54 results about "Mechanical dynamics" patented technology

The invention discloses a dynamic simulation modeling method for a compressed air energy storage system based on AMESIM and application, and belongs to the technical field of compressed air energy storage.The method comprises the steps that firstly, system indexes are determined, based on the system indexes, a system technological process diagram is designed, main equipment and auxiliary equipment are selected, and design point parameters of the main equipment and the auxiliary equipment in the energy storage and release stage are determined; then, according to the equipment model selection result, sub-models of all elements in the air circulation loop and the heat storage and exchange loop are selected in the AMESIM; thirdly, calibrating and verifying each main equipment sub-model by utilizing main equipment characteristics and model selection parameters, and building a steady-state simulation model of the compressed air energy storage system; and then, constructing a dynamic simulation model based on the steady-state model, and carrying out dynamic simulation verification and evaluation. According to the method, the co-simulation model integrating thermodynamics, fluid mechanics, control theory and mechanical dynamics can be quickly built, and the method has the advantages of being high in model modeling precision, high in multidisciplinary coupling calculation capacity, high in simulation efficiency and the like.

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

The invention provides a traditional opera action analysis method and device fusing an energy field, equipment and a storage medium. Relates to the field of Chinese opera action analysis and digital protection. According to the method, a time-joint-energy field three-dimensional analysis model is constructed based on three-dimensional attitude, mechanical dynamic and thermal gradient data acquired by multi-modal motion capture. The method focuses on feature extraction and energy analysis at the same time, in the aspect of feature extraction, an adaptive derivative operator is adopted to accurately capture subtle motion changes, and curvature extreme value detection is applied to accurately position motion trajectory inflection points. In an energy analysis level, a diffusion tensor and source item intensity are calculated based on an energy transfer partial differential model. In addition, the energy transfer path and the key force application point in the throwing and recycling actions of the water sleeve are mainly analyzed, and the instantaneous action characteristics of the water sleeve are accurately captured. Finally, a visual analysis report is generated, accurate data support is provided for teaching, digital inheritance and virtual performance, and scientific evaluation and quantitative analysis of opera actions are achieved.

The application relates to the technical field of mechanical dynamics, and discloses a gear dynamics modeling method considering the influence of meshing position change. The gear dynamics modeling method realized by the method adopts a gear meshing stiffness model which no longer simplifies the meshing stiffness between a driving wheel and a driven wheel into equivalent meshing stiffness acting on a node with a fixed spatial position and only a change in amplitude, but truly considers the change of the instantaneous meshing position between the driving wheel and the driven wheel, that is, the gear meshing stiffness model considers the change of the stiffness amplitude in the time dimension and the change of the stiffness position in the space dimension, and the gear meshing stiffness model is more in line with the actual meshing state of the gear.

The present application relates to the technical fields of mechanical dynamics analysis and mechanism simulation, and discloses a guide rail impact and dynamic analysis method of a three-degree-of-freedom flat push rod cam mechanism, comprising the following steps: establishing global and local coordinate systems, and defining the push rod as a rigid body with three degrees of freedom of lateral, longitudinal and rotation; correcting the effective input displacement of the cam according to the rotation angle, and calculating the normal contact force, friction force and total cam contact moment; at the same time, monitoring the collision of the four corner points of the push rod with the guide rail, and calculating the guide rail impact force and total guide rail impact moment; and constructing coupled dynamics differential equations by comprehensively using the above forces and moments, and solving the motion state by using numerical integration. Further, the dynamics behavior of the system is identified by using Poincaré section and five-element impact mode code recognition system. The present application realizes the simulation of push rod tilting, overturning and multi-point impact, can effectively identify the periodic, bifurcation and chaotic motion state of the system, and provides theoretical support for mechanism optimization design.

This invention belongs to the field of mechanical dynamics technology, and discloses an improved method, medium, and electronic device for load-bearing contact analysis of spiral bevel gears. Based on the tooth contact analysis method, the geometric parameters of the tooth surfaces of the large and small gears are obtained, a load-bearing contact analysis model of the spiral bevel gear pair is constructed, and the overall compliance matrix, overall contact compliance matrix, and local contact compliance matrix of the tooth surface are calculated. A deformation compatibility iterative equation is established, its ill-conditioned nature is analyzed, and a preprocessing matrix is ​​established to improve the deformation compatibility iterative equation. After improvement, the time-varying meshing stiffness and tooth surface load are solved. Based on the tooth surface load, the principal curvature of the tooth surface of the large and small gears is calculated using the Euler analytical method and the principal direction is determined. The contact stress is then solved using Hertz contact theory. This method improves upon the problems of traditional tooth load-bearing contact analysis methods, which suffer from low accuracy and efficiency due to the ill-conditioned nature of the contact compliance matrix under low load conditions and the reliance on numerical differences for curvature calculation.

The application relates to the technical field of data processing, in particular to an accelerometer vibration rectification error analysis method, which comprises the following steps: receiving multiple original current signals of accelerometers, processing collected data to output a characteristic point coordinate sequence with confidence; dynamically scheduling an optimization algorithm combination in a knowledge base according to the confidence and frequency band distribution characteristics to calculate a local statistical data set; inputting the data set into a mechanical dynamics model to perform trajectory simulation, simultaneously inputting a control model to reconstruct a signal to generate an error correction coefficient matrix by comparing the differences of double-path positioning drifts; adopting the matrix to reconstruct a vibration rectification error quantitative value to output a knowledge base update instruction and a parameter reset instruction; importing the quantitative value to calculate a theoretical angle deviation and verify convergence, and triggering neural network retraining when the deviation exceeds a threshold value. Through a non-smooth feature extraction algorithm and a closed-loop feedback mechanism, the signal distortion problem caused by the smoothing operation in the prior art is solved.

The invention belongs to the field of hydroelectric generation control engineering and fluid mechanical dynamics, and particularly discloses a starting-up optimization control method of a large hydroelectric generating set based on full-view simulation and dynamic verification. Comprising the steps of multi-dimensional real machine test database construction and benchmark evaluation, one-dimensional system simulation and macroscopic boundary definition, three-dimensional high-fidelity transient flow field simulation and microscopic mechanism insight, startup law dynamic optimization based on simulation insight and'simulation-test 'technology closed loop and iterative refining. Compared with the prior art, one-dimensional system simulation and three-dimensional high-fidelity flow field simulation are organically combined for the first time, the problem of comprehensive analysis from the macroscopic hydraulic transition process to the microcosmic complex flow mechanism is solved, the'full-transparency 'insight of the starting process is achieved, multiple performance indexes such as vibration, throw, stress and temperature can be considered at the same time, and the method is suitable for large-scale popularization and application. And the overall stability of the unit is synergistically improved.

The invention provides a fire fighting truck boom design method and device, electronic equipment and a storage medium. The method comprises the following steps: establishing a multidisciplinary joint simulation model; setting an initial design variable set; generating multiple groups of first design variable combinations based on a preset test design method; comparing each group of first design variable combinations with an allowable error range of a corresponding to-be-selected parameter in a to-be-selected parameter library, and screening out multiple groups of second design variable combinations; inputting each group of second design variable combinations into a simulation model, simulating hydraulic parameter change through a hydraulic system simulation module, calculating boom dynamic response through a mechanical dynamics simulation module, and obtaining boom linear velocity fluctuation amplitude of each group of second design variable combinations; according to the method, the shaking conditions of the boom under different working conditions and different design variables can be obtained without actual tests, the optimal parameters are determined, a theoretical basis is provided for model selection and design of the boom of the fire fighting truck, the development cost of the fire fighting truck is saved, and the development period is shortened.

The present application relates to the field of power system stability analysis and control, in particular to a kind of thermal mass energy storage converter broadband oscillation suppression parameter stable domain identification method, comprising the following steps: establish general electric-thermal coupling mechanism model, construct the dynamic differential equation describing the evolution of input electric power and energy storage medium temperature state of converter;Mechanical dynamics equation is constructed;Establish the small signal state space model of whole system, linearization is carried out at steady state operating point and the state space matrix of whole system is derived;Define practical small disturbance stability domain, set the real part decay rate threshold and minimum damping ratio threshold of whole system eigenvalue;Algebraic singularity constraint equation in high-dimensional parameter space is constructed;Solve algebraic singularity constraint equation, establish parameter stable domain.This method avoids the repeated iteration of traditional eigenvalue analysis, can accurately depict parameter boundary, effectively improve the frequency support capability of high proportion of new energy power grid and system robustness.

The application relates to the technical field of ship power control, and discloses a ship power system energy efficiency optimization control system based on multi-sensor fusion, which comprises the following modules: a multi-source data acquisition module, which is used for synchronously collecting hull, shafting and air path parameters; a kinematics mapping calculation module, which is used for calculating a propeller transient immersion index; a phase extraction and mode determination module, which is used for extracting a wave phase and an amplitude output mode signal; a fuel mechanical dynamics feedforward module, which is used for generating an oil injection instruction according to the amplitude and the immersion index derivative; an air thermodynamics cooperative control module, which is used for controlling a valve and starting a scavenging blower according to a phase angle; and a long-term energy efficiency optimization module, which is used for finely adjusting a main rotating speed setting value according to an energy efficiency cost function gradient. The technical scheme of extracting the transient immersion index and the fluctuation amplitude to dynamically adjust the rotating speed control dead zone and superimpose a negative fuel feedforward instruction is adopted, so that the technical effects of suppressing abnormal fluctuation of the main engine rotating speed under high sea conditions and reducing unnecessary fuel consumption are achieved.

The invention relates to the technical field of automobiles, and particularly provides a Transform-based torque prediction method, system and device and a medium, and the method comprises the steps: collecting the operation parameters and historical torque data of an automobile transmission system; performing preprocessing such as denoising, normalization and feature extraction on the data; the preprocessed data are input into a Transform model and a physical knowledge encoder in parallel, the Transform extracts time sequence features through a multi-head attention mechanism, and the physical encoder calculates physical features based on a kinetic equation; fusing the two-way features through a self-adaptive gating mechanism; and inputting the fusion features into a gating cycle unit for prediction, and embedding physical state space constraints in hidden state update of the GRU to ensure that a prediction result accords with a system dynamics law. Through the parallel architecture and physical constraint design, deep fusion of data driving and mechanical dynamics is realized, and the torque prediction precision and physical rationality are remarkably improved.

The present application relates to the field of metal continuous casting automation control, and discloses a copper rod processing and manufacturing process linkage control system and method, the method comprising: dividing the cast blank into virtual slices according to the pulse signal to construct a data queue; calculating the heat content characteristics of the temperature and flow signals, processing abnormal data and marking characteristic anchor points; combining the linear speed to deduce the theoretical time stamp of the slice reaching the rack; comparing the torque differential polarity and the heat content mutation direction within the theoretical time window to verify the signal, extracting the actual time stamp to correct the theoretical time stamp; generating a feedforward torque instruction according to the heat content characteristics and issuing it to the frequency converter. Through the cross-checking of thermal state and mechanical dynamics and the adaptive correction of the time stamp, the temperature measurement distortion interference is eliminated, the spatial accurate alignment is realized, the torque reserve is established before the abnormal material contacts the rack, the hysteresis of the traditional passive control is overcome, the tension shock is reduced, and the risk of belt breakage is reduced.

The application relates to the technical field of mechanical dynamics, in particular to a fault gear time-varying meshing stiffness calculation method considering crack positions, which comprises the following steps: establishing a gear fault calculation model; determining corresponding crack category information, and pre-storing crack gear section division rules corresponding to the crack category information; detecting a crack position on the gear that has occurred a fault, adopting the crack gear section division rule to divide the crack position into sections to obtain a plurality of crack sub-sections; obtaining the bending stiffness and the shear stiffness of each crack sub-section for each crack sub-section; and summing the bending stiffness and the shear stiffness of each crack sub-section to obtain the bending stiffness and the shear stiffness of the fault gear. The bending stiffness and the shear stiffness of the fault gear can be obtained by inputting the parameters of the crack, and the calculation efficiency is higher.

The utility model provides a novel high-pressure crucible tablet press, which comprises a main body, a pressure head, a pressure head driving device and a turntable for placing a crucible, a groove for placing the crucible is arranged on the middle lower part of the main body, the pressure head driving device is arranged in a vertical groove arranged on the main body above the groove, the upper end of the pressure head driving device is connected with the main body, and the turntable is arranged on the upper end of the pressure head driving device. A rotary disc is arranged at the position, corresponding to the pressing head, of the lower surface of the groove. A Z-shaped pressing rod is fixedly arranged on the side face of the pressing head driving device, and a first reset spring is arranged at the upper end of the pressing head driving device and connected with the body. The compression bar has the advantages that space is saved, the size of the whole compression bar is smaller, installation and layout are more convenient, the mechanical mechanics principle is fully considered, and the length of a power arm of the compression bar is optimized. A pressure detection device and a pressure reading display function are added, so that the pressure when the crucible is pressed can be directly and accurately judged and read.

The invention discloses a high-precision flow display spraying machine, which comprises a motor, a plunger pump, an MCU (Microprogrammed Control Unit) controller assembly, a pressure sensor and a Hall sensing device, and is characterized in that the motor drives the plunger pump to work through a gear mechanism, and the gear mechanism adopts a fixed transmission ratio gear structure; the Hall sensing device is installed in the motor and transmits the motor rotating speed obtained in real time to the MCU controller assembly, and the pressure sensor is connected with the plunger pump and transmits the plunger pump conveying pressure obtained in real time to the MCU controller assembly. The invention further discloses a monitoring method adopting the spraying machine. The complex fluid mechanics and mechanical dynamics problems of non-Newtonian fluid are converted into a reliable software model based on a large amount of experimental data. A user can obtain an accurate measurement result comparable to that of a direct flow meter only by carrying out simple medium selection without knowing a complex back principle, and all reliability advantages brought by no flow meter are enjoyed at the same time.

The invention relates to the technical field of mechanical dynamics, in particular to a dynamic modeling method of a pipeline system containing a movable pipe joint, which comprises the following steps: establishing a movable pipe joint-pipeline system dynamic model based on a finite element method, in the dynamic model, establishing a model of a pipeline and a joint part according to a Tiushingeshu beam theory, and establishing a model of the pipeline and the joint part according to the Tiushingeshu beam theory; the equivalent stiffness of the movable pipe joint under the pre-compression state and the dynamic load of the sealing ring is considered; performing model verification on the established movable pipe joint-pipeline system dynamic model to obtain a verified model; and based on the verified model, simulating the influence of each excitation amplitude on the inherent frequency of the movable pipe joint-pipeline, and verifying the correctness of the movable pipe joint-pipeline system dynamic model. According to the method, the dynamic model of the aero-engine pipeline system containing the movable pipe joint is accurately constructed, and the inherent characteristics and the vibration response law of the system are accurately represented.

The application belongs to the technical field of mechanical dynamics, and discloses a six-degree-of-freedom large-load low-frequency excitation platform based on an air spring, which comprises an exciter, wherein the exciter comprises an upper end plate, a base and a horizontal swing mechanism, the horizontal swing mechanism is partially arranged in the base, and the upper end plate is connected to the base; the base and the horizontal swing mechanism jointly form an air spring, and the air spring is arranged opposite to the upper end plate; the upper end plate is used for connecting a load; the excitation platform makes the air spring deform by introducing air into the air spring to float the upper end plate, and then floats the load. The application overcomes the influence of the target load gravity on excitation through the air spring, reduces the stiffness in the vertical direction, makes the motor provide the excitation force of full frequency band and controllable size for the load, and has good low-frequency excitation effect.

The invention discloses a mechanical system dynamics modeling method, and relates to the technical field of mechanical dynamics, and the method comprises the steps: decomposing a target mechanical system into a set of a plurality of structural components; performing finite element modeling on each structural component to obtain a finite element model of each structural component; performing dynamic order reduction processing on the finite element model to obtain a polycondensation model of each structural component; integrating and coupling the polycondensation model into a system body dynamic model based on the motion parameters of each motion axis of the target mechanical system and the system assembly relationship; and coupling the dynamical model of the end effector with the system body dynamical model to obtain a target system dynamical model. The whole machine is decomposed into components, order reduction processing is carried out on the components respectively, dynamic integration is carried out according to real-time motion parameters, real dynamic behaviors of a mechanical system in different working spaces are accurately reflected, and limitation of traditional static modeling is overcome.

The invention discloses a self-adaptive wind power bird repelling device based on a centrifugal speed regulator and friction braking, and belongs to the technical field of mechanical dynamics and control. The self-adaptive wind power bird repelling device structurally comprises a windmill rotating body (1), a balance weight lever (2), a sliding block (3), a connecting rod (4), a spring (5), a tapered roller bearing (6), a base (7), a friction block (8) and a reflective lens (9). According to the structure designed by the invention, an active speed regulation system is introduced into the wind-driven bird repelling device, so that the stability of the wind-driven bird repelling device under a high-wind-speed working condition can be effectively enhanced, natural loss is reduced, and the service life is prolonged.

A method for solving the thermal-mechanical coupling multi-scale dynamics of flexible multi-body systems with clearance hinges, the technical field of space deployment mechanism dynamics modeling and numerical simulation. The existing solving method is difficult to accurately capture the change of the dynamics response of the space deployment mechanism under the thermal environment. According to the constructed temperature related hinge gap model, the temperature related material parameter model, the normal contact collision model, the partial slip tangential slip friction model, the tangential total friction force, the adhesion zone displacement and slip velocity model, the thermal viscous damping and tangential friction force model, the static friction growth model and the friction heat feedback transient heat conduction model, the thermal-mechanical coupling mechanical dynamics equation is constructed, which is decomposed into slow field equation and fast field equation, and the slow field equation and the fast field equation are solved through BDF2 and Newton-Raphson method and double parameter adaptive multi-scale implicit integration method, and the motion response of the hinge is obtained. The present application is used for obtaining the motion response of the hinge.

The invention discloses an engineering construction digital twinborn simulation deduction method, and relates to the technical field of engineering construction, and the method comprises the deduction steps: S1, virtual scene construction: converting a construction site into a virtual three-dimensional scene through a digital twinborn simulation technology, configuring a digital construction equipment assembly and a digital component assembly in the virtual three-dimensional scene, the spatial relationship with the surrounding construction environment is reflected; s2, rapid acquisition and three-dimensional modeling: based on an oblique photography technology of the unmanned aerial vehicle, planning a route and an image acquisition action of the unmanned aerial vehicle in a preset modeling range; according to the method, low-cost rapid modeling is realized by adopting an unmanned aerial vehicle oblique photography technology, and high hardware investment is not needed; high-threshold compound talents are not needed, and popularization and application of small and medium-sized enterprises are facilitated; through combination of a centimeter-level precision three-dimensional model, mechanical dynamics analysis and a physical engine, nonlinear changes in an extreme environment and the stress state of a complex component are accurately simulated, and the problem of deviation of hoisting deduction of the extreme working condition and the complex component is effectively solved.

This invention relates to the field of dynamic modeling technology and discloses a dynamic modeling system for digital twin of packaging electrostatic field, comprising: acquiring the feedback signal of the drive frequency actuator, the displacement data of the controlled target object, and the reference field strength signal; extracting the high-frequency ripple component of the current signal to determine the dynamic friction coupling factor, characterizing the micro-fluctuation of contact stress; mapping the conductive transmission component as a virtual topological zero-potential anchor point, and switching the leakage resistance parameter when the controlled target object is displaced to the corresponding coordinate; using the dynamic friction coupling factor to compensate for the charge injection gain, and solving the charge distribution state of the controlled target object through a two-layer evolution architecture; thereby generating a digital twin model of the distributed physical quantity field and correcting the deviation. This invention establishes the correlation logic between drive dynamics and charge evolution, offsets the fluctuation of charging gain caused by mechanical dynamic drift, and improves the modeling accuracy.

The invention relates to a device and a method for compensating errors of a numerically controlled machine tool having at least one controllable machining axis for relative positioning of at least one workpiece with respect to one or more machining devices. The method comprises detecting actual measurement values of at least one input variable describing a state of the machine tool by means of sensors on the machine tool, providing at least one compensation parameter to be used by a control device of the machine tool to the control device of the machine tool, and compensating errors on the machine tool based on the compensation parameter provided to the control device. The compensation comprises compensation of thermal errors, compensation of geometric errors and compensation of errors based on mechanical dynamics.

The application discloses a kind of high-precision dynamic simulation-oriented mechanical inertia compensation method of electric vehicle test bench.This method introduces extended state observer in inertia compensator to replace traditional differential element, the total disturbance of system including acceleration dynamics and unmodeled dynamics is expanded to new state variable to carry out unified observation and compensation, solve the problem that high frequency noise amplification of test bench under high multiple compensation leads to the decline of speed simulation accuracy;The system closed-loop discrete mathematical model containing ESO is constructed, and the stability boundary of the system under high multiple compensation is determined using its characteristic equation and Jury criterion;In the stability domain, the sparrow search algorithm with working condition self-adaptive boundary early warning mechanism is used to optimize the observer gain, and the conflict between low-speed high-precision requirement and high-speed robustness requirement is solved.The application effectively solves the interference of high-frequency noise on the compensation loop, and realizes the high-precision and high-stability simulation of the mechanical dynamics of large inertia electric vehicle under all working conditions.

The present application relates to the technical field of mechanical dynamics, and particularly relates to a kind of dynamics modeling method of gear transmission system containing system error cumulative influence, comprising: the assembly body size chain diagram of gear transmission system is constructed;Corresponding jacobian spinor model is established based on assembly body size chain diagram;Using jacobian spinor model, the spinor of each gear node in gear transmission system under the influence of system cumulative error is obtained;The dynamic error of gear pair normal meshing line direction under the influence of cumulative error of gear transmission system is obtained;The dynamic response of gear transmission system is obtained by solving the dynamic equation and solving the dynamic equation.The present application considers the influence of cumulative error in gear transmission system due to manufacturing installation on system response, realizes the combination of dynamics model and three-dimensional tolerance analysis technology, fills the current technical blank of gear transmission system dynamics modeling, and provides a theoretical basis for accurate analysis of dynamic characteristics of gear transmission system.

The invention relates to a dynamic modeling method for a flexible membrane disc coupling based on MPC and Guyan reduction, and belongs to the technical field of mechanical dynamics. The method comprises the following steps: respectively obtaining a finite element model of a membrane disc and a finite element model of a shaft section in the flexible membrane disc coupler based on a four-node entity degradation shell element theory and a Timoshenko beam element theory; coupling of the finite element model of the diaphragm disc and the finite element model of the shaft section in the connecting area is achieved through a multi-point constraint method MPC, and a finite element model of the coupled flexible diaphragm disc coupler is obtained; based on a finite element model of the flexible membrane disc coupling, applying a Guyan reduction method to take two nodes in a shaft section as main nodes, and eliminating internal degrees of freedom of slave nodes of an inner ring of a membrane disc corresponding to the main nodes to obtain a reduction model; and performing modal characteristic analysis and vibration response calculation of the system based on the reduction model. The technical problems that in existing flexible modeling, flexible feature representation is insufficient, the coupling interface processing precision is limited, and the calculation efficiency is low are solved.

The invention discloses an MBSE-based climate adaptability agricultural machine whole life cycle depreciation rate accounting method. The method comprises the following steps: S1, establishing a scatter data sequence; s2, establishing a working condition function of illumination and climate adaptive agricultural machinery operation; s3, establishing a mechanical dynamics model; s4, establishing a mechanical-electrical-thermal coupling simulation model; s5, loading the working condition function into the mechanical-electrical-thermal coupling simulation model; s6, establishing a control model of the climate adaptability agricultural machinery; s7, establishing an agricultural machinery degradation rate function based on MBSE; and S8, establishing a depreciation function. According to the method, a digital physical model with depreciation rate accounting as a core target is adopted, and the characteristics of the climate-adaptive agricultural machine body can be accurately restored; the full-life-cycle data loading of the climate adaptability agricultural machine based on the climate data model is closer to the real working condition; and high-precision calculation and evaluation of the depreciation rate of the agricultural machinery can be realized for the specific type of climate adaptability agricultural machinery with any working duration.

The invention relates to a six-axis synchronous error prediction and cooperative compensation method for a heavy-load equal material forming robot. The method comprises the following steps: S1, establishing a kinematics model, a mechanical dynamics model, an electrical dynamics model and an electromechanical coupling dynamics model of the heavy-load equal material forming robot; s2, building a heavy-load equal material forming robot collaborative error prediction model, wherein the heavy-load equal material forming robot collaborative error prediction model comprises a long short-term memory network prediction model, a physical model prediction model and an LSTM-physical model fusion prediction model; and S3, building a heavy-load equal-material forming robot cooperative control model, wherein the heavy-load equal-material forming robot cooperative control model comprises a three-ring PI control model, a traditional cooperative error control model and a cooperative control model based on an LSTM-physical model fusion prediction method. According to the method, the collaborative error of the permanent magnet synchronous motor is predicted based on the LSTM-physical model fusion prediction method, and the control precision of the heavy-load equal material forming robot can be improved. In order to realize accurate prediction, an LSTM method is used to suppress system noise, and a physical principle is adopted to improve robustness under the condition of forming a load.

The invention relates to a simulation operation teaching system for an overhead and gantry crane in the field of hoisting driving training equipment, and the system comprises a console which is used for receiving an operation instruction of an operator; the motion feedback mechanism is used for providing multi-degree-of-freedom real-time force feedback for the console according to the mechanical dynamics of the virtual scene; the virtual scene generation module is in communication connection with the console and the motion feedback mechanism, and is used for generating and driving a three-dimensional virtual scene of the gantry crane linked with the operation instruction; the data acquisition module is used for acquiring action information of an operator and operation parameters in a virtual scene in real time; the comprehensive evaluation module is connected with the data acquisition module and is used for analyzing and quantitatively scoring the acquired data and generating an operation evaluation report; the simulation operation teaching system can realize specialized training with high efficiency, low cost and high safety.