4511 results about "Motive power" patented technology

The invention discloses a ship main power and auxiliary power real-time switching method and system based on large model optimization, and relates to the technical field of ship power system control, and the method comprises the steps: collecting the operation state data and environment parameters of a ship main power system and an auxiliary power system in real time through a multi-mode sensor array; and performing space-time alignment and noise suppression processing on the operation state data and the environment parameters, inputting the feature subset into a lightweight large model inference engine, generating a multi-target optimization decision set, executing a main and auxiliary power dynamic switching control sequence in a preset time window according to the multi-target optimization decision set, and outputting the main and auxiliary power dynamic switching control sequence. And generating a self-optimization log including a switching efficiency evaluation report and a model iteration suggestion based on the deviation degree of the switching feedback data and a preset performance index. According to the ship main and auxiliary power real-time switching method and system based on large model optimization, stable operation of a ship power system is guaranteed, and meanwhile the service life of equipment is prolonged.

An undercarriage, a middle large rotor and a middle large motor are connected to the lower portion of a fuselage body and sequentially connected to the top of a middle small tower, and the right front portion, the left front portion, the left rear portion and the right rear portion of the fuselage body are correspondingly connected with a right front fuselage arm, a left front fuselage arm, a left rear fuselage arm, a right rear fuselage arm and a power assembly. The connecting line of the rotating centers of the rotors of the four power assemblies is square or rectangular, the rotating directions of the rotors of the power assemblies at the same opposite angles are the same, the rotating directions of the rotors of the power assemblies at different opposite angles are opposite, and the rotating faces of the two rotors opposite to the middle large rotor in rotating direction incline around the axes of the respective arms. The included angle between the rotating surfaces of the two rotors and the horizontal plane is an acute angle beta, the rotating surfaces of the two rotors with the same rotating direction as the middle large rotor incline around respective arm axes, the included angle between the rotating surfaces of the two rotors and the horizontal plane is an acute angle theta, beta is larger than theta, the reaction torque and the horizontal component torque of the rotors jointly drive the aircraft to steer, and the aircraft has the advantages of being long in endurance time, large in load and high in wind resistance. And a universal flight platform is formed.

The invention discloses a decoupling control method for motion coupling between a track and a propeller, relates to the technical field of robot control, and realizes accurate and intelligent regulation and control of motion of a sea-land amphibious robot by constructing a complete closed-loop strategy from sensing, recognition, prediction to control. And the motion stability of the robot in a complex mixed environment is obviously improved. According to the method, the undesirable coupling effect between the crawler belt and the propeller can be anticipated and quantified in a prospective mode, suppression is conducted actively through self-adaptive control, impact, vibration and attitude instability caused by power conflicts in land and water transition or rugged terrain are effectively avoided, and stability and safety of a robot platform and loads of the robot platform are guaranteed. The energy utilization efficiency of the robot is greatly improved. And it is ensured that the two power systems work in the optimal cooperative state at any moment, and invalid energy internal consumption and redundant output are avoided.

The invention relates to the technical field of torque converters, in particular to a hydrodynamic transmission power chain optimization method and system.The method comprises the steps that a hydrodynamic torque converter parameterized geometric model is built, and a pump impeller blade outflow angle, a guide wheel runner input / output angle, turbine blade geometric parameters and the relative position of a pump impeller and a turbine are set as design variables; based on CFD three-dimensional flow field simulation, a k-epsilon model is adopted for rapid analysis, an SST model is adopted for transient simulation, and simulation data under different variable combinations are obtained; training a BP neural network by using the simulation data, inputting each design variable, and constructing a multi-target optimization model with maximization of efficiency and minimization of noise as targets; a design variable combination is selected in the Pareto optimal solution set, a model is reconstructed, and an optimized hydraulic torque converter is obtained; according to the method, the problems that the design optimization efficiency of the hydraulic torque converter is low, the parameter adjusting period is long, and good compromise between the transmission efficiency and noise suppression is difficult to obtain can be solved.

The invention provides a multifunctional cycle power generation system and method by a gravity lever. The system comprises a supporting rack and a balance weight arranged on the supporting rack and slidably matched with the supporting rack, wherein engines are arranged on one side or two sides of the balance weight; the input shaft of each engine is connected to a transmission shaft; two or more single-directional clutches are fixedly connected to the middle of the transmission shaft; the locking directions of the single-directional clutches are same, gears are fixed to the peripheries of thesingle-directional clutches, and a rack matched with each gear to drive the transmission shaft to rotate is arranged next to each single-directional clutch; at least one pair of racks is arranged on the upper part and the lower part, separately, the racks and the balance weight which reciprocates are in driving movement and the balance weight is arranged on the supporting rack to swing through a lifting mechanism in a reciprocating manner. As the balance weight which swings in the reciprocating manner pulls the racks to drive the transmission shaft to rotate in the single direction, multiple engines can be driven synchronously to generate electricity synchronously, and the power needed by a supporting rack lifting device is alleviated greatly by means of a swing mode like to a lever, so that the energy sources are saved and the power generation efficiency is improved greatly.

The invention discloses a double-closed-loop cooperative control method of a direct-drive electric chassis and a power system, relates to the technical field of power control of electric special vehicles, and provides a rotating speed and torque double-closed-loop cooperative control architecture, and realizes double-core real-time cooperative operation and dynamic optimization of motor output characteristics through a 32-bit processor. A direct-drive transmission structure is combined, a traditional speed reduction device is omitted, a flat wire motor directly drives a rear axle through a transmission shaft, and a four-in-one controller is matched, so that the system loss is reduced by 33%, and the power density is improved by 15%; on the basis of real-time temperature / electric quantity data of a lithium iron phosphate battery management system, control parameters are adaptively adjusted, and the bottleneck of performance attenuation in a low-temperature environment of-35 DEG C is broken through; and a high-voltage interlocking and insulation monitoring module is integrated, and an emergency hydraulic system is automatically switched when an electrical fault occurs, so that multi-stage safety guarantee is formed. According to the technology, the energy recovery efficiency is remarkably improved by 20%, and the wind resistance stability and the extreme environment reliability are effectively enhanced.

The invention relates to the field of locomotive power battery electric quantity control, and particularly discloses a locomotive power battery electric quantity hysteresis equalization control method, which comprises the following steps that: a traction force exerting mode is reset into an axle load transfer mode, and the initial value of an electric quantity equalization compensation coefficient K is a rack axle load transfer coefficient corresponding to zero speed; judging whether the current mode is a power battery power supply mode; if yes, the TCU receives the electric quantity of a front power battery and the electric quantity of a rear power battery in real time according to the current locomotive working mode, calculates the electric quantity average value difference value, monitors the auxiliary load power and the traction motor power and calculates the power difference value; entering a hysteresis control logic process; calculating a dynamic traction force compensation coefficient, ensuring that the traction force compensation amount is matched with the actual load characteristic of the system, correcting the traction characteristic curve in real time, and dynamically compensating the electric quantity difference of the battery; and performing traction distribution control according to the locomotive speed and outputting corresponding traction.

The present disclosure relates to a powertrain for a work machine (50). The powertrain (100) comprises a first prime mover (10), a second prime mover (12), a set of first gears (14a, 14b), a set of second gears (16a, 16b), an engaging unit (24), and an actuator (26). The first prime mover (10) configured to engage a first shaft (18). The second prime mover (12) configured to engage a power take off (PTO) shaft (20). The first gears (14a, 14a) mounted on the first shaft (18) and the second gears (16a, 16b) mounted on the PTO shaft (20). The actuator (26) configured to be in communication with the engaging unit (24), and further configured to selectively displace the engaging unit (24) from the idling configuration to the engaging configuration to engage with one of the second gears (16a, 16b). Advantageously, the engaging unit (24) facilitates the coupling of the second prime mover (12) with the first prime mover (10); therefore the powertrain (100) provides the desired torque to meet the requirements.

The invention relates to the technical field of automatic driving, in particular to a driving control method and system for an unmanned electric tractor, and the method comprises the following steps: obtaining humidity data to generate a state diagram, judging slip to trigger traction adjustment based on the state diagram, analyzing a slope recognition risk to generate a slope parameter, and reading a braking force to judge, coordinate and generate a distribution instruction. According to the method, the humidity difference is obtained through multi-point soil humidity monitoring, distribution characteristics are extracted, accurate sensing of the state of an operation area is achieved, the wheel rotating speed and traction force signals are combined, slipping is recognized in advance, the traction force is dynamically adjusted, and the driving force is kept stable; based on joint analysis of gradient change and vehicle state, slope risk is recognized in advance, optimization control is performed, braking force of front and rear wheels is dynamically distributed, slippage caused by unbalance is avoided, safety of complex terrains is improved, and vehicle stability, path control precision and energy utilization efficiency are improved through cooperation of multi-dimensional data perception and dynamic prediction.

The utility model discloses a rail type gravity energy storage external driving station which comprises driving station assemblies symmetrically arranged on the two sides of a rail. The driving station assembly comprises a supporting platform, a supporting frame arranged on the supporting platform in a sliding mode, a motor arranged on the upper side of the supporting frame, a reduction gearbox arranged at the output end of the lower portion of the motor and a driving wheel connected with an output shaft of the reduction gearbox, the supporting frame is connected with a tensioning device, and a rail train is arranged on the rail to run. A driving plate is arranged on the outer side of the rail train wheel set, and when the rail train travels to the driving station assembly, driving wheels on the driving station assembly are in friction connection with the driving plate under the action of a tensioning device. According to the utility model, the external driving station is not limited by space, a high-power motor and a large-size friction wheel can be arranged, a stable power driving source is provided for the rail train, the number of the driving stations arranged on the rail is reduced, the cost is reduced, and the maintenance and operation adjustment of the driving station are also facilitated.

The present application provides a reverse-type integrated miniature linear servo electric cylinder. An open end of a rotor housing in a power transmission mechanism is fixedly connected to a planetary carrier by means of a coupling, the planetary carrier is directly driven by means of integration of the motor rotor housing and the planetary carrier, and after power transmission via the planetary carrier, an output end is directly driven to achieve linear motion without adding a gear reduction mechanism to a power transmission system of the electric cylinder, thereby significantly reducing the internal space of the electric cylinder occupied by the power transmission mechanism, allowing the electric cylinder to develop to have a more miniaturized and compact structure, saving costs; moreover, the energy utilization rate of the electric cylinder is improved, the electric energy consumption of the electric cylinder is reduced, and relatively good economic benefits can be yielded.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.

The invention discloses a power system energy management method and equipment based on hydrogen energy hybrid power, belongs to the technical field of energy management, and is used for solving the technical problems that the random load characteristic of field operation of an existing tractor is complex, and a hybrid power tractor is uneven in ploughing and sowing under the complex terrain operation working condition and the tillage state. The method comprises the following steps: collecting multi-modal data of a farmland environment; performing vehicle speed prediction processing on the tractor under related environment characterization to obtain a dynamic prediction vehicle speed of the tractor; carrying out rolling optimization processing on the dynamic prediction vehicle speed under related output power to obtain the driving demand power of the tractor; and superposing the driving required power and the pre-obtained tillage tool required power to obtain the total required power of the power system, decomposing the required power in a frequency domain according to a formulated variational mode decomposition rule, and endowing the required power to a driving power generation system formed by a fuel cell, a power cell, a hydrogen internal combustion engine and a generator.

The invention provides a water-air two-domain self-adaptive state switching efficient propelling folding propeller, which comprises a propeller hub, a propeller blade, a propeller blade, a propeller blade and a propeller blade, the N fixed paddles are uniformly distributed on the side wall of the cylinder in the circumferential direction; the inner sides of the fixed paddles are fixedly connected with the outer surface of the side wall of the cylinder; the fixed blades are arranged along the water pushing direction; the outer side of the fixed paddle is bent upwards, and a connecting plate is arranged at the end part of the outer side; the N folding and unfolding paddles are correspondingly mounted at the outer ends of the fixed paddles, and each folding and unfolding paddle comprises a blade and a root ring fixedly connected with the root of the blade; the N rotating joints comprise pin shafts, and the pin shafts penetrate through the connecting holes and the root ring; wherein N is greater than or equal to 3; when the propeller hub rotates and is located above the water surface, the folding and unfolding blades are unfolded under the action of centrifugal force; and when the paddle is located below the water surface, the folding and unfolding paddle is folded under the action of water resistance. The efficient propelling folding paddle has sufficient propelling power in water and is high in water-air transition efficiency. The invention also provides an unmanned aerial vehicle equipped with the efficient propelling folding paddle.

The invention provides a ship propulsion shafting and a design method thereof, and the design method comprises the steps: determining positioning points at two ends of a shafting bow and a shafting stern according to the overall arrangement of a ship; determining the shaft diameter and length of each shaft section of the shafting according to the propulsive power requirement and the positioning points at the bow and stern ends of the shafting; determining the positions and the number of the bearings; when all shafts are calculated to be metal shafts, shafting strength and shafting pilot test calculation are carried out, and when the intermediate shaft is replaced by a carbon fiber shaft from a metal shaft and other shaft sections are not changed, shafting strength and shafting pilot test calculation is carried out; and when the strength and the shafting alignment of the shafting after the carbon fiber shaft is replaced meet the set requirements, the current shafting design scheme is reasonable. According to the design method, a replaceable intermediate shaft can be arranged on the propulsion shafting, and specific parameters of each shafting are reasonably determined, so that the design requirements of ships under certain special conditions are met, and the design method is suitable for shafting design of kiloton-level surface ships propelled by adopting conventional power shafting belt propellers.

The invention belongs to the technical field of cranes, and particularly relates to a compact low-clearance anti-swing crane and an anti-swing method. The device comprises a door frame; a hoist frame; a reel; a transverse driving motor; the hoisting mechanism is in transmission connection with the reel through a steel wire rope; the two groups of upper lifting pulley blocks are mounted on the hoisting frame and are arranged in parallel along the axis direction of the winding drum; the two lower lifting pulley blocks are installed on the lifting mechanism and arranged in parallel in the axis direction of the winding drum. The rotating center line of the upper lifting pulley block and the rotating center of the roller are located on the same plane. And the rotating center line of the lower lifting pulley block is lower than that of the lifting mechanism. The driving motor is transversely arranged, power is transmitted to the winding drum through the gearbox, meanwhile, the static size in the vertical direction is further reduced through the arrangement of the upper and lower pulley blocks with the low gravity center and the design of the lifting hook assembly with the high gravity center, and therefore under the given workshop clearance height, the working efficiency is improved. And the vast majority of vertical space is released to an effective cargo lifting stroke.

The invention discloses an ABS real-time self-adaptive control method and system based on hub sensing signal fusion, and relates to the field of automobile safety control. The method comprises the steps that S1, multi-source hub sensing signals of all wheels are synchronously collected; s2, calculating a hub response coupling factor based on the multi-source hub sensing signal; s3, calculating an instantaneous slip rate based on the coupling factor and the wheel speed in combination with vehicle dynamic parameters; s4, on the basis of the wheel speed, the braking torque and the tangential acceleration, the coupling factor and the instantaneous slip rate are combined, and the normal load is calculated; s5, calculating an adhesion coefficient according to the instantaneous slip rate, the normal load and the wheel speed; s6, according to the slip rate deviation, a fusion weight is generated in combination with the coupling factor, and the adhesion capacity of the whole vehicle is calculated; and S7, according to the adhesion coefficient, the normal load, the slip rate and the adhesion capacity of the whole vehicle, the target braking force is calculated, and the wheel braking strength is adjusted. By monitoring the state of the wheels in real time, the slip rate is accurately controlled, braking force distribution is optimized, and the response precision and stability of the ABS are improved.

The invention relates to an electric propulsion heat dissipation system, a power device and an aircraft, and relates to the technical field of aircrafts. The electric propulsion cooling system comprises propellers, arms, power motors and radiators, the electric propulsion cooling system is fixedly connected to an aircraft body structure of the aircraft through the arms, the propellers are arranged at the output ends of the power motors, and the power motors are installed on the arms and can drive the propellers to rotate around the axes of the power motors. The radiator dissipates heat of the power motor through cooling liquid circulation, the vehicle arms are provided with heat dissipation grooves and air outlets, the radiator is installed in the heat dissipation grooves, and orthographic projections of blades of the propeller on the corresponding surfaces of the vehicle arms at least partially cover the radiator, so that airflow generated by the propeller can penetrate through the radiator and then enter the external space through the air outlets. According to the electric propulsion heat dissipation system, the power device and the aircraft, the problem that the lightweight design of the aircraft is affected due to the fact that a current cooling system is large in size and weight is solved.

A system including a engine having a low spool and a high spool, a first hybrid electric motor connected to the low spool and a second hybrid electric motor connected to the high spool. An auto-throttle controls an amount of power provided to the engine responsive to at least one aircraft parameter. A power splitting algorithm implemented between the auto-throttle and at least one of the first and second hybrid electric motors determines a power split dividing the total engine power into the power produced by burning fuel and electrical power provided to the at least one of the first and second hybrid electric motors responsive to control signals from the auto-throttle.

The invention discloses an enhanced braking system for a mountain railway vehicle, which relates to the technical field of railway vehicle braking control, and comprises the following steps: acquiring a rail position vector and an arc length, calculating a rail curvature and a rail gradient, and combining the current speed and the target speed of the vehicle to solve a braking demand acceleration value and generate a gradient parameter and a curve parameter; according to the braking force distribution proportion, a wheel rail hydraulic braking torque value is adjusted, the meshing depth and the vibration frequency of a rack rail brake are controlled through a rack rail action instruction, and a wheel rail system state report and a rack rail work log are generated; and gradient parameters, actual adhesive force numerical values and toothed rail meshing efficiency in the braking process are extracted from a wheel-rail system state report and a toothed rail work log, and closed-loop optimization is carried out in combination with a terrain braking curve. Self-learning and self-adaptive adjustment are carried out on the braking process through closed-loop feedback and parameter optimization, so that the energy utilization efficiency is improved and the service life of key components is prolonged while the braking efficiency is guaranteed.

An abnormality diagnosis device performs determination for at least one of abnormality of an electric motor driven by an inverter driven at a predetermined operation frequency and abnormality of a motive power transmission mechanism which transmits motive power from the electric motor to a load, wherein spectrum peaks extracted through FFT analysis of detected current of the electric motor are analyzed, and frequencies of spectrum peaks due to noise of the inverter are acquired in advance using the operation frequency and the frequencies of sideband waves with respect to the operation frequency. In abnormality diagnosis, abnormality determination is performed after spectrum peaks due to noise of the inverter are extracted from spectrum peaks extracted through FFT analysis of detected current of the electric motor.

The invention provides an energy management strategy verification platform for a plug-in series hybrid power ship propulsion system. The energy management strategy verification platform comprises a power source module, a power output module, a load simulation module, a transmission module, a sensor measurement module and a control system module, the power source module outputs electric energy through multi-energy cooperation; the power output module generates propelling power according to the electric energy; the load simulation module simulates load characteristics according to the propulsion power; the transmission module is connected with the power source module and the power output module as well as the power output module and the load simulation module; the sensor measurement module collects operation parameters of the verification platform; and the control system module executes an energy management strategy according to the operation parameters and outputs a control instruction. A graphical programming environment is constructed by adopting a modeling code automatic generation system, and a strategy rapid prototype development verification closed loop is formed in combination with a range extender intelligent start-stop control strategy and a multi-mode power generation control strategy.

The invention provides a high-compactness power driving device and system and power equipment, and relates to the technical field of hybrid power machinery. A highly compact power drive device has a first motor section and a second motor section. The first motor part is electrically connected with the energy storage structure and can be used as a motor. And the second motor part is in transmission connection with the engine and can be used as a generator, that is, the high-compactness power driving system provided by the embodiment is a dual-function power machine integrated with a motor and the generator, and the cruising ability can be improved. The first motor part adopts a Halbach topology structure, is sleeved outside the second motor part, is farther away from the center of the device and has a larger radius, so that the first motor part can be thinned as much as possible and the occupied radial size is reduced under the condition of meeting the magnetic load index, and the use amount of the permanent magnets can be reduced by adopting the Halbach permanent magnets to achieve the effect of light weight. And by adopting the slotless stator structure, the stator slot depth is saved, so that more design space is provided for coaxial design, and the requirement of high compactness is met.

The invention belongs to the technical field of underwater propeller design, and discloses an annular propeller modeling and hydrodynamic performance evaluation method and system. The method comprises the following steps: defining a distribution rule of blade parameters along a wheelbase based on a segmented cubic Hermite interpolation method, and realizing parametric modeling; automatically generating a propeller three-dimensional geometric model and a flow field computational domain; carrying out discretization processing on the rotating domain and the outer watershed by adopting a hybrid grid technology; hydrodynamic performance data are obtained through numerical simulation calculation, and thrust, torque and efficiency coefficients are obtained through processing; and completing multi-working-condition performance calculation and drawing an open water curve by automatically and cyclically updating a speed coefficient, and finally storing design variables and performance response data into a database. According to the method, full-process automation from modeling, grid division, simulation calculation to post-processing is achieved, the efficiency of annular propeller design and hydrodynamic performance analysis is remarkably improved, and the labor cost and the time cost are greatly reduced.

The invention discloses an intelligent coal blending method and system for dual-engine staged solution in a power coal scene. The method comprises the following steps: performing structured processing on coal source data and establishing a hundred-ton integer batch variable; the method comprises the following steps of: constructing a hard constraint integer programming (ILP) model, and sequentially executing three stages of solving of cost minimization, heat value deviation minimization under the fixed cost and coal source quantity minimization under the fixed cost and deviation; when any stage is not feasible, automatically switching to a soft constraint target planning (GP) model, performing soft constraint on the coal quality index through a deviation variable, and sequentially performing deviation minimization, cost minimization and coal source quantity minimization; and calculating a combustion stability index (CSI) on the basis of volatile component fluctuation, fixed carbon, ash content change and sulfur content change, and carrying out stability verification on a final coal blending scheme. The system comprises a data management module, a first engine module, a second engine module, an automatic rollback module, a combustion stability index module and a result output module.

According to the reverse type integrated miniature linear servo electric cylinder, the open end of a rotor shell in a power transmission mechanism is fixedly connected with a planet retainer through a coupler, and the planet retainer is directly driven by adopting integrated treatment of the motor rotor shell and the planet retainer; after power transmission of the planet retainer, the output end is directly driven to realize linear motion without adding a speed reducing mechanism in a power transmission system of the electric cylinder, so that the internal space, occupied by the power transmission mechanism, of the electric cylinder is greatly reduced, the electric cylinder can be developed to a smaller and more compact structure, and the cost can also be saved; and moreover, the energy utilization rate of the electric cylinder is improved, the electric energy consumption of the electric cylinder is saved, and better economic benefits can be generated.

The invention discloses a range-extended hybrid motorboat system and a control method, and relates to the technical field of new energy engineering, and the system comprises a man-machine interaction unit which is used for receiving an operation instruction and displaying a system state; the system control unit is used for receiving a user instruction and feedback information and issuing a control instruction to the corresponding unit; the high-low voltage unit is used for storing, converting and distributing the electric energy; and the power integration unit is used for providing a fuel power source for the range extending mode and comprises an engine, an engine controller, an electric control ISG motor, an electric control driving motor, a cooling device, a fuel tank and a liquid level sensor. The range-extended hybrid power mode of fuel power generation and motor driving is adopted, the battery is continuously charged or the electric control driving motor is directly supplied with power when the electric quantity is insufficient, energy can be quickly supplemented through refueling, the problems that a pure electric motorboat is short in endurance and inconvenient to charge are effectively solved, and the service life of the pure electric motorboat is prolonged. The advantages of low noise and zero emission of pure electric drive and long endurance of fuel power are achieved.

The invention relates to a hybrid vertical take-off and landing aircraft energy management method based on a model predictive control algorithm, which belongs to the technical field of aircraft energy management, and comprises the following steps: establishing a size model and a performance model of a multi-rotor configuration based on a top demand, a hybrid architecture and a propulsion configuration by using an iterative scheme of size design optimization; forming constraint of size iteration, and optimizing required overall size parameters of the aircraft through an fmincon function; a component-level turboshaft engine model and a battery internal resistance model are provided, a theoretical model is established based on gas-heat dynamic characteristics of each component of the turboshaft engine, the battery internal resistance model is established based on battery testing, and a battery peak current is obtained; and an energy management strategy based on an MPC algorithm, DP optimization information, supplementary CS and a charge strategy.

The invention discloses an automatic assembling mechanism for railway track fastener nuts, and belongs to the technical field of automatic assembling equipment. The mechanism comprises a mechanical arm, a nut assembling mechanism, a power transmission device, a propelling device, a connecting seat and a visual device, the nut assembling mechanism is composed of a compliant device and a magnetic attraction device, the tail end of a mechanical arm is fixed through a connecting base, a visual device recognizes the position of a fastener in real time and guides the mechanical arm to be positioned, a servo motor transmits torque through a speed reducer and a telescopic universal connecting assembly, nut screwing is achieved, and the compliant device absorbs assembling errors and adapts to the posture. The magnetic attraction device is used for adsorbing and fixing the nut; the six-dimensional force sensor is used for monitoring and feeding back torque in real time; the control system is used for adjusting pre-tightening force; the propelling device is used for applying axial thrust; the device can realize automatic identification, positioning, tightening and pre-tightening control of the nut, and is suitable for various sleeper structures and complex track working conditions.

The invention discloses heavy-load and self-driven intelligent loading and unloading conveying equipment which comprises a base frame, a brake mechanism, a power roller way, a driving mechanism, a transmission mechanism and a traction structure. The base frame adopts a channel steel full-welded frame and is provided with universal wheels and rolling wheels; the power roller way consists of ten heavy-load main rollers and is connected with a driving motor and a speed reducer through a chain wheel-chain mechanism; the brake mechanism is linked with the mop structure, the protective tube protects the cable, and the position detection sensor and the band-type brake motor realize safety control; the automatic loading and unloading device can cooperate with a tractor to work, the requirement for automatic loading and unloading of goods of 7000 kg is met, the loading and unloading efficiency is improved by more than or equal to 40%, the problems that existing equipment is poor in mobility and large in potential safety hazard are solved, and the automatic loading and unloading device is suitable for small and medium-sized sites and unmanned transfer scenes.