor belt, setting boundary conditions and initial conditions, and establishing a continuous dynamic model of the corrugated sidewall belt lifting system; solving the discrete dynamic model or the continuous dynamic model of the corrugated sidewall belt lifting system to obtain the acceleration, velocity, and displacement of the corrugated sidewall belt lifting system, thus obtaining the dynamic response of the corrugated sidewall belt lifting system. The use of a fractional derivative viscoelastic model, and the further establishment of a dynamic model, more realistically reflects the dynamic characteristics of the corrugated sidewall belt lifting system at each stage.

This invention provides a method and system for UAV swarm adversarial control based on fractional-order dynamic equations. The method includes: performing long-range correlation detection on historical trajectory data of the UAV swarm; reconstructing the state space of the UAV swarm based on long-range correlation characteristics and state data; constructing fractional-order game dynamic equations based on the state space; performing discrete dimensionality reduction on the equations to obtain a set of algebraic equations; solving the set of algebraic equations; generating flight control commands based on the policy density evolution results corresponding to the solved Nash equilibrium and issuing them to the UAV swarm to control the UAV swarm in game adversarial combat. This method overcomes the shortcomings of existing integer-order game models in describing memory effects, nonlocality, and anomalous diffusion, and achieves high-precision prediction and efficient solution of multidimensional nonlinear adversarial combat in complex dynamic environments. It significantly reduces computational complexity and fundamentally solves the problems of long-term prediction distortion and high-dimensional convergence difficulties in traditional models.

This invention provides a method and apparatus for simulating thin film ALD processes based on the phase-field method, relating to the field of materials surface engineering technology. The method includes: obtaining phase-field variables from the thin film ALD process, wherein the phase-field variables include non-conservative and conservative variables; describing the system evolution process using conservative and / or non-conservative field variables to obtain a free energy functional; when the phase-field variables are non-conservative, obtaining the phase-field dynamic equation using the Allen-Cahn equation and the free energy functional; when the phase-field variables are conservative, obtaining the phase-field dynamic equation using the Cahn-Hilliard equation and the free energy functional; and solving the phase-field dynamic equation using boundary conditions and initial conditions to obtain the distribution results of the field variables in the thin film ALD process. This invention improves the simulation efficiency of thin film ALD processes.

The application discloses a kind of unmanned ship dynamics system identification modeling method and device.The method includes, obtains the identification data obtained by unmanned ship maneuvering test;Establish the dynamics equation of unmanned ship maneuvering;Add genetic factor modification parameter estimation value recursion form in RLS algorithm, based on particle swarm optimization algorithm, parameter optimization in the dynamics equation according to the identification data, establish unmanned ship dynamics system identification model.The method introduces genetic factor on the basis of traditional RLS algorithm, and is improved in combination with PSO optimization algorithm, improves the accuracy of model identification.

This invention relates to the field of multibody system dynamics, specifically a dynamic modeling method for simulating the flight motion of a morphing aircraft with an arbitrary number of rotating components. The method first abstracts the morphing aircraft as a tree-like multibody system containing virtual rigid bodies and virtual hinges. Rigid bodies and hinges are uniformly numbered using a depth-first traversal search, with the relative rotation angles between rigid bodies used as generalized coordinates. Then, a path matrix is ​​used to describe the system topology, and the center-of-mass velocity, center-of-mass acceleration, angular velocity, and angular acceleration of each rigid body are derived using the generalized coordinates. Next, based on the above kinematic parameters, the deflection velocity, deflection angular velocity, generalized active force, and generalized inertial force are calculated and substituted into the Kane equations to establish the multibody system dynamic equations. Finally, the dynamic equations are solved, and the motion state is updated according to a set time step, repeating the process until the simulation of the set duration is completed. This invention has strong versatility and good scalability, and is applicable to the flight motion simulation of morphing aircraft with an arbitrary number of rotating components.

The application provides a fixed-time optimal containment control method and system for an underactuated multi-unmanned surface vehicle system, comprising: using an auxiliary variable method to perform coordinate transformation on an underactuated multi-unmanned surface vehicle system model to establish a multi-unmanned surface vehicle system model; constructing an inclusion error system and a constraint condition of the inclusion error of the underactuated multi-unmanned surface vehicle system; combining a preset performance control method to construct an inclusion error conversion mechanism to obtain a dynamic equation of the inclusion error system; designing an optimal cost function based on the dynamic equation of the inclusion error system; and based on a reinforcement learning algorithm, using an identification-execution-evaluation learning network to solve a coupled HJB equation to obtain a fixed-time optimal containment controller, so that the optimal cost function of the inclusion error under the constraint condition is optimal. The application guarantees that the underactuated multi-unmanned surface vehicle system with the preset performance realizes the fixed-time containment control at a minimum cost, and the upper limit of the rest time is irrelevant to the initial state of the underactuated unmanned surface vehicle system.

The present application relates to a kind of molecular structure perception chemical reaction kinetics equation symbol regression method, for solving the problem that existing symbol regression technique ignores species chemical information, causes poor modeling effectiveness.The method adopts encoder-decoder architecture, and the encoding part is provided with double branch: one branch is handled concentration time series by Transformer, another branch utilizes graph neural network to encode molecular graph, and structural characteristics are extracted.After bimodal feature fusion, it is directly returned to the kinetics equation of ordinary differential equation form by the Transformer decoder with cross attention mechanism.Training data is generated by synthesis: based on the data set of elementary reaction, SMILES is converted into molecular graph, and the kinetics equation is deduced according to mass action law, and then concentration trajectory is generated by random sampling and numerical integration, and training sample comprising molecular graph, trajectory and equation is formed.The present application significantly improves the accuracy, interpretability and data utilization efficiency of symbol regression in reaction kinetics modeling.

The present application relates to the technical field of mechanical arm control, and particularly relates to a mechanical arm trajectory drawing method and system based on an AZTND model; the method comprises the following steps: acquiring mechanical arm curve drawing task parameters and an AZTND solver; establishing a mechanical arm time-varying kinematics equation, introducing joint angular velocity constraints and acceleration constraints, and converting the curve drawing problem into a time-varying nonlinear equation; defining an error function as the residual of the time-varying nonlinear equation, constructing an AZTND dynamics equation, and determining the parameters of a segmented adaptive coefficient function according to the curve drawing stage; using an ODE numerical solution method to solve the AZTND dynamics equation in real time, obtaining a mechanical arm joint angular velocity control instruction, and driving a mechanical arm end effector to track an expected curve trajectory. The present application solves the problems of slow convergence speed, weak anti-interference ability and low geometric precision in traditional control in time-varying trajectory tracking, and realizes high-precision real-time drawing of complex artistic curves.

The application discloses a robot joint reducer dynamics modeling method, device, equipment and medium, and relates to the technical field of transmission systems. The method comprises the following steps: acquiring double circular arc tooth profile parameters; obtaining multi-tooth meshing force distribution under different load conditions based on the double circular arc tooth profile parameters and a finite element method; calculating multi-tooth comprehensive meshing stiffness according to the multi-tooth meshing force distribution; establishing a multi-coordinate system framework during joint movement of an industrial robot; deducing an absolute acceleration expression of a harmonic reducer in a rotating non-inertial coordinate system based on the multi-coordinate system framework; constructing a generalized force excitation model according to the absolute acceleration expression; and establishing a harmonic reducer dynamics equation considering pose changes according to the multi-tooth comprehensive meshing stiffness and the generalized force excitation model. The method can more accurately predict transmission errors and dynamic responses of the harmonic reducer under high dynamic conditions.

This application discloses a method, device, equipment, medium, and product for optimal derailment efficiency control of an electric rope, relating to the field of electric ropes. The method includes obtaining the dynamic equations and parameters of an electric rope system; calculating the desired in-plane angle using Taylor expansion based on the dynamic equations, parameters, and average perturbation acceleration over one orbital period; determining the control current of the electric rope system using a controller based on the desired in-plane angle; the controller is determined based on the in-plane and out-of-plane angles in the dynamic equations of the electric rope system; and controlling the electric rope system to perform a derailment task based on the control current. This application can improve the derailment efficiency of the system while ensuring the stability of the electric rope's attitude.

This invention relates to the field of coupled dynamics analysis technology for rocket sled test systems. It proposes a method for calculating the track-vertical coupled dynamic response based on a variable-parameter contact force model. This method establishes a track motion model considering mass changes and a vertical vibration model based on beam elements. The irregularity characteristics of long-distance slide rails are characterized through frequency domain reconstruction and stochastic methods. Based on this, after obtaining the contact stiffness and energy recovery coefficient through reliable finite element numerical simulation, a variable-parameter contact force model is introduced to describe the sled-rail contact process. The track-vertical coupled dynamic equations are then constructed and numerically solved. This method enables accurate calculation of the dynamic response of the rocket sled throughout its entire operation, providing a reliable theoretical basis for determining slide rail length, designing multiple types of test trajectories, and designing sled structures. It effectively improves the calculation accuracy and engineering adaptability of the coupled dynamics model.

This invention relates to a method for elimination modeling and force mapping control of a planar five-bar closed-chain rehabilitation robot, belonging to the field of rehabilitation robot control technology. This method addresses the problems of coupling between active and passive joints in planar five-bar closed-chain mechanisms, difficulties in achieving control in active joint coordinates, and the difficulty in accurately mapping driving torque to end-effector force. It establishes closed-chain position constraint equations, obtains velocity constraint relationships by differentiating the constraint equations, explicitly eliminates passive joint variables under the condition that the passive joint constraint Jacobian matrix is ​​non-singular, constructs a constraint-consistent Jacobian matrix, establishes reduced dynamic equations in active joint coordinates, obtains the estimated end-effector force, and generates motor drive torque commands based on the estimated end-effector force. This method is applicable to end-effector impedance control, trajectory tracking control, and rehabilitation training assistance control of planar five-bar closed-chain rehabilitation robots.

This invention belongs to the field of vibration isolation platform design technology and discloses a model-predictive composite active control method for vibration isolation platforms. The method includes: acquiring the foundation vibration information of the vibration isolation platform and the vibration response information of the load platform; establishing a state prediction model based on the dynamic equations of the vibration isolation platform; performing feedback correction on the state prediction model and calculating the feedforward control quantity of the vibration isolation platform using a constructed rolling optimization controller; obtaining the feedback control quantity based on PID feedback calculation; superimposing the feedforward control quantity and the feedback control quantity to obtain the final control quantity of the vibration isolation platform; and actively controlling the vibration isolation platform based on the final control quantity. This invention predicts the future dynamic response of the load platform, anticipates and generates the feedforward control quantity in advance, achieving pre-compensation for external vibration disturbances. By weighting feedback control and predictive control for composite control of the vibration isolation platform, it not only compensates for response lag but also improves the vibration isolation performance of the vibration isolation system.

This invention belongs to the field of fluid-structure interaction dynamics analysis technology, and specifically discloses a method and system for analyzing the dynamic characteristics of an acoustic-frequency resonant hybrid system. The method includes: introducing an external excitation force vector and a fluid feedback force vector into the dynamic control equations of the acoustic-frequency resonant hybrid system to form coupled dynamic equations; numerically characterizing the fluid feedback force using a multi-harmonic fitting method to obtain a fluid force model; based on the fluid force model, obtaining the dominant frequency component of the fluid force and mapping it equivalently to an additional mass parameter and an equivalent damping parameter; then fitting the optimal functional form of the additional mass parameter and the equivalent damping parameter relative to the excitation acceleration; updating the coupled dynamic equations based on the optimal functional form to achieve dynamic characteristic analysis under different excitation acceleration conditions. This invention can accurately analyze the dynamic characteristics of an acoustic-frequency resonant hybrid system under high-acceleration vibration environments to address nonlinear dynamic problems induced by fluid-structure interaction.

The application provides a high-speed electric spindle nonlinear dynamic characteristic analysis method and system, the method comprises the following steps: decomposing and simplifying an electric spindle rotor system; based on Hertz contact theory, nonlinear force models of angular contact ball bearings and linear bearings are respectively established, and a bearing seat dynamic equation is established; the dynamic equation of the rotor system is assembled; numerical solution and dynamic response analysis are performed on the dynamic equation of the rotor system to obtain a plurality of modal parameters and dynamic response results; sensitivity analysis is performed on a plurality of assembly parameters of the rotor system, the influence of each assembly parameter on the dynamic characteristics of the electric spindle is determined, and an optimization scheme of the electric spindle structure is generated according to the analysis results. The method considers the nonlinear modeling of the bearing, provides a standardized process for the dynamic characteristic analysis of the electric spindle, and can improve the efficiency of the dynamic characteristic research and performance optimization of the electric spindle.

The application discloses a kind of robot dynamic obstacle avoidance trajectory optimization method and system based on improved DMP, comprising: step S1, trajectory modeling: obtaining robot teaching trajectory, establishing trajectory dynamics model based on dynamic motion primitive, learning and storing the weight of constraint term for representing the geometric appearance of trajectory;Step S2, build improved DMP model with force coupling term: build the force coupling term of fusion steering force and potential field force, and introduce it into the dynamics equation of dynamic motion primitive, obtain the improved DMP model with force coupling term;Step S3, multi-objective optimization criterion definition: build the comprehensive fitness function of average curvature index, Frechet distance index and safety distance index, respectively for evaluating trajectory smoothness, teaching trajectory feature retention and obstacle avoidance safety;Step S4, parameter global optimization: the improved sparrow search algorithm is used to carry out global optimization to the optimization parameter in improved dynamic motion primitive model, and generates optimal obstacle avoidance trajectory.

The application relates to the field of nonlinear system modeling, and specifically provides a nonlinear system global linearization modeling method, system, terminal and medium based on Lie derivatives and sparse identification, the method comprising the following steps: obtaining an explicit nonlinear dynamic equation of a target system; based on the dynamic equation, constructing a candidate observation function library directly associated with the physical mechanism of the system by calculating Lie derivatives of system state variables or output variables; screening and reducing the dimension of the candidate observation function library by using a sparse identification method to obtain a low-dimensional observation function set; and based on the screened observation function and system operation data, identifying a limited-dimensional global linear model of the target system in the dimensioned observation space by using a data-driven algorithm. The application improves online solving efficiency and control real-time performance, and realizes efficient and reliable multi-target collaborative optimization control of systems such as wind driven generators.

The application discloses a chemical reaction system multi-physical field semi-physical simulation device and method, and belongs to the field of chemical testing and simulation. The device contains a parameterized model construction, a real-time simulation environment, a semi-physical simulation algorithm and a parameter correction calculation module, can construct a reactor multi-parameterized mathematical model, realizes one-dimensional / three-dimensional model on-demand calling and correction, accesses actual hardware such as DCS / PLC to complete virtual-real real-time closed-loop testing; the method is to construct a parameterized model containing an Arrhenius law kinetic equation, after one-dimensional / three-dimensional joint simulation prediction, the model parameters are corrected by using the measured data of hardware-in-the-loop testing. The application integrates multiple simulation technologies, solves the problems of high risk and high cost of chemical experiment, low precision of pure virtual simulation and inability of real-time optimization, can safely simulate extreme working conditions, the prediction accuracy of main product yield is more than 96%, the hot spot temperature error is less than or equal to 3 DEG C, improves the verification precision of reactor design and control strategy, and reduces the research and development risk.

The application discloses a kind of generalization multi-oil-bag underwater vehicle dynamics modeling method.The method first determines the number of oil tank and oil bag in buoyancy system by parameterization definition and determines its decision variable space;Subsequently, the position matrix of each unit is determined using the optimization algorithm based on Gaussian distribution;Then, the mass and volume redistribution model is established, and the dynamic gravity and dynamic buoyancy of the whole machine are accurately calculated according to the oil transfer amount;Based on the relative position of dynamic center of gravity and floating center, the restoring torque model is established;Finally, the six-degree-of-freedom kinematics and dynamics equations are constructed by integrating the attitude adjustment mechanism driving torque and hydrodynamic load.The application breaks the limitation of traditional model only adapting single configuration, has strong generalization, can accurately describe the dynamic drift effect of center of gravity and floating center under the coordinated control of multiple units, and significantly improves the motion prediction accuracy of complex configuration underwater vehicle in deep sea environment.

The application aims to provide a metro logistics system vehicle speed energy-saving control method considering the loading conditions of goods, relates to the cross technical field of urban rail transit and intelligent logistics, and aims to simultaneously improve the safety and energy efficiency of freight metro vehicles when running on curves. First, based on the dynamics equation of the carrying vehicle, a multi-body dynamics model of B-type metro vehicles is established and verified through field tests on Chengdu Metro Line 1. The simulation results under different working conditions reveal the influence of the loading conditions of goods on the safety and energy efficiency of vehicle operation. Then, a surrogate model is developed using the random forest algorithm to predict the performance of vehicle operation under any working condition. Finally, a double-objective optimization model is established for a specific metro section, and the objective function is derived from the surrogate model. By applying the multi-objective evolutionary algorithm based on adaptive reference points, the optimal cruising speed of the vehicle is determined, which can greatly improve the safety and energy efficiency of metro vehicles.

The application discloses a kind of underwater glider robot energy consumption optimization path smooth generation method and system of asymmetric turning radius, first, establish considering oil bag excursion roll model, by analyzing oil bag and movable mass momentum influence, construct system kinematics equation and dynamics equation containing oil bag excursion;Based on the model, the forgetting factor recursive least squares algorithm is used to identify the oil bag gravity center excursion amount on line;Real-time left and right turning radius of robot is calculated using the identification result;Finally, based on asymmetric turning radius, generate suboptimal Dubins-Helix path, the path is composed of pitch angle smooth section and Dubins-Helix trajectory section, by optimizing pitch angle and helix section parameters, while meeting the motion constraint, realize energy consumption optimization.Modeling and parameter identification accurately, solve the model mismatch problem, the path generated is more in line with the actual maneuverability of robot, while ensuring the feasibility of the path, significantly reduce the system energy consumption.