236 results about "Resultant force" patented technology

The invention relates to the technical field of ship control, in particular to a fishing boat control system based on data analysis, which comprises a traction load analysis module, a fluctuation condition division module, an attitude disturbance estimation module, a propulsion power regulation module and a rudder angle correction output module. According to the method, by analyzing the traction force load sequence value and the moment arm length of the fishing net traction point, calculating the left and right side offset torque and marking the action direction, the attitude adjustment precision of the ship is optimized, the operation sea condition level is adjusted according to data, and the ship can be subjected to more reasonable attitude estimation and adjustment under the dynamic working condition; the wind pressure change rate and the pitch angle rate are combined to judge the direction resultant force trend, and the navigation attitude is adjusted according to the sea condition grade, so that the ship can more accurately resist the influence of sea surface storm waves and maintain the course stability, and the rudder angle is corrected by adjusting the propulsion power in real time, limiting the adjustment amplitude of the propulsion power and correcting the rudder angle according to the real-time data of the navigation attitude. And the propulsive efficiency and the navigation precision are optimized.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The invention relates to a damping spring device suitable for industry or life, in particular to a magnetic damping spring. The magnetic damping spring comprises a supporting cylinder, a force guiding piston, a force guiding piston blocking piece, a supporting rod and two or more magnets. The force guiding piston blocking piece is arranged on the upper portion of the supporting cylinder. The supporting cylinder is of a cylindrical structure, one end of the supporting cylinder is sealed and is a bottom surface, and the other end is of an opening structure for the supporting rod to penetrate; the lower end of the supporting rod penetrates through the force guiding piston blocking piece to be connected with the force guiding piston, and the upper end extends out of an opening in the upper end of the supporting cylinder. A groove is formed in the inner bottom surface of the supporting cylinder, and a magnet A is placed in the groove; a groove for placing the magnet B is formed in the lower bottom surface of the force guiding piston; the supporting rod can conduct resultant force of vertical vibration generated by axial vibration, horizontal vibration and vertical vibration to the force guiding piston, the force guiding piston drives the magnet B to extrude downwards to generate repulsive force which is gradually increased with the distance space of the magnet A, the repulsive force is used for buffering vertical vibration force conducted by the force guiding piston, and therefore the damping effect is achieved.

According to the vehicle transverse movement control method, the electronic device, the storage medium, the program product and the vehicle, according to the transverse movement requirement, the front wheel close to one side of the target transverse movement direction and the opposite angle wheel of the front wheel are controlled to deflect towards the target transverse movement direction and output the forward driving force; and a rear wheel close to one side of the transverse moving direction and opposite-angle wheels of the rear wheel are controlled to reversely deflect towards the target transverse moving direction and output reverse driving force, so that longitudinal advancing force of the vehicle is at least partially counteracted, transverse moving resultant force is formed, and track deviation caused by longitudinal force residues is improved or eliminated. Meanwhile, deflection of the wheels forms a front-outer-eight and rear-inner-eight form, torsional pendulum interference of the whole vehicle can be reduced, the stability of vehicle transverse movement is improved, and the control difficulty of vehicle transverse movement is reduced.

The embodiment of the utility model provides an eccentric swing type polishing grinding head and polishing equipment, and relates to the field of polishing and grinding. The eccentric swing type polishing grinding head comprises a driving piece, an eccentric piece, a driving swing piece, a driven swing piece and a grinding block. The eccentric part is in transmission connection with the driving part and drives the driving swing parts to swing, each driving swing part is connected with a driven swing part, the total number of the driving swing parts and the driven swing parts is an even number, the driving swing parts and the driven swing parts are arranged in a surrounding mode, and the driving swing parts and the driven swing parts are matched in a meshed mode through driving swing teeth and driven swing teeth. And each driving swing piece and each driven swing piece are connected with grinding blocks. According to the eccentric swing type polishing grinding head, the swing directions of any two adjacent grinding blocks in the grinding blocks arranged in the surrounding mode are opposite, the swing angles are consistent, the resultant force of friction force formed by swing motion is zero, impact on all joints is reduced, and the service life of the eccentric swing type polishing grinding head is prolonged.

The invention relates to the technical field of vibratory hammers, in particular to a pile driver with a self-righting function, which comprises a fixing frame, a shell, a first rotating shaft, a second rotating shaft, an adjusting assembly, a pendulum bob and a driving assembly, the shell is slidably arranged on the fixing frame, the first rotating shaft and the second rotating shaft are rotatably arranged on the shell, and the second rotating shaft rotates around the first rotating shaft on the shell; the first rotating shaft and the second rotating shaft generate resultant force perpendicular to the connecting line direction of the two rotating shafts during autorotation and drive the shell to slide on the fixing frame. The adjusting assembly is used for driving the second rotating shaft to rotate around the first rotating shaft; the pendulum bob is rotationally arranged on the fixing frame, and the gravity center of the pendulum bob is located below the rotating axis of the pendulum bob; the driving assembly is used for driving the shell to rotate when the gravity center of the pendulum bob is located on the axis of the foundation pile. The adjusting assembly is arranged to change the position of the second rotating shaft relative to the first rotating shaft, so that the direction of resultant force generated by rotation of the first rotating shaft and the second rotating shaft is changed, and the inclined foundation pile can be straightened.

The invention relates to a wheel hub motor angle module vehicle skew stability control method and device, and relates to the technical field of vehicle control, and the method comprises the steps: determining a target longitudinal resultant force, a target rotation angle of each wheel and an expected additional yaw moment based on the speed and pose parameters of a vehicle and corresponding expected values; based on the target longitudinal resultant force, the target turning angle of each wheel and the expected additional yawing moment, obtaining a target four-wheel output moment; and controlling wheels according to the target four-wheel output torque. By controlling the target four-wheel output torque, the target longitudinal resultant force, the target rotating angle of each wheel and the expected additional yawing torque of the vehicle in the oblique running state are accurately controlled, and unnecessary yawing caused by external lateral force interference is effectively restrained. The problems that in the prior art, when external lateral force interference is generated and external yawing moment is formed, unnecessary yawing possibly occurs when a four-wheel independently-driven vehicle runs obliquely at a high speed, then the situation that the vehicle is unstable possibly occurs, and use safety is affected are solved.

The invention discloses a Z-shaped propeller underwater turnover installation method based on dynamic mechanical analysis, and relates to the technical field of ship propulsion system installation. Comprising the steps that S1, a comprehensive stress safety coefficient is obtained through sensor data and a mechanical model, and the water flow resultant force is corrected; s2, a hoisting mode is determined according to the allowable turning-over angle of the propeller, and meanwhile real-time hoisting is conducted according to the actual turning-over angle of the propeller; and S3, the propeller and the propeller base are attached through the guide rail and the hydraulic buffer system. According to the invention, the tension of the sling is automatically adjusted through the preset threshold value and the comprehensive stress safety coefficient, so that the stress of the sling in the hoisting process can be ensured to be always within a safety range, and the risk of sling breakage or propeller overturning is avoided; and the influence of water flow change on the propeller is dynamically corrected, so that the hoisting stability under complex sea conditions is improved.

This invention provides a static weight-based multi-dimensional force sensor calibration device, comprising: a worktable, a force reversing mechanism, a rotating platform, a loading disk, and a loading assembly; the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism; a turntable is fixed to the rotating platform, and a multi-component force sensor to be calibrated is fixed to the turntable; the loading disk is fixed to the top of the multi-component force sensor to be calibrated, and a loading connector is provided on the loading disk; a pulley assembly is provided on the top of the worktable; when calibrating the force of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is on the central axis of the worktable; when calibrating the torque of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable. This device optimizes the force loading method, changing from loading each component separately to loading the resultant force through a single rope, avoiding mechanical interference during multi-dimensional loading, achieving high repeatability of force loading, and improving the accuracy and reliability of calibration results.

The embodiment of the invention relates to a method for detecting external force borne by a gate, a method for locking the gate, the gate and a computer readable storage medium. The method for detecting the external force borne by the gate comprises the steps that the torque current of a motor is detected, the output torque of the motor is determined according to the torque current, and the output force of the motor is further determined according to the output torque; detecting position data of the motor and determining the speed and the acceleration of the gate according to the position data; determining wind resistance applied to the gate according to the speed of the gate; the resultant force borne by the gate is determined according to the accelerated speed of the gate; and the external force borne by the gate is determined according to the output force of the motor, the wind resistance and the resultant force borne by the gate. When the method is used for detecting the external force or other similar external force applied to the gate by a person, the response is sensitive, and whether the external force is applied by the person or certain force is generated during the operation of the electric gate can be distinguished. Moreover, the method is realized mainly based on calculation of some basic physical quantities related to the motor instead of setting related high-cost sensors, so that the cost can be remarkably reduced, and large-scale application can be realized.

The invention provides a buoyancy auxiliary transmission module and a buoyancy auxiliary transmission system, which are implemented in water, and buoyancy difference is formed on two sides of a belt transmission mechanism of the buoyancy auxiliary transmission module by utilizing buoyancy to drive the belt transmission mechanism to work. In one or more rotation cycles of the belt transmission mechanism, the buoyancy can be effectively utilized to realize kinetic energy output, indirect output driving can be formed, and energy consumption of a direct driving source is further saved. According to the buoyancy device, the volume of the air cavity can be changed by changing the shape, the vertical direction of the buoyancy device is changed based on the dead weight of overall movable mechanisms such as the air storage cylinder, the piston rod and the auxiliary heavy body and resultant force formed by buoyancy generated by water on the buoyancy device, and the shape of the air storage cylinder can be automatically changed; and on the premise that the total mass is not changed, the volume of the discharged fluid is changed through form change, corresponding different resultant forces are obtained, and different motion states are generated in water.

The invention belongs to the field of bearing manufacturing, particularly relates to a comprehensive stress analysis and calculation method for a main bearing of a shield tunneling machine, and mainly provides a comprehensive stress analysis and rapid calculation method for the design and checking process of the main bearing of the shield tunneling machine. According to the method, the force generated by the bolt, the contact force between the roller and the raceway surface, the contact force between the flange surface and the ferrule and the calculation method of the external force borne by the system are determined, the stress forms a resultant force matrix, a nonlinear equation set is solved to obtain a displacement matrix, and finally the bearing condition of each stress unit is obtained. According to the method, factors such as clearance, roller shaping and ferrule compression are considered, and the influence of interaction among the units on the bearing conditions of the units is considered, the stress conditions of the rollers, the bolts and the contact surfaces can be simply and quickly calculated, and a basis is provided for design and check of the main bearing of the shield tunneling machine.

The invention discloses a friction-free spring type safety valve, belongs to the field of pressure vessel protection, and aims to solve the problem of large friction force of a large-diameter valve rod of a steam extraction pipeline of a steam turbine. Comprising an upper guide assembly and a lower guide assembly, the upper guide assembly comprises a second permanent magnet ring, the lower guide assembly comprises a first permanent magnet ring, the upper portion of a valve rod assembly is sleeved with an upper magnetic ring, the lower portion of the valve rod assembly is sleeved with a lower magnetic ring, and the first permanent magnet ring, the second permanent magnet ring, the lower magnetic ring and the upper magnetic ring are all axially magnetized magnetic rings. The upper magnet ring and the lower magnet ring are arranged in a homopolar opposite mode, the polarity directions of the upper magnet ring and the second permanent magnet ring are the same, the upper magnet ring and the second permanent magnet ring form a magnetic action gap, the polarity directions of the lower magnet ring and the first permanent magnet ring are the same, and the lower magnet ring and the first permanent magnet ring form a magnetic action gap. The radial magnetic effect resultant force of the second permanent magnet ring on the upper magnetic ring points to the axis of the upper guide assembly, the radial magnetic effect resultant force of the first permanent magnet ring on the lower magnetic ring points to the axis of the lower guide assembly, and the friction force of the valve rod assembly is zero.

A constant force mechanism comprises a rack, a moving part, an output part, a positive stiffness structure and a negative stiffness structure, and the moving part is movably arranged on the rack; the output part is movably arranged on the rack, and the output part is movably connected with the moving part and drives the moving part to move, so that the output part and the moving part get close to each other or get away from each other; the positive stiffness structure comprises a first curved beam and a second curved beam which are connected between the rack and the moving part, and the first curved beam and the second curved beam are arranged in a crossed mode. The negative stiffness structure comprises a first permanent magnet and a second permanent magnet, the first permanent magnet is arranged on the rack, the second permanent magnet is arranged on the side, away from the positive stiffness structure, of the moving part, and the S pole of the second permanent magnet is opposite to the N pole of the first permanent magnet, or the N pole of the second permanent magnet is opposite to the S pole of the first permanent magnet. According to the constant force output device, the elastic deformation force of the positive stiffness structure and the magnetic force of the negative stiffness structure are overlapped, so that the resultant force is kept constant within a certain displacement range, and constant force output is achieved.

The application relates to the technical field of motors, in particular to a rotor and a motor. The rotor is arranged on the inner circumferential side of a stator of the motor, and comprises a rotor core and a magnetic unit. The material of the rotor core is a non-magnetic conductive material, and a plurality of fixing grooves are arranged on the rotor core and are distributed along the circumferential direction of the rotor core. The magnetic unit is arranged in the fixing grooves, and the magnetic unit comprises a permanent magnet and a magnetic conductor. In the same magnetic unit, the permanent magnet is located on the same side of the magnetic conductor in the circumferential direction of the rotor core, and the end of the permanent magnet close to the magnetic conductor is of the same type of magnetic pole. The magnetic field generated by the excitation of the stator can complete the closure of the magnetic flux through the magnetic conductor, the magnetic potential difference formed by the magnetic permeance difference of the magnetic circuit can generate a drag torque F1, and the magnetic potential difference formed by the magnetic field generated by the excitation of the stator and the magnetic field of the permanent magnet can generate a drag torque F2. The resultant force of the drag torque F1 and the drag torque F2 can drive the rotor to rotate.

This application provides a method, apparatus, device, and storage medium for decomposing a steering resultant force. The method includes: obtaining a steering resultant force, which includes magnitude and direction and is the resultant of three output forces; determining an angle θ between one of the output forces and the steering resultant force; and, based on the angle θ and the steering resultant force, decomposing the three output forces based on the constraints of minimizing the scalar sum of the three output forces and maximizing the steering resultant force, thereby obtaining a variation pattern for the three output forces. Embodiments of this application can achieve efficient output of the steering resultant force, improving drilling efficiency.

The application relates to the field of medical robots and discloses a constant-force spring assisting device and a manufacturing method thereof. The constant-force spring assisting device comprises a fixing base, a center wheel and a plurality of constant-force springs which are rotationally connected with the fixing base, the plurality of constant-force springs are symmetrically arranged around the center wheel, the central axes of the plurality of constant-force springs are arranged in parallel with the central axis of the center wheel, each constant-force spring is connected with the center wheel through a traction rope, the center wheel is connected with an external moving part through an output rope, the traction ropes are arranged in parallel with each other, the traction ropes are arranged in parallel with the output rope, the output rope provides a resultant force of the constant forces provided by the plurality of constant-force springs to the constant force assisting force provided by the moving part, the constant-force spring assisting device can provide greater constant force assisting force to the outside under the limited space, the constant-force spring assisting device is helpful to realize miniaturization and modularization, and the demand of more application scenes can be met.

A chuck for use with a power drive may include a plurality of jaws, a body assembly, a nut, a sleeve, and a locking ring. The locking ring may include a locking ring interface configured to permit rotation of the nut relative to the body assembly in a first rotational direction and also permit rotation of the nut relative to the body assembly in a second rotational direction when the locking ring is in the unlocked position. The locking ring interface may also be configured to prevent rotation of the nut in the second rotational direction when in the locked position, and to exert an anti-vibration compressive force on the sleeve via the damping member to increase an engagement force between the sleeve and the body assembly when the locking ring is in the locked position, thereby reducing vibrations in the chuck.

The utility model relates to the technical field of wind power equipment, and provides a tension-shear coupled mechanical property test tool and equipment, the test tool comprises a support frame and a loading mechanism, the support frame is used for abutting against a test block; the loading mechanism is arranged on the support frame, is connected to the connecting part of the test block, and is used for applying a tensile force to the test block, and an included angle is formed between the tensile force and the plane where the test block is located. According to the tension-shear coupled mechanical property test tool provided by the embodiment of the utility model, the support frame is propped against the test block, the tension forming an included angle with the plane where the test block is located is applied to the test block through the loading mechanism, and the tension is resultant force of shear force and tensile force; therefore, the mechanical property test of the upper connecting part of the test block is carried out under the coupling action of shearing force and tensile force.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention provides a three-dimensional slope stability analysis method based on rapid determination of an initial value of a sliding direction angle, and the method comprises the steps: projecting a plane to a three-dimensional slope model to generate a grid, extracting a column set in the three-dimensional slope model, calculating the volume, gravity center position, bottom surface area and bottom surface center normal vector of each column, and calculating the initial value of the sliding direction angle; establishing a shearing force unit direction vector on each strip column; under the assumption of a Sweden slice method, a resultant force of normal contributions of all strip columns and an external load in a horizontal plane is calculated, and an initial value alpha o of a sliding direction angle is obtained through analysis; then, by taking a safety coefficient, a proportionality coefficient and a sliding direction angle alpha as variables to be solved, constructing four normalized residual equations of an x-axis torque balance residual, a y-axis torque balance residual, an overall force balance residual along the sliding direction and a horizontal resultant force residual perpendicular to the sliding direction, forming a limited nonlinear least square problem and carrying out iterative solution; in the solving process, the sliding direction angle alpha takes the obtained initial value alpha o of the sliding direction angle as a starting point.

The present application belongs to the technical field of machine tool accessories, and in particular to a radial floating spindle support, which solves the technical problem of low tool end pose stiffness or complex structure of the existing floating spindle device when realizing radial floating. The radial floating spindle support comprises an inner ring, an outer ring and an actuating assembly. An electric spindle is arranged in the inner ring. A plurality of first parallel linear grooves are formed on the outer side wall of the inner ring in the circumferential direction. The bottom end of the outer ring extends an installation ring plate, which is provided with an installation site. The actuating assembly comprises a cam, a damper, three cable joints and a plurality of cables. The transmission shaft of the damper passes through the avoidance through hole of the installation ring plate upward and is fixedly connected with the cam. A second parallel linear groove is formed on the side wall of the cam. Two parts of the cables are arranged in a cross manner. The cables, as flexible constraint belts, constrain the inner ring and the cam to form a rolling contact pair. The resultant force of the three sets of actuating assemblies is balanced with the radial external force, so that the actual radial force borne by the tool is maintained within a preset value range, thereby realizing the radial floating function and preventing the workpiece from being damaged due to overcutting.

The application provides a rotor assembly, a compressor and an air conditioning device. The rotor assembly comprises a rotor pair, the rotor pair comprises a first rotor, the first rotor can rotate around a first axis and generate an axial force along the direction of the first axis, the direction of gravity of the first rotor is the same as the direction of the first axis or the gravity of the first rotor has a gravity component along the direction of the first axis; the axial force and a plurality of acting forces form a resultant force along a preset direction, wherein the plurality of acting forces comprise the gravity or the gravity component of at least the first rotor in the rotor pair. The application sets the rotor pair vertically or obliquely, so that the gravity or the gravity component of the rotor pair and the axial force form a resultant force along a preset direction, and then the rotor pair is only subjected to the action of the resultant force in a single direction, thereby avoiding the influence of the change of the direction of the axial force on the work of the rotor pair.

Embodiments of this application provide a foldable electronic device, including: a shaft cap, a body, a first cam component, and a second cam component. The first cam component and the second cam component come into pressure contact. The first cam component is configured to be rotatable around a central shaft of the first cam component. The second cam component is configured to be slidable along a direction of the central shaft. A contact surface of the first cam component and the second cam component includes a locking section, an angle between a normal direction of the locking section and the central shaft is less than or equal to a preset value, and a resultant force of a cam driving member in a rotation direction of the cam driving member is o, so that the body is not automatically unfolded or folded, thereby implementing the freestop characteristic.

The present invention discloses a balance compensation control method for a transition process of a tilt-rotor aircraft, comprising: signal processing, balance coefficient identification and compensation output: the signal processing is to obtain various flight parameters of the tilt-rotor aircraft based on a displacement sensor and a phase sensor, and calculate the longitudinal aerodynamic resultant force and resultant torque of the tilt-rotor aircraft; the balance coefficient identification is based on the transition flight altitude and pitch angle of the tilt-rotor aircraft as a control basis, and the tilt-wing angle of attack is used as a judgment basis, and the balance coefficient is obtained by identification through a hybrid particle swarm iterative search algorithm; the compensation output is to generate a compensation signal through a balance compensation controller, and the control signal after superposition with the original signal is input into the rotor and the elevator, so as to suppress the unbalanced vibration generated during the transition switching process of the tilt-rotor aircraft. The present invention can realize active compensation for the unbalanced vibration generated by the control signal when the transition controller is switched, thereby improving the flight stability of the tilt-rotor aircraft during the entire transition process.

This invention provides a dual-mechanism side-push horizontal directional drilling rig, comprising a chassis assembly, a guide rail frame, a push-pull platform, a power head, two sets of push-pull mechanisms, and a clamping assembly. The guide rail frame is mounted on the chassis assembly, and the guide rail beam includes two parallel guide rail beams. The two ends of the push-pull platform are slidably connected to the two guide rail beams respectively. The power head is located at the center of the push-pull platform, and the two sets of push-pull mechanisms are symmetrically arranged at both ends of the push-pull platform. This invention employs a dual-push-pull mechanism design, where the push-pull force axes of the two sets of push-pull mechanisms are on the same plane as the axis of the power head's rotating spindle, and the two sets of push-pull mechanisms are symmetrically arranged on both sides of the power head. This ensures that the resultant force of the push-pull forces of the two sets of push-pull mechanisms coincides with the axis of the power head's rotating spindle, forming a balanced force with the reaction force transmitted from the drill rod to the rotating spindle during construction. This avoids eccentric torque caused by the push-pull driving force and the drill rod's push-pull reaction force being off-axis.

A system and method for brake actuator control considering road geometry are described. In one implementation, the system and method constantly monitor the proper acceleration of the vehicle (i.e., without the effect of gravity), the maximum friction between all the tires and the road (road adherence), and the speeds and angles of the wheels. The proper acceleration is then used to determine the forces and moments being exerted at each wheel contact to the ground, and may use compensation from calibration memory to adapt for the unique dynamic loading characteristics of the vehicle (e.g., weight and how weight shifts in the suspension during acceleration). These resultant forces and moments are subtracted from the maximum forces and moments that can be exerted as determined by the road adherence, and converted into a measure of the maximum available braking and traction force taking into account the wheel speeds and angles.

The embodiment of the present application provides a bearing stiffness detection method, device and storage medium, the method comprising: obtaining the force exerted on each bearing shell on the bearing during the target motion cycle; determining the vector trajectory of the resultant bearing force during the target motion cycle based on the force, and performing vector decomposition on the vector trajectory to obtain the load at each sampling moment; obtaining the motion trajectory of the axis relative to the origin during the target motion cycle, and performing vector decomposition on the motion trajectory to obtain the motion components at each sampling moment; obtaining the bearing stiffness at each sampling moment during the target motion cycle based on the load and motion components. In the embodiment of the present application, the motion trajectory is obtained by a distance sensor group and the vector trajectory is obtained by a force sensor, and the bearing stiffness is then calculated based on the two trajectories, which can ensure the accuracy of the bearing stiffness detection.

The present application provides a blade assembly and a wind power generation device. The blade assembly comprises a mounting shaft and a blade connected to the mounting shaft. The blade has opposite first and second surfaces along the circumferential direction of the mounting shaft. The first surface is recessed toward the second surface to form a force-bearing groove configured to bear wind impact, so that the blade assembly rotates. The torque of the blade Mθ=F0 × L=cos2 θFwind × L, where F0 is an equivalent resultant force applied to the blade, L is a moment arm, θ is a rotation angle, and Fwind is an equivalent wind force when θ is 0 degrees. The power of the blade P=Mθ × w=F0 × L × w, where w is an angular velocity. A discharge hole is provided at the bottom of the force-bearing groove, and is disposed near the mounting shaft and used for discharging air, so that the position of the equivalent resultant force is away from the mounting shaft, thereby lengthening the moment arm, increasing the torque, and improving the power.

The invention discloses an automobile, a braking system, a brake and a state monitoring method of the brake. In the brake, the flange rotor is connected with the motor rotating shaft and is in rolling connection with the stator, so that the flange rotor can rotate relative to the stator along with the brake motor rotating shaft. The slot disc is arranged on the stator; the armature is connected with the flange rotor through an elastic piece so that the armature can reciprocate between the flange rotor and the groove disc in the axis direction of the flange rotor. The permanent magnet generates a first magnetic force on the armature. And under the condition that the coil loses power, the first magnetic force resists the reset pulling force, so that the armature moves towards the groove disc and is correspondingly attracted with the groove disc. After the coil is electrified, a second magnetic force is generated on the armature, the resultant force of the second magnetic force and the reset pulling force resists the first magnetic force, the armature moves towards the flange rotor and is separated from the slotted disc, locking and releasing of the brake motor are achieved, the brake is integrated on the motor, the size, noise and energy loss of a brake system are reduced, and the manufacturing difficulty and the testing difficulty are reduced.