55 results about "Pendulum system" patented technology

A remote pendulum locking and unlocking system of a metal zero-length spring relative to a gravimeter comprises a pendulum locking motor, a transmission assembly, a pendulum locking positioning piece and a fixing assembly, the pendulum locking piece is clamped between a first pendulum locking arm and a second pendulum locking arm, an upper cover plate and a lower cover plate are connected through a supporting assembly, the top of the upper cover plate is provided with the pendulum locking motor, and the top of the lower cover plate is provided with the pendulum locking positioning piece. The pendulum locking motor is in signal connection with the control terminal, an output shaft of the pendulum locking motor penetrates through the upper cover plate and then is in transmission connection with the transmission pinion, the outer side periphery of the transmission pinion is meshed with the first pendulum locking gear, the first pendulum locking gear is meshed with the second pendulum locking gear, and the first pendulum locking gear and the second pendulum locking gear are movably connected with the lower cover plate; a first gear pin is arranged on the first lock pendulum gear, the first gear pin rotates clockwise along the first lock pendulum gear to abut against the first lock pendulum arm, and a second gear pin is arranged on the second lock pendulum gear. When vibration occurs in the field, the metal zero-length spring can be protected.

The invention discloses a swing component sensing and autonomous anti-swing system of an automobile crane and a control method of the swing component sensing and autonomous anti-swing system, and relates to the technical field of anti-swing of lifted objects of automobile cranes. And the execution module comprises a metering pump, a proportional multi-way reversing valve, a variable-amplitude oil cylinder, a hydraulic motor, a speed reducer and a PID (Proportion Integration Differentiation) execution controller which are arranged on the automobile crane. Through decomposition and conversion of complex swing, the controller module decomposes and converts the complex swing into two-dimensional swing components on xOz and yOz planes, an anti-swing strategy is suitable for various complex swing, a control system reads swing information on the planes and autonomously executes anti-swing control of the corresponding planes, and the anti-swing control precision is improved. And the variable-amplitude oil cylinder and the hydraulic motor are controlled to execute corresponding anti-swing actions and stage speed reduction anti-swing control, so that the working speed of the variable-amplitude oil cylinder is reduced by 50% stage by stage, the deviation distance of a hoisted object can be identified through action compensation anti-swing control, and a control system performs automatic compensation without depending on experience of a driver.

The utility model relates to a wire cutting machine, which belongs to the technical field of mechanical cutting and comprises a peripheral frame, a swing system and a wire cutting system. The swinging system comprises a swinging frame, a swinging beam, a swinging motor, a swinging transmission shaft, a crank and a linear sliding rail; the swing frame is mounted in the peripheral rack through a swing seat and can swing; a swing motor outside one end of the swing frame is mounted on the peripheral rack; an output shaft of the swing motor is connected with one end of a crank through a swing transmission shaft; the swing beam is mounted at one end of the swing frame; a linear slide rail is mounted on the inner side of the swing beam; the other end of the crank is slidably connected with the linear sliding rail through a sliding block. The wire cutting system is installed on the swing frame. The swing motor drives the crank to rotate through the swing transmission shaft, the sliding block reciprocates along the linear sliding rail, and the linear cutting system swings along with the linear sliding rail through the swing frame. The device is simple in structure, high in machining efficiency and machining precision, small in occupied space and capable of solving the problem of high cutting loss.

This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.

The invention discloses a power amplifying device which comprises a device body, a starting gear, an output shaft, a flywheel assembly, a fixing shaft and a gravity pendulum system. The device body is composed of a base, a left machine plate and a right machine plate, the three starting gears are meshed in parallel, and reciprocating semicircular gears are arranged on the starting gears on the left outer side and the right outer side. A gravity pendulum is rotationally arranged on the fixed shaft, the lower part of the gravity pendulum is meshed with the reciprocating semicircular gear, the upper part of the gravity pendulum is connected with a rotating shaft through a connecting rod, and the rotating shaft is in transmission connection with the flywheel through the connecting rod; the driving mechanism is driven by a motor and drives the starting gear to rotate; when the driving mechanism works, amplification of input power and adjustment of output rotating speed are achieved through meshing of the reciprocating semicircular gear and the gravity pendulum and transmission connection of the gravity pendulum and the flywheel, the lever ratio is 5: 1, and the output ratio is 2: 1. The power amplifier is simple in structure, high in efficiency, easy to adjust and suitable for power amplification and rotating speed adjustment requirements in a mechanical transmission system.

The invention discloses a quantitative control method and device for preset time output feedback of a double inverted pendulum system, and relates to the field of automation, and the method adopts a fuzzy logic system and a fuzzy state observer which are respectively used for processing unknown nonlinear dynamic characteristics of the system and estimating an unmeasurable state. In the design process of the controller, a second-order command filter and a backstepping technology are combined, a state quantization mechanism is introduced, and a novel self-adaptive quantization control method is provided. According to the method, the problem of discontinuity of virtual control signals can be effectively solved, and meanwhile control singularity is avoided. By introducing the preset time stability criterion, it is proved that the closed-loop system can achieve stable convergence within the preset time. A simulation result verifies the effectiveness of the control method, which indicates that the method can ensure that the output state of the double inverted pendulum system is converged to an expected precision range within a preset time, and the response speed and the control precision of the system are improved.

The invention discloses a heterogeneous four-pendulum system fixed time synchronization method based on pulse control. The method comprises the following steps: firstly, designing a fixed time controller based on pulse control for a four-pendulum system with heterogeneous characteristics; and designing a novel Lyapunov functional, partitioning pulse intervals, and establishing a fixed time synchronization sufficient condition represented by a matrix inequality by using a convex combination technology to realize synchronization of the four-pendulum system. A comparison system is constructed to estimate the stabilization time under synchronous pulse, inactive pulse and asynchronous conditions. When the method is applied to the heterogeneous four-pendulum system, the synchronization stabilization time of the system is shortened, and the actual efficiency is improved.

The invention relates to the technical field of simple pendulum systems, in particular to a magnetic pendulum device capable of swinging continuously based on liquid crystal elastomer fibers and a swinging track calculation method.The magnetic pendulum device comprises an experimental platform, a simple pendulum support is installed at the top of the experimental platform, and LCE fibers are fixedly connected to one side of the simple pendulum support; the end, away from the simple pendulum support, of the LCE fiber is fixedly connected with a metal pendulum bob, the top of the experiment platform is provided with a metal graduated scale, the top of the metal graduated scale is in sliding connection with a magnet, and a constant illumination area is applied to the balance position of the LCE fiber. The simple pendulum support comprises a base installed on the top of the experiment platform, and the top of the base is fixedly connected with a metal rod. The metal rod is sleeved with a transverse rod, and a threaded rod is installed on one side of the transverse rod. The problems that an existing simple pendulum system is driven by external force, a new continuous swinging implementation method is difficult to provide, and low-power-consumption continuous swinging of a simple pendulum is difficult to achieve through the temperature effect are solved.

The application relates to a distributed elastic fusion filtering method based on a generalized inverted pendulum system and relates to the technical field of information fusion filtering. A dynamic model of a generalized inverted pendulum system under a multi-sensor network with colored measurement noise is constructed, the dynamic model is converted into a dynamic model of a non-generalized inverted pendulum system, a local elastic filter is designed according to the measurement information of each node to filter the state of the system, a correction parameter matrix is calculated and substituted into the local elastic filter, the local state filtering of the generalized inverted pendulum system and the upper bound of the filtering covariance are obtained, and finally, an inverse covariance cross fusion method is used to obtain the best fusion filtering process. The application can effectively solve the fusion filtering problem of the generalized inverted pendulum system under the multi-sensor network affected by the colored measurement noise and the change of the filter parameters, can objectively fit the real engineering scene, is easy to realize online iterative calculation, and can improve the state estimation precision and the filtering algorithm performance.

The present invention discloses an inverted pendulum control system and experimental method based on network communication, and relates to a control theory experimental platform. The system includes a programming system, an experimental interaction system, and an inverted pendulum system. The experimental interaction system is equipped with a first interactive program and a second interactive program. The first interactive program realizes two-way data interaction between the experimental interaction system and the programming system based on the UDP communication protocol, and the second interactive program realizes two-way data interaction between the experimental interaction system and the inverted pendulum system based on the UDP communication protocol. The interactive program carried by the experimental interaction system of the present invention, on the one hand, directly completes the control and signal reading of the servo motor driver of the inverted pendulum system, and on the other hand, directly communicates with the Matlab and Python programs of the programming system, receives the control algorithms and instructions written directly by the user in Matlab and Python, and completes the control of the inverted pendulum system in real time, reducing the user's programming ability requirements and improving the convenience of teaching experiments.

The present invention discloses a coupled pendulum mapping model of a grid-connected converter and a transient trajectory characterization method thereof. The present invention aims at transient stability analysis of grid-connected multi-grid converters, maps the power-frequency model of a traditional grid-connected converter to a classical coupled pendulum model, and characterizes the transient trajectory of the state quantity of the grid-connected converter after disturbance through the dynamic motion equation of the coupled pendulum, thereby analyzing the transient stability of the multi-grid-connected converter under large disturbance. The method compares the control model of the grid-connected converter with the motion model of the mechanical pendulum system, innovatively transforms the grid-connected transient stability problem of the grid-connected converter into the motion stability problem of the mechanical system, thereby avoiding the construction of complex Lyapunov functions, and at the same time, the analysis method of the coupled pendulum system can be used in electrical systems, providing new ideas for stability analysis of electrical systems.

The utility model relates to a desk type multi-simple-pendulum physical cycle demonstration instrument, belonging to the teaching demonstration equipment technical field, the desk type multi-simple-pendulum physical cycle demonstration instrument comprises a main body frame, a push plate, adjusting devices and pendulum balls, the push plate is arranged at the bottom of the main body frame, the plurality of adjusting devices are uniformly arranged at the top of the main body frame along the transverse direction at intervals, and the pendulum balls are arranged on the push plate. By adopting the structure, the pendulum length of each pendulum ball is accurately adjusted through the adjusting devices, and then the push plate is used for driving all the pendulum balls to synchronously start simple pendulum motion, so that the relationship between the simple pendulum period and the pendulum length can be intuitively understood; and the interaction and periodic change of the multi-simple-pendulum system in the swinging process provide powerful support for physics teaching, and the teaching quality and the learning effect of students are improved.

This invention provides a temperature control device for laser ablation-driven micro-impulse measurement experiments, based on a torsion pendulum micro-impulse measurement system. The torsion pendulum micro-impulse measurement system includes a laser, a focusing lens, a displacement stage, a torsion pendulum, a displacement sensor, and a data processing system arranged sequentially. The temperature control device is located in front of the torsion pendulum and fixedly connected to the displacement stage. The temperature control device includes a low-temperature heat sink, an electric heating element, and a temperature control chip, wherein the low-temperature heat sink is shaped to not obstruct the optical path. This solution achieves temperature control of the driven sample in laser ablation-driven impulse measurement experiments without affecting the impulse measurement process of the original torsion pendulum system.

The application discloses a heterogeneous four-pendulum system fixed-time synchronization method based on pulse control. The method first designs a fixed-time controller based on pulse control for a four-pendulum system with heterogeneous characteristics. Then, a novel Lyapunov functional is designed, the pulse interval is partitioned, and a convex combination technique is used to establish a fixed-time synchronization sufficient condition expressed by a matrix inequality, thereby realizing the synchronization of the four-pendulum system. A comparison system is constructed to estimate the stable time under the conditions of a synchronization pulse, an inactive pulse and non-synchronization. When the method is applied to the heterogeneous four-pendulum system, the stable time for realizing synchronization of the system is reduced, and the actual efficiency is improved.

The present invention relates to an optimization design method for the working parameters of a torsional pendulum system based on drill string dynamics, belonging to the field of drilling technology. In order to overcome the problems in the prior art, the present invention provides an optimization design method for the working parameters of a torsional pendulum system based on drill string dynamics, including calculating and designing the torsional pendulum depth; establishing a torsional vibration model of the drill string in a horizontal well; setting the working parameters of the torsional pendulum, and using the finite difference method to solve the torsional vibration model of the drill string in the horizontal well to calculate the stable torsional pendulum depth; when the stable torsional pendulum depth is greater than the designed torsional pendulum depth, adjust the numerical value of the working parameters and repeat the calculation again; until when the stable torsional pendulum depth is equal to the designed torsional pendulum depth, take this working parameter as the optimized working parameter. The present invention considers the decomposition of friction and establishes a dynamic model of the entire well drill string with a torsional pendulum system, which is closer to the actual downhole working conditions; the present invention takes the stable torsional pendulum depth as the design guide and provides a theoretical basis for the selection of the working parameters of the torsional pendulum system.

This invention proposes a pointer-type pendulum tunnel lining grid-based precision inspection trolley, comprising a frame assembly; a support mechanism mounted on the frame assembly, on which a detection mechanism is mounted for detecting defects in the tunnel lining; and an electronic control system mounted on the frame assembly, which controls the mechanical movement, inspection operations, and data transmission of the entire trolley. The support mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The detection mechanism is driven by a crawling drive system for slow movement and a pointer-type pendulum system for fast movement. This invention can carry different types of inspection equipment to perform circumferential, longitudinal, or combined scanning grid-based precision inspection of the entire tunnel lining space, achieving continuous full-coverage inspection of the lining while ensuring rapid inspection efficiency.

The present invention provides a testing device for a spherical rod end joint bearing, which comprises: a test main body, the test main body includes a loading system, a swinging system, a rotating system, and a connecting plate, and the ROTATION end and the TIP end of the spherical rod end joint bearing are arranged in the connecting plate. The beneficial effects are as follows: The present invention adopts a "cross-shaped" structure to conduct fatigue life tests on the axial, radial loads, torques suffered by the continuously rotating fixed rod end during the test, and the torques suffered by the spherical rod end during the swinging process.

This invention proposes an integrated pointer-type pendulum tunnel lining maintenance and inspection trolley, comprising a frame assembly; a load-bearing mechanism mounted on the frame assembly, on which a detection mechanism is installed for detecting defects in the tunnel lining; a maintenance mechanism also mounted on the load-bearing mechanism, configured to perform maintenance operations on the tunnel lining; and an electronic control system mounted on the frame assembly, controlling the mechanical movement, inspection, maintenance operations, and data transmission of the entire trolley; the load-bearing mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining, on which a circumferential guide rail crawling system and a pointer-type pendulum system are installed. This invention enables automated control of maintenance and inspection, allowing rapid switching between inspection and maintenance modes, facilitating simultaneous self-inspection by construction units during the maintenance process.

The application discloses an interval type-2 fuzzy sliding mode control method based on a parameter uncertain inverted pendulum system and belongs to the technical field of nonlinear system control, and comprises the following steps: establishing an interval type-2 T-S fuzzy model of the parameter uncertain inverted pendulum system; constructing a sliding mode controller of the parameter uncertain inverted pendulum system based on the interval type-2 T-S fuzzy model; the sliding mode controller comprises a sliding surface, an equivalent controller, a switching controller and a comprehensive controller; the sliding surface is used as the only input variable of the fuzzy controller, the switching gain is dynamically controlled by using a fuzzy logic rule, and the sliding mode controller is optimized into an interval type-2 fuzzy sliding mode controller. The application solves the problem that the prior art cannot ensure that the parameter uncertain inverted pendulum system is stably operated on a sliding surface and is prone to chattering when parameters change and external disturbances occur.

The present invention discloses a gantry crane anti-sway control method and system based on the dynamic stability of a horizontally constrained simple pendulum system. The method comprises the following steps: Step 1: Collecting the structural parameters and dynamic parameters of the crane; Step 2: Inputting the structural parameters and dynamic parameters into a preset Lagrangian model to obtain output data; Step 3: Performing mass normalization on the output data to obtain an undamped state-space equation and a control target; Step 4: Transforming the undamped state-space equation according to a variational method to obtain transformed data; Step 5: Calculating the optimal solution of the transformed data based on the construction of a transfer function and terminal displacement requirements, and controlling the crane according to the optimal solution. The present invention achieves optimal control of the crane by setting the transfer function and terminal displacement requirements, solves the problem of load swing during crane movement, and greatly improves the work efficiency of the crane operator.

The invention relates to the technical field of robot equipment, in particular to a wave-driven spherical ocean robot which comprises a spherical shell, guide plates are circumferentially distributed on the surface of the middle of the spherical shell, and a double-shaft steering pendulum system is arranged in the spherical shell. The double-shaft steering pendulum system comprises a main shaft, an auxiliary shaft, an L-shaped shaft sleeve, a pendulum bob and a steering engine driving module, the L-shaped shaft sleeve is provided with a shaft hole in the horizontal direction, and the two ends of the main shaft are connected through a one-way bearing after the main shaft penetrates through the shaft hole; a bearing hole is formed in the vertical direction of the L-shaped shaft sleeve, a first two-way bearing is installed in the bearing hole, the auxiliary shaft and the main shaft are horizontally arranged in a crossed mode in space, one end of the auxiliary shaft is connected with the first two-way bearing, and the other end of the auxiliary shaft is in driving connection with the steering engine driving module. And the pendulum bob is mounted and connected to the tail part. The robot is driven based on waves, and has lower energy consumption and higher energy continuity.

The invention discloses an inverted pendulum control method, device and system based on EKF and LPF compounding, a sensor collects swing rod angle information and trolley position information, the data are transmitted to a low-pass filter (LPF) for processing, the processed data are embedded into extended Kalman filter (EKF) for iterative optimization processing, and the data are closer to reality; the core controller calculates the state according to the feedback gain and the data processed by the composite filter, outputs the voltage of the direct current motor, and controls the inverted pendulum system. In the process, the core controller carries out iterative optimization estimation on state input variables of collected data through EKF and LPF composite filtering, interference of random noise and high-frequency vibration noise of the inverted pendulum system on the state data of the inverted pendulum system is weakened, and the control effect of the controller is guaranteed. According to the invention, the problems of instability, loud noise and the like of input data are solved, so that the advantages and disadvantages of different control strategies are researched.

The present invention relates to the technical field of simple pendulum systems, specifically a magnetic pendulum device based on liquid crystal elastomer fibers that can self-sustainingly swing and a swing trajectory calculation method, comprising an experimental platform, a simple pendulum bracket is installed on the top of the experimental platform, an LCE fiber is fixedly connected to one side of the simple pendulum bracket, a metal pendulum is fixedly connected to one end of the LCE fiber away from the simple pendulum bracket, a metal scale is installed on the top of the experimental platform, a magnet is slidably connected to the top of the metal scale, a constant illumination area is applied to the balance of the LCE fiber, the simple pendulum bracket includes a base installed on the top of the experimental platform, a metal rod is fixedly connected to the top of the base, a cross bar is provided on the outside of the metal rod, and a threaded rod is installed on one side of the cross bar. The problem that the existing simple pendulum system relies on external force to drive and it is difficult to provide a new method for realizing continuous swinging is solved, and the low-power continuous swing of the pendulum is realized by using temperature effect.

The utility model provides a rotary swinging recreational vehicle, which is characterized in that a swinging system is arranged between a base and a movable base; the swinging system comprises a swinging motor, a first gear, a second gear and a rotating shaft; the rotating shaft is vertically installed on the front portion of the base, and the movable base is rotationally connected to the base through the rotating shaft. The swing motor is fixedly installed on the base and located behind the rotating shaft, and the first gear is in transmission connection with the swing motor. The second gear is fixedly installed on the movable base and engaged with the first gear. The swing drifting experience can be realized.

The invention relates to the technical field of precision measurement, and discloses an adhesive force measuring device based on a precision torsional pendulum technology, which comprises a vacuum system, and a dangling system, a capacitance displacement sensing system, a blocking system, a capturing, positioning and releasing mechanism and a displacement control system which are arranged in the vacuum system, the capacitance displacement sensing system is arranged to detect the displacement posture change of the measured object, and the adhesion force between the capturing, positioning and releasing mechanism and the measured object can be converted into the displacement posture change (x, z, theta, eta and phi) of the measured object. After the analysis of the kinetic model, the adhesion force between the measured object and the capturing, positioning and releasing mechanism can be separated from the thrust of the blocking system, and the measurement requirements of single / double-side releasing of the capturing, positioning and releasing mechanism can be met at the same time. The invention further provides a measuring method based on the measuring device.

The invention relates to a ship swing system and a control method.The system comprises a driving assembly and balance weight force application mechanisms on the two sides of the driving assembly, the driving assembly comprises a speed reducer, a motor and a winding drum, and each balance weight force application mechanism comprises a fixed pulley assembly, a pulley assembly, a steering pulley assembly, a speed reduction steel wire rope and a steering steel wire rope; the fixed pulley assembly comprises a guide fixed pulley and a plurality of speed reduction fixed pulleys, the tackle assembly comprises a guide seat, a tackle and a plurality of speed reduction movable pulleys, and the steering pulley assembly comprises a steering fixed pulley. One end of a steering steel wire rope is connected with the pulley, and the other end of the steering steel wire rope is connected with a balancing weight sequentially through a chain block and a switching steel wire rope after bypassing a steering fixed pulley; the device has the advantages of being simple in structure, convenient to adjust and high in adaptability, and the method has the advantages of being simple in process and high in working efficiency.

The utility model provides a swinging recreational vehicle which is characterized in that a swinging system is arranged between a base and a movable base; the swinging system comprises a swinging motor, a first gear, a second gear and a third gear; the swing motor is fixedly installed on the base, the first gear, the second gear and the third gear are rotationally connected with the base, the first gear is located below the front portion of the movable base, the second gear is located below the middle portion of the movable base, and the third gear is located below the rear portion of the movable base; the first gear is in meshing transmission with the second gear, the second gear is in meshing transmission with the third gear, and the swing motor is in transmission connection with one gear; swing guide wheels are eccentrically mounted on the first gear and the third gear respectively; the movable base is provided with two swing guide grooves which are matched with the swing guide wheels and extend in the front-back direction, and the two swing guide wheels are embedded in the two swing guide grooves respectively. The swing drifting experience can be realized.

The present application relates to a kind of grooved drum loose winding machine, relate to the technical field of winding machine, including winding system, pendulum system, tension control system, rack, feeding system and microseismic system, the winding system is installed on rack, the pendulum system is rotatably installed on rack, the tension control system is installed at the end of feeding system close to pendulum system, the winding system is located at the side of pendulum system away from tension control system, the microseismic system includes microseismic support, microseismic gas supply pipe, microseismic ring and microseismic ball, the microseismic ring is installed on microseismic support by microseismic gas supply pipe, the microseismic ring is hollowly arranged, the microseismic ball slides in microseismic ring, the upper end of the microseismic ring is communicated with microseismic gas supply pipe, the microseismic ring is hung at the lower end of microseismic gas supply pipe, the microseismic ring is equipped with gas outlet at the side close to microseismic gas supply pipe, the gas outlet points to oblique upper direction, the microseismic ring is attached to pendulum system, guarantee subsequent dyeing uniform.

The utility model relates to a novel satellite inertia characteristic test platform, it includes: base, fixed mounting on the upper surface of base air float base, float setting air float rotor above air float base, fixed mounting above air float rotor adapter flange, the torsion bar of connecting air float rotor and base, fixed in air float base side surface photoelectric sensor and install in air float rotor side surface with photoelectric sensor corresponding trigger, air float base is equipped with the conical air float surface and the ring air float surface of intercommunication, and air float rotor is correspondingly equipped with matched rotor conical surface and rotor ring surface, the utility model discloses scientific and reasonable structure design has solved the problem of traditional torsional pendulum type test equipment manufacturing cost, interference torque is big, test efficiency is low, torsional pendulum system is complex, and the maintenance is inconvenient, and the deficiency of processing efficiency is solved, realizes effectively reducing interference torque, has the advantages that the sensitivity is high, stability is good, reduces the processing and application cost.

The invention discloses a deepwater explosion test method based on an underwater double-pendulum motion theory, and relates to the technical field of ocean engineering.According to the method, a structure that a second mass-free rope is additionally used for hanging a balance weight below a cartridge bag is adopted, then the cartridge bag and the balance weight are regarded as a double-pendulum system, a target is regarded as a system foundation of the double-pendulum system for stress analysis, and a deep-water explosion test result is obtained; the length of the second mass-free rope enabling the swing angle of the cartridge bag to be minimum and the mass of the balance weight are determined, so that the deepwater explosion test method is carried out under the structure, the swing angle of the cartridge bag in the deepwater explosion test process can be effectively reduced, it is guaranteed that the swing angle of the cartridge bag is within an acceptable range, and then effective test data are obtained. And a technical support is provided for improving the deep sea explosion test capability.