31 results about "Lagrangian dynamics" patented technology

The invention provides a spatial robot prediction control method based on a quantum particle swarm optimization algorithm. Firstly, a lagrangian dynamic model of a spatial robot system is establishedon the basis of an extended mechanical arm method, and a discrete state space model is established by combining the dynamic model with a kinematic model; secondly, a corresponding discrete model prediction controller is designed on the basis of a system extended state space model and a Laguerre polynomial; finally, rolling optimization is conducted on performance indexes under the constraint condition through the quantum particle swarm optimization algorithm, and prediction errors are subjected to feedback correction, so that effective tracking of tail end desired trajectory is achieved. According to the control method, effective tracking of the tail end desired trajectory can be achieved under the given constraint condition, and task space trajectory planning does not need to be carried out in advance; the situation that a global optimum solution cannot be found through a conventional quadratic programming algorithm under multi-constraint conditions can be avoided; energy consumptioncan be optimized while the requirement of tracking precision is met.

The invention provides a joint animation modeling technology based on physics in a fluid environment. In order to improve real motion effect of a joint animation under the action of complex field force and to reduce operation expenses, the joint animation modeling technology in the fluid environment comprises the steps that modeling is carried out on drive, the dynamics and the stress effect of a hinge body, and a calculation process of the joint animation based on the forward dynamics in the fluid environment is formed. According to the data drive, due to the fact that an independently-invented controller based on factored moment is used, accuracy and stability of a tracking path are improved; according to the dynamics, due to the fact that the lagrangian dynamics is used for carrying out modeling, cost of variable calculation is reduced, and operation efficiency is improved; according to the external force action, external force of fluid to the hinge body is divided into external force in the normal direction and external force in the tangential direction, and solution is carried out on the external force in the normal direction and the external force in the tangential direction to obtain the more real stress effect. The joint animation modeling technology in the fluid environment can effectively achieve the joint animation which is on the basis of the physics and has the real motion effect.

The invention discloses a positioning and swing eliminating method for an under-actuated tower crane with load lifting motion. The positioning and swing eliminating method comprises the following steps: establishing a tower crane nonlinear model with load lifting motion according to a Lagrange kinetic equation; constructing a sliding mode surface containing self-adaptive gain based on the nonlinear model, and determining a sliding mode surface reaching law and a self-adaptive value updating law; confirming a crane friction force parameter self-adaptive updating law and a full-degree-of-freedom disturbance self-adaptive updating law by utilizing a self-adaptive technology; and combining the sliding mode surface reaching law, the self-adaptive value updating law, the friction force parameter self-adaptive updating law and the full-degree-of-freedom disturbance self-adaptive updating law, constructing a robust adaptive sliding mode controller, and completing positioning and swing elimination. The stable convergence speed of the tower crane system with the load lifting motion is improved, meanwhile, the robustness of the control system is enhanced by applying the self-adaptive technology, and finally rapid and efficient trajectory tracking and positioning and load swing suppression are achieved.

The invention discloses a complex attitude adaptive control method after a multi-rotor aircraft captures a target. After the multi-rotor aircraft captures an unknown target, the attitude change of the aircraft and the main connection rod attitude control of an airborne manipulator are used for completing the whole attitude adaptive control. Firstly, Lagrangian dynamics modeling is used for completing dynamics equation modeling on the whole complex after the target is captured; then, according to the special features of the Lagrangian dynamics, an attitude adaptive control algorithm is brought forward and proved; and finally, on the basis of parameter identification on the dynamics of the captured target, the whole complex attitude adaptive control after capturing is completed.

The invention provides a marine crane controller based on an input shaping technology. The marine crane controller based on the input shaping technology is characterized in that firstly, a marine crane mathematic model based on Lagrange dynamical equations is analyzed and resolved, then according to an error of practical system modelling, a zero vibration and derivative (ZVD) input shaper is used for controlling a marine crane; and finally, simulation verification is carried out on the designed marine crane by utilizing the ZVD input shaper.

The invention provides a human motion simulation method under a fluid environment. The human motion simulation method under the fluid environment is based on real physical simulation and achieves interaction between a human body and fluid. A coupling surface interaction technology, a sub-chain movement velocity calculation technology, a target path calculation technology and a target path tracking technology are invented based on human body modeling. In a local simulation stage, a human body model is built based on Lagrange dynamics, and human independence movement states can be simulated well. In an interactive simulation stage, a coupling surface transmission method based on a sampling array improves interaction efficiency, and a velocity calculation method based on viscous resistance achieves smooth and steady interaction velocity change and lifelike interaction velocity change effects. In an overall simulation stage, a target path obtained based on a three dimensional A star algorithm meets movement characteristics of the human body in the fluid and has continuity, and a state selection algorithm based on a visual space enables the human body to track the target path well, and obtains a plurality of optional move states.

The invention belongs to the technical field of dynamics modeling, and relates to an H-shaped motion platform modeling method based on Lagrangian dynamics. The method is based on an H-type motion platform coupling equivalent model, a Lagrangian dynamics and functional relationship is utilized to establish a coupling equivalent dynamics equation capable of obtaining three degrees of freedom, and the purposes of reducing modeling errors and conveniently designing a controller are achieved. According to the method, the beam deflection caused by desynchrony of the parallel double linear motors isfully considered, the influence of load movement on the beam is considered, the precision of the model is improved, and the problem that the control precision cannot be improved due to a modeling error of a traditional H-shaped platform non-coupling model can be effectively solved.

The invention provides a stable expansion control method for a space tethered formation. The method comprises the steps of firstly building a kinetic model of the triangular space tethered formation by inputting kinetic energy and potential energy of a formation system into Lagrange's dynamical equations; and then determining a triangular space tethered formation stable expansion control law. According to the method provided by the invention, when the kinetic model of the triangular space tethered formation is built, on the basis of a traditional mass point connection rod model, the elasticityof a tethered rope is considered, and the flexibility of the system is fully reserved. Furthermore, in stable expansion control of the triangular space tethered formation, the rope length and the spin velocity are comprehensively considered, so that the system can be stably expanded in a state of synchronous rotating and stretching, and the completion of the various subsequent space tasks of theformation is facilitated.

The invention provides a PLC-based input-shaping-technology-based control device for a ship crane. According to the control device, a ship crane mathematical model is established based on a Lagrange's dynamical equation; and ZV, ZVD, ZVDD, and EI input shapers for the ship crane are designed through application of the input shaping technology to reduce or eliminate residual swing of a load. The control device for a ship crane takes PLC as a core and comprises digital output, digital input, analog input, analog output, and a communication module. The control device has a structural characteristic of open-loop input shapers, which can relatively solve the problem of load swing of a ship crane overall, and has beneficial effects of simple and convenient design, and easy implement.

The invention discloses a swing suppression control method for a double-pendulum tower crane with a distributed mass load. The method comprises the following steps of establishing a mathematical model of the double-pendulum tower crane with the distributed mass load based on a Lagrange kinetic equation and analyzing characteristics; establishing an energy function of the mathematical model of the double-pendulum tower crane according to the characteristics, and establishing an adaptive controller based on the energy function of the mathematical model of the double-pendulum tower crane to suppress external interference; and establishing a fuzzy controller based on a fuzzy control rule, adding the fuzzy controller into the adaptive controller, and regulating and controlling the swing suppression of the double-pendulum tower crane in real time through the fuzzy controller. According to the method, the coupling between the driving mechanism and the non-driving mechanism of the double-pendulum tower crane can be partially enhanced, the fuzzy controller module is provided to improve the real-time operation capability, the external disturbance is effectively inhibited by designing the adaptive controller, and the two are combined to realize efficient trajectory tracking and swing suppression so as to achieve a control effect.

The invention discloses a coordinated mechanical arm multi-constraint processing optimization method based on speed redistribution. The method comprises the following steps that S1, a mechanical arm coordinated clamping kinetic model is constructed, a physical model of a multi-mechanical arm clamping workpiece is simplified, an inertia term, a Coriolis force term, a centrifugal force item and a gravity term in the mechanical arm kinetic model are determined through a Lagrangian kinetic method, and an internal force item of the workpiece and a calculation method thereof are introduced into thekinetic equation to form an equation; and S2, a joint speed redistribution algorithm of a coordinated mechanical arm under the constraint condition is designed based on a homogeneous weighted minimumnorm method, a multi-mechanical arm coordinated task Jacobian matrix is constructed firstly, then a performance index equation based on joint position and joint moment constraint is designed, and based on the performance index equation as well as combined with a mechanical arm kinematics and a kinetic flush configuration, a speed distribution expression based on joint penalty weights is designed.

The invention discloses a cricket control method and system based on a time automaton and relates to the cricket control technology field. The method comprises the following steps of using a Lagrangedynamical equation method to construct a mathematical model of a continuous process of a cricket physical system; using a time automaton modal model to construct mathematical modeling for a continuous, discrete process and control logic of reflecting the cricket physical system and a cricket embedded control system, and an operational rule so as to obtain a hybrid system model of a cricket controlsystem based on the time automaton; collecting small ball position feedback data, wherein small ball displacement difference is a small ball speed; and according to the previously-constructed hybridsystem model of the cricket control system based on the time automaton, acquiring a control quantity so as to control steering engine motion so as to change a motion state of a small ball and realizepositioning of the small ball on a flat plate and track tracking. The hybrid system model can be used to accurately describe a modeling object, can carry out simultaneous modeling on the physical system and the information system and apply to analysis and control.

The invention relates to a fabric simulation method based on a yarn model, and provides a discretization modeling method of woven fabric, and the expression of the internal force and the external force of the model fabric is given when the force analysis is carried out. In the aspect of model representation, the continuous yarn model is adopted, and its quality is continuously distributed on the yarn, which is more consistent with the real fabric. Aiming at the possible superelasticity problem in fabric simulation, the corresponding solution is given. By combining the deformation constraint with the motion equation, the deformation constraint can be solved in the process of motion integration without modifying the physical simulation model, and good simulation results can be obtained. Themethod comprises the following steps that (1) the discrete modeling is carried out on the fabric based on the structural characteristics of the fabric; (2) based on Lagrange kinetic equation, the internal and external forces acting on the fabric are analyzed; (3) Semi-implicit integration scheme is used to integrate fabric motion, and the purpose of dynamic simulation is realized; (4) the deformation of the fabric is restrained.

The invention discloses an under-actuated double-swing tower crane trajectory tracking and swing suppression control method. The under-actuated double-swing tower crane trajectory tracking and swing suppression control method comprises the following steps that a tower crane simplified model is established based on a Lagrangian kinetic equation and state characteristics of a double-swing tower crane system near a balance point; in the simplified model, a signal of a drivable part and a partial coupling enhancement item signal are combined to form a pseudo control signal; and in combination with the pseudo control signal, a friction force model is constructed, and positioning anti-swing control is realized in a trajectory tracking mode. According to the under-actuated double-swing tower crane trajectory tracking and swing suppression control method, the coupling between a driving mechanism and a non-driving mechanism of ta double-swing tower crane can be partially enhanced, an additional damping item is added to improve the swing elimination transient characteristic, meanwhile, the friction influence is overcome through a feedforward model, and finally efficient trajectory tracking and swing suppression can be achieved.

The invention provides a crane control method based on the input shaping technology. The crane control method is characterized in that a mathematical model, based on Lagrange's kinetic equations, of a crane is analyzed and calculated; for errors in the actual system modeling, the crane is controlled by utilizing a zero vibration and derivative (ZVD) input shaper; and the designed ZVD input shaper for the crane is simulated and verified. By adoption of the crane control method, the load swing of the crane can be effectively reduced; the crane can be quickly positioned by utilizing such a control mode based on the input shaping technology, thereby preventing the system structure mass enhancement caused by a damping increase or a rigidity improvement; and accordingly, the cost can be reduced.

The invention discloses a suspended type single-rail traffic rail beam patrol car control device. The suspended type single-rail traffic rail beam patrol car control device solves the problems that inthe prior art, patrolling of a rail beam depends on manual patrol, the detection accuracy is low, and detection data of a slope and a curve is not accurate. The suspended type single-rail traffic rail beam patrol car control device comprises a patrol car body, a control device and a connection guide rail. The control device is fixed to the interior of the patrol car body, and the upper portion ofthe patrol car body is slidably connected with the rail beam through the connection guide rail. The control device comprises a wireless control system and a wireless charging coil connected with thewireless control system. The wireless charging coil comprises a plurality of emitting coils, a plurality of repeating coils and a receiving coil. The receiving coil is fixed to the upper portion of the inner side of the patrol car body. The invention further discloses a suspended type single-rail traffic rail beam patrol car control method, and the method comprises the four steps of building of aLagrange dynamics model, linearization of a nonlinear equation, building of a fuzzy control model and solving of defuzzification. The suspended type single-rail traffic rail beam patrol car control device is simple in structure, high in control accuracy, accurate in detection data of the slope and the curve, and long in service life.

The invention discloses a satellite many-body dynamic system computing method and a satellite many-body dynamics system computing system based on parent child relation iteration. A satellite dynamic system of an arbitrary tree structure is automatically combined into a dynamic system equation. A parent child relation between tree system nodes is used, and a dynamic recurrence relation of the parent child relation is built. Branches are downwards recursively numbered in sequence from the left to right according to the tree structure, the condition that in any node, the elder node number is in the front and the younger node number is in the rear is ensured. A Lagrange's dynamical equation described by any node at a hinge coordinate is acquired by using the recursive computing relation of theequivalent inertia matrix and the equivalent generalized force between parent and child nodes, the elder node influence coefficient recursion computing relation and the younger node influence coefficient recursion computing relation. The method has the characteristics of being simple, intuitive, and capable of being applied to automatic set computation of the Lagrange's dynamical equation of thesatellite system with the arbitrary tree shape.

The invention provides a control method and device of an inspection robot and the inspection robot. The method comprises the steps that the instantaneous speed of the inspection robot is obtained; and the required torque of a first driving motor and the required torque of a second driving motor are obtained according to the instantaneous speed of the inspection robot and the Lagrange dynamics relation of the inspection robot, wherein the inspection robot comprises a movable chassis, a first driving wheel is arranged on one side of the movable chassis, a second driving wheel is arranged on the other side of the movable chassis, the first driving motor is in driving connection with the first driving wheel, the second driving motor is in driving connection with the second driving wheel, and the Lagrange dynamics relation of the inspection robot is established according to the relation of the vehicle body kinetic energy of the movable chassis of the inspection robot, the kinetic energy of the first driving wheel and the kinetic energy of the second driving wheel and the vehicle body potential energy of the movable chassis. According to the control method and device of the inspection robot and the inspection robot, the action of the inspection robot can be accurately controlled.

The invention provides a scara robot joint disturbance compensation method. The method comprises the steps that a scara robot joint motor end lagrangian dynamics equation is established; angular velocity sensors are installed at the output ends of a first joint and a second joint of a scara robot respectively, and the rotating speed and displacement of the output ends of two joint speed reducers are obtained according to the two angular velocity sensors; a motor end disturbance compensation item is calculated; the error between the current joint position and the expected joint position is obtained; the position error is sent to a compensation gain ILC module, and compensation gain is updated; and multiplication is conducted on the compensation gain corresponding to a carrier cycle and the calculated torque compensation amount, and the compensation gain is compensated into a torque ring. According to the method, the disturbance compensation amount is calculated through a kinetic model; the disturbance compensation effect is further optimized by multiplying the compensation amount by the variable compensation gain; the compensation gain is optimized through ILC iterative learning, and the learning adaptive capacity is achieved for load changes.

The invention discloses a nonsingular terminal sliding mode anti-shake control method in a slender load vertical lifting process, which comprises the following steps of: establishing a nonlinear three-dimensional dynamic model in the slender load lifting process by utilizing generalized coordinate quantity based on a Lagrange dynamics analysis method; on the basis, a nonsingular terminal sliding mode control model composed of equivalent control and switching control is established by using an equivalent control method; meanwhile, a control strategy is provided, and the problem that the generalized coordinate quantity on the actual crane is difficult to measure and control is solved by utilizing two times of coordinate transformation. The problem of slender load lifting shaking under the condition of external interference can be solved, industrial application is easy, and the working efficiency and the operation stability of the crane can be remarkably improved.

The invention discloses a PID control performance comprehensive evaluation method considering uncertainty. The method is used for comprehensively evaluating the control performance of an engineering machinery movement mechanism system by considering multivariate uncertainty parameters existing in the engineering machinery movement mechanism system, and optimizing the evaluation method to improve an evaluation result according to the confidence of the comprehensive evaluation result. The method comprises the following steps: obtaining an effective PID control system through optimization according to a deterministic Lagrangian dynamical model of an engineering machinery movement mechanism system, and then determining various uncertainties such as manufacturing errors and control errors to establish a Lagrangian dynamical model considering the uncertainties; and calculating a response interval of an engineering machinery movement mechanism system by using a point collocation method to obtain a comprehensive evaluation result of the control performance, calculating the confidence coefficient of the evaluation result by using a Monte Carlo method, and optimizing the comprehensive evaluation method according to the confidence level of the comprehensive evaluation result to obtain a mechanism control performance comprehensive evaluation result meeting the confidence coefficient. And the credibility of the comprehensive evaluation result is effectively improved.

The invention discloses a method for positioning and eliminating swing of an underactuated tower crane with a load lifting motion, which includes establishing a nonlinear model of a tower crane with a load lifting motion according to the Lagrangian dynamic equation; based on the nonlinear model Construct a sliding mode surface with adaptive gain, and determine the sliding mode surface approach law and adaptive value update law; use adaptive technology to confirm the crane friction parameter adaptive update law and full-degree-of-freedom disturbance adaptive update law; Combining the sliding mode surface approach law with the adaptive value update law, the friction parameter adaptive update law and the full-degree-of-freedom disturbance adaptive update law, a robust adaptive sliding mode controller is constructed to complete positioning and swing elimination. The stable convergence speed of the tower crane system with load lifting motion is improved, and the robustness of the control system is enhanced by using adaptive technology at the same time, finally realizing fast and efficient trajectory tracking and positioning and load swing suppression.

The invention provides a concrete pump truck Lagrange dynamics modeling method based on DH parametes. The method comprises the following steps of: establishing a DH coordinate system of a concrete pump truck arm support system by adopting a DH method, and calculating to obtain a DH parameter, a connecting rod length a, a connecting rod offset distance d, a rotating angle alpha and a joint angle theta of the concrete pump truck arm support system; obtaining a coordinate vector of the mass center of each connecting rod relative to the base coordinate system according to the rotation transformation matrix; solving to obtain a Lagrange function of the whole concrete pump truck boom system; solving each connecting rod to obtain a Lagrange equation set of each arm lever; according to the obtained Lagrange equation set of each arm lever, obtaining a kinetic equation of the whole concrete pump truck arm support system; according to the method provided by the invention, the vibration of the cantilever crane system of the concrete pump truck can be analyzed and inhibited, so that the service life of the concrete pump truck is prolonged, and the use safety of the concrete pump truck is improved.

The invention discloses a coordinated mechanical arm multi-constraint processing optimization method based on speed redistribution. The method comprises the following steps that S1, a mechanical arm coordinated clamping kinetic model is constructed, a physical model of a multi-mechanical arm clamping workpiece is simplified, an inertia term, a Coriolis force term, a centrifugal force item and a gravity term in the mechanical arm kinetic model are determined through a Lagrangian kinetic method, and an internal force item of the workpiece and a calculation method thereof are introduced into thekinetic equation to form an equation; and S2, a joint speed redistribution algorithm of a coordinated mechanical arm under the constraint condition is designed based on a homogeneous weighted minimumnorm method, a multi-mechanical arm coordinated task Jacobian matrix is constructed firstly, then a performance index equation based on joint position and joint moment constraint is designed, and based on the performance index equation as well as combined with a mechanical arm kinematics and a kinetic flush configuration, a speed distribution expression based on joint penalty weights is designed.

The invention belongs to the field of optimization control of redundant-driven parallel robots, and specifically relates to a multi-objective fusion redundant-driven parallel robot internal force optimization method and system, aiming to solve redundant-driven parallel robots that cannot achieve multi-objective fusion optimization in existing methods The problem of internal force optimization. The invention includes: constructing a Lagrangian dynamics model of a redundantly driven parallel robot and projecting it to the configuration space; for a robot with a driving redundancy of 1, combining the desired control torque vector of the robot system to obtain a control torque vector optimization model; Build a multi-objective fusion internal force optimization model, and solve the control torque vector optimization model; based on the solved optimal internal force parameters, perform robot internal force optimization. The invention realizes the stable and reliable operation of the redundantly driven parallel robot, eliminates the transmission gap, improves the operation precision, reduces the power loss of the driver, and realizes the high-level application of the parallel robot in engineering practice.