779 results about "Rigid body" patented technology

The invention discloses a method for measuring an attitude angle of a free throwing object in a wind tunnel test through a binocular system, and belongs to the field of aerodynamics tests based on a photogrammetry technology. Comprising the steps that a binocular system is arranged in a wind tunnel, and internal and external parameters of the binocular system are calibrated through a cross scale; reconstructing the surface mark points of the calibration plate by photogrammetry outside the wind tunnel and establishing a local coordinate system; placing a calibration plate in the wind tunnel, wherein each vector of a local coordinate system is parallel or vertical to an incoming vector, and calibrating a wind tunnel coordinate system by adopting a resection method; carrying out photogrammetry and initial pose installation on mark points on the surface of a thrown object; acquiring each state image of the thrown object and reconstructing the three-dimensional coordinates of the surface mark points; taking the attitude angle of the thrown object as 0 degree as a reference state, and comparing the rigid body transformation relationship between the blowing state point cloud and the reference state point cloud to obtain attitude angle data. Alignment of a wind tunnel coordinate system and a binocular system coordinate system can be achieved, limitation of the appearance of the thrown object is avoided, and attitude angle data of the thrown object are calculated in a non-contact and high-precision mode.

An aiming guide system configured for connection to a bone plate including an aiming arm and a connection assembly. The aiming arm has a rigid body extending from a proximal end to a distal end with a plurality of aiming holes defined through the rigid body between the proximal end and the distal end thereof. The distal end defines an attachment slot through the body. The connection assembly is configured to engage an attachment screw hole of the bone plate and the attachment slot such that the aiming arm is fixed in position relative to the bone plate with each of the aiming holes aligned with a respective hole along the bone plate.

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to a rigid-elastic coupling-oriented active and passive integrated control method for a hypersonic flight vehicle. The invention aims to realize stable tracking control of the elastic hypersonic flight vehicle. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft; self-adaptive identification of the elastic vibration frequency is realized through a cascaded self-adaptive filter; an elastic modal filtering estimation method is designed, and high-precision and low-cost elastic modal state quantity is provided for subsequent active feedback controller design; and then rigid-elastic coupling model decomposition is carried out, the control performance is ensured by using active disturbance rejection passive control for a rigid body subsystem, an RBF neural network is introduced for an elastic subsystem, an elastic mode is actively inhibited by using sliding mode control, and stable tracking of a reference instruction is realized. The method is an active and passive integrated control method for the hypersonic flight vehicle oriented to rigid-elastic coupling, and the application prospect is wide.

The utility model provides an underwater explosion efficient shaped charge cutting device based on combined charge, which comprises an underwater annular shaped charge structure and a positioning device, the positioning device is connected with a semi-annular shaped charge structure through a connecting device, and the outer side of the semi-annular shaped charge structure is connected with a detonator; the two positioning devices are arranged on the outer side of the cutting position of the target tubular structure, and the two positioning devices are fixed to each other; the two semi-annular shaped charge structures are arranged on the outer side of the cutting position of the target tubular structure, the two semi-annular shaped charge structures are fixed to each other, and each semi-annular shaped charge structure comprises a plurality of equally-divided cutting units. The cutting end face formed by the underwater explosion cutting device has high fairness, the refinement level of underwater explosion cutting is improved, the underwater explosion cutting device is suitable for cutting tubular structures in any direction and with any structural parameters on the seabed, deep water cutting operation can be achieved, and the underwater explosion cutting device can also be used for cutting structures with rigid body displacement after underwater explosion of flexible bodies such as steel cables, optical cables and electric cables.

The invention belongs to the technical field of wafer processing, and particularly discloses an ultrasonic displacement vision cooperation wafer detection and edge grinding system. According to the invention, the control module coordinates the grinding mechanism, the wafer carrying table and the assembly integrated with displacement and visual detection, so that cooperative detection and edge grinding are realized. Specifically, the displacement detection module obtains the distance between the wafer and the grinding mechanism in real time, and an accurate physical reference is provided for compensation control; and the visual detection module captures continuous images during rotation of the wafer, so that the control module can extract micro texture features to identify the deviation state of the wafer. The combination of the two realizes the comprehensive real-time perception of the grinding working condition, and overcomes the limitation of insufficient perception. And finally, the control module fuses the displacement and offset information to generate an edge grinding instruction, and dynamically controls the grinding mechanism and the wafer carrying table to carry out linked rigid body transformation, so that real-time sensing information is directly converted into compensation action, and the problem of uneven grinding caused by insufficient dynamic compensation capability is effectively solved.

The invention relates to the field of assembly automation and flexible manufacturing, and discloses an assembly method for a prefabricated firewall of a transformer substation, and the method comprises the following steps: setting a plurality of space positioning reference points at the edge of a wallboard; acquiring three-dimensional coordinate data to form a first point set and a second point set; calculating an initial rigid body transformation parameter between the wallboards according to the first point set and the second point set; establishing an energy functional for describing a total error; carrying out minimization solution on the energy functional by adopting a variational method to obtain an optimal disturbance vector field; according to the optimal disturbance vector field, a plurality of fine adjustment actuators of the wallboard are controlled, posture fine adjustment is conducted, and physical assembly connection of the wallboard and the target wallboard is completed. According to the invention, accurate attitude estimation and error correction in the wallboard assembly process are realized; the robustness and geometric fitting capability of the assembly process are improved; the assembly precision and efficiency are remarkably improved, and the problem that traditional redundancy control distribution is unstable is solved.

The invention relates to the technical field of computer vision and industrial automation, and particularly discloses a MARK point high-precision PCB positioning and mechanical mapping method based on multi-coordinate system fusion, which is composed of PCB positioning and mechanical mapping in a template stage and PCB positioning and mechanical mapping in a production stage. Wherein the PCB positioning and mechanical mapping in the template stage comprises the steps of coordinate system establishment and image coordinate distortion correction; the PCB positioning and mechanical mapping in the production stage comprises Mark point real-time detection and offset calculation, real-time attitude solution and dynamic matrix calculation, and mechanical coordinate calculation of any PCB point. According to the method, a three-coordinate system collaborative modeling mechanism of an image coordinate system, a PCB coordinate system and a mechanical coordinate system is introduced, so that board attitude change and equipment fixing errors are separated, and the system robustness and the mapping precision are greatly improved; rigid body affine transformation is constructed by adopting double Mark points, the rotation angle, the proportion and the translation amount are solved in real time through two-point geometric constraint, and self-adaptive compensation of the posture change of the PCB is achieved.

The invention discloses a simulation method for calculating rigid-flexible-electric-thermal coupling dynamic response of a space structure, which comprises the following steps of: simplifying the space structure into a central rigid body-cantilever slab model, describing and dispersing the model through a constructed absolute node method mixing unit, deducing a dynamic equation of the model and a temperature field and electrostatic field control equation, and calculating the dynamic response of the rigid-flexible-electric-thermal coupling dynamic response of the space structure. The method comprises the following steps of: obtaining a rigid-flexible-electric-thermal coupling equation set of the system by taking a dynamic response result of the structure into consideration, considering a bidirectional coupling effect between a displacement field and a physical field, solving the equation set by utilizing a solver based on a generalized alpha method, obtaining the dynamic response result of the structure, performing visualization processing, and displaying the change condition of physical quantities such as temperature, potential and displacement along with time. According to the method, the influence of physical field factors is comprehensively considered, the spatial structure dynamic behavior under multi-physical field coupling can be accurately simulated, and a certain basis is provided for the simulation design of the spatial structure.

The invention discloses a cantilever heading machine excavation refined simulation method considering vibration. The method comprises the steps that design data and geological condition data of a tunnel are obtained; according to the design data and the geological condition data of the tunnel, a refined numerical model of tunnel excavation is established; vibration displacements of the cantilever heading machine in the X (drilling direction) direction, the Y (horizontal direction) direction and the Z (vertical direction) direction during construction under various different working conditions are obtained; noise reduction is carried out by using wavelet transform, a vibration trend term is extracted, and rigid body displacement and vibration waves are decomposed; and the construction working condition is obtained, the excavation process of the numerical model is adjusted according to the milling and excavation path of the construction working condition, the vibration waves are loaded, and the deformation result of tunnel excavation is obtained. According to the method, the influence of the vibration on the excavation process is also considered besides the influence of the construction process of block excavation of the cantilever tunneling machine, and the vibration is subjected to noise reduction by utilizing wavelet transform, so that the precision of cantilever tunneling excavation simulation is improved, and a basis is provided for design and construction of related tunnels.

The present disclosure provides a camera calibration method based on vehicle localization, mainly considering that a vehicle is not of an ideal rigid structure, and shaking of a vehicle body during operation, uneven road surfaces, or different loads will cause variations in extrinsic parameters of a camera system, resulting in perceptual information errors. Therefore, through perceptual information from a fused image, an inertial measurement unit, a speedometer, and the like, combined with the road and marking information provided by a high-definition map, the relative motion between the vehicle body and a vehicle chassis is simultaneously described with a mass-spring-damper model, so as to complete the determination of six-degree-of-freedom positions of the vehicle body and the vehicle chassis, and finally the extrinsic parameters of cameras are immediately calibrated with the vehicle chassis as reference coordinates.

The invention discloses a vibration table test sample real-time deformation monitoring system based on machine vision. The vibration table test sample real-time deformation monitoring system comprises an active modulation light source module, a multi-camera high-speed acquisition subsystem, a real-time deformation analysis unit, a full-field strain field reconstruction module, a motion compensation fusion module and a vibration synchronous control interface. An active modulation light source is synchronous with vibration, and motion blur is effectively eliminated in cooperation with a narrow pulse width design; the multi-camera orthogonal layout is combined with the vibration isolation base, so that stable acquisition of images is guaranteed; and the high-contrast coding datum point and dynamic tracking module accurately obtains the 6-DOF displacement. The rigid body and the elastic deformation can be accurately separated through a digital image correlation method and motion compensation fusion. High-frequency updating of a full-resolution strain field is achieved through multi-scale feature fusion, and monitoring intuition and safety are improved through an online visualization and early warning module. The system can realize high-precision, real-time and full-field deformation monitoring, meets complex vibration test requirements, and provides reliable data support for material and structure performance evaluation.

The invention discloses a V-shaped slope stability calculation method and system, and relates to the technical field of open-pit mining. On the basis of a three-dimensional numerical simulation technology, the damage mode of the sliding body is judged, a spatial form equation of a potential sliding body is determined firstly, then the sliding body is divided into micro-strip columns in a regional mode, the stress state of the micro-strip columns is solved through a constitutive relation and a static balance condition, and the force of each row of micro-strip columns is superposed in the direction of a main sliding surface; and obtaining two-dimensional equivalent shear strength parameters with a three-dimensional effect on each row of main sliding surface micro-strip columns by using an equivalent thought, and then deducing a three-dimensional V-shaped slope stability coefficient by using a rigid body limit equilibrium method. According to the method, the problems of high calculation cost, difficulty in parameter determination and complex calculation process in a traditional slope three-dimensional stability calculation method are avoided, the problem of three-dimensional stability of the slope in the special form is solved, a more reliable theoretical technology is provided for design, mining, prevention and treatment of the slope, and the method is worthy of popularization and application. The method has important practical significance for guaranteeing safe and efficient production of mining.

The invention discloses an unmanned aerial vehicle steering effect analysis method based on wind disturbance, and belongs to the technical field of unmanned aerial vehicle overall design and flight control. Comprising the following steps: 1, constructing a coupling simulation model; step 1.1, constructing a six-degree-of-freedom rigid body dynamic model; step 1.2, integrating control laws; step 2, dynamically injecting a wind disturbance scene; step 3, dynamically evaluating the steering effect and extracting parameters; step 4, carrying out multidisciplinary collaborative optimization; and 5, carrying out closed-loop iteration verification. Dynamic closed-loop test: breaking through traditional static analysis, realizing real-time interactive simulation of wind disturbance-control-steering effect, and accurately capturing nonlinear transient response; multi-source disturbance fusion: discrete gust and continuous turbulence are compositely injected, so that challenges of complex meteorological conditions on steerage are reflected more truly; and cross-domain parameter linkage: through dynamic iteration of pneumatic, control and structural parameters, system performance loss caused by excessive design of a single specialty is avoided.

This invention discloses a servo-elastic stabilization method based on multi-sensor information fusion, belonging to the field of flight control. Specifically, it involves: extracting and modeling the main load-bearing structure of the aircraft; calculating the modal frequencies, mode shapes, and mode shape slopes of the aircraft under unconstrained conditions; then combining the aircraft, a first sensor, servo motors, and the control system to form a closed-loop servo-elastic system; calculating the open-loop system transfer function from the control input to the feedback input of the control system, drawing an open-loop Bode plot, and determining the dangerous frequencies and corresponding dangerous natural modes; based on this, placing a second angular velocity sensor on the aircraft; then calculating and correcting the weighting coefficients of the two angular velocity sensor signals, and introducing the weighted signal into the control system instead of the original signal; comparing the system characteristics to ensure the servo-elastic stability of the aircraft without affecting the rigid body phase and amplitude.

The invention provides an unmarked action acquisition and analysis method and system, and the method comprises the steps: recognizing static and dynamic 2D key points according to the static and dynamic image data of a tester, and reconstructing the static and dynamic 2D key points into static and dynamic 3D key points; based on the static 3D key points, calculating and optimizing the skeleton length, and performing scaling adjustment on the standard skeleton and muscle model to obtain a static skeleton and muscle model of the testee; estimating skeleton motion attitude information according to the original and optimized dynamic 3D key points, and matching the skeleton motion attitude information to a static skeleton and muscle model of a tester to perform inverse kinematics analysis; estimating ground support force GRF of left and right feet by using an inverse kinematics analysis result based on a dynamic balance relationship of human motion; on the basis of an inverse kinematics analysis result and ground support force GRF estimated values of the left and right feet, counter-acting force and torque required by each joint of the human body are calculated frame by frame by adopting an inverse kinematics method of a rigid body system, and then muscle strength and activation degree are calculated. According to the invention, unmarked action acquisition and analysis can be carried out.

First and second outer conductors are each a conductive rigid body. The first outer conductor includes a fitting receiving portion. The second outer conductor includes a fitting portion fit in the fitting receiving portion in a direction of assembly to the first outer conductor. One of an inner surface of the fitting receiving portion and an outer surface of the fitting portion is formed with a recessed portion recessed in a width direction intersecting the assembly direction. Another one of the inner and outer surfaces is formed with a protruding portion protruding in the width direction and fitting in the recessed portion. The inner surface of the recessed portion and the outer surface of the protruding portion include contact surface portions contacting with each other to prevent displacement of the first and second outer conductors in a direction opposite to the assembly direction.

The invention provides a non-singular sliding mode control method, device and equipment for a quad-rotor unmanned aerial vehicle, and a medium, and relates to the technical field of unmanned aerial vehicle flight control. According to the method, a quadrotor unmanned aerial vehicle body coordinate system and an inertial coordinate system are established, and an attitude model of the quadrotor unmanned aerial vehicle is established by considering air resistance and external unknown disturbance conditions according to a rigid body motion law; introducing an auxiliary equation to construct a predefined time disturbance observer, and rapidly estimating external disturbance by adjusting predefined time in combination with a Lyapunov function; then designing a non-singular predefined time sliding mode controller; and controlling the quadrotor unmanned aerial vehicle to perform attitude tracking according to the nonsingular predefined time sliding mode controller, and controlling the attitude tracking error of the quadrotor unmanned aerial vehicle to converge within the predefined time by adjusting predefined time parameters. According to the method, the external disturbance can be quickly estimated within the preset time, and the convergence rate of the four-rotor unmanned aerial vehicle is flexibly controlled.

The invention relates to an impact stress simulation method, device and equipment for a wheel assembly, and relates to the technical field of electric digital data processing.The method comprises the steps that a punch rigid body model and a wheel assembly simulation model are constructed, impact force is applied to the wheel assembly simulation model through the punch rigid body model on the basis of motion constraint conditions of the punch rigid body model, and the wheel assembly simulation model is obtained. Performing impact stress simulation on the wheel assembly simulation model to obtain an explicit analysis result of the wheel assembly simulation model; the motion constraint condition of the punch rigid body model is used for constraining the punch rigid body model to only move along the radial direction of the tire; the explicit analysis result is used for representing physical response characteristics of the wheel assembly simulation model in the impact stress simulation process; and implicit analysis is conducted on the explicit analysis result, and the plastic deformation of the inner rim of the wheel is obtained. Therefore, accurate prediction of the rim deformation under the impact working condition can be realized.

The invention relates to a basketball player motion capture analysis method and system based on an industrial camera. The method comprises the following steps: based on a preset three-dimensional human body model, obtaining a three-dimensional human body surface grid sequence and internal skeleton joint kinematics data by combining a pixel-level mask of each multi-view image frame set; detecting a body contact event and a continuous time period based on the Euclidean distance of the three-dimensional human body surface grid sequence; based on the internal skeleton joint kinematics data, calculating a multi-dimensional kinematics feature time sequence; constructing a dynamic causal hypothesis based on the body contact event, checking the dynamic causal hypothesis based on a preset differentiable forward dynamic multi-rigid-body human body model and a multi-dimensional kinematics characteristic time sequence to obtain a loss function value, and judging the hypothesis with the smaller loss function value as a real dynamic causal relationship. And the identity identification information is combined to obtain the identity of the active force generation party and the identity of the passive force bearing party. By adopting the method, a real force exerting main body and a real force bearing main body in confrontation can be accurately identified.

The invention discloses a rapid deformation reconstruction method for a large-displacement flexible beam structure, and belongs to the field of structural health monitoring. On the basis of a co-rotation coordinate method, the local displacement is obtained after rigid body displacement is removed from the total displacement of the flexible beam structure. Local displacement obtained through a co-rotation coordinate method is substituted into an iFEM formula based on a small deformation hypothesis, and the deformation reconstruction problem under the geometric nonlinear condition is converted into the problem that the mean square error sum of theoretical strain and actually measured strain is minimum by searching an optimal node displacement parameter to achieve square functional optimization. And solving the optimal solution of the functional by adopting an optimization algorithm. In addition, a simplification strategy which ignores a high-order small quantity is adopted, so that the whole nonlinear deformation reconstruction method remarkably improves the calculation efficiency on the premise that the calculation precision is not sacrificed. According to the method, the node displacement parameter enabling the functional to be minimum can be rapidly solved, and rapid and high-precision deformation reconstruction of the large-displacement flexible beam structure is achieved.

The invention provides a finite element simulation method and device for a strike-slip fracture stratification deformation process, and relates to the technical field of geological structure deformation simulation research, the method comprises the steps that a strike-slip fracture stratification initial geometric model is established, the strike-slip fracture stratification initial geometric model is used for reflecting actual geological conditions, and the strike-slip fracture stratification initial geometric model is used for simulating the actual geological conditions; corresponding rock stratum material attributes are given to the strike-slip fracture layering initial geometric models corresponding to different stratums; setting a rigid body shell according to corresponding binding constraints between stratums, binding the rigid body shell to the bottom of the strike-slip fracture layering initial geometric model, endowing the rigid body shell with relative displacement of a preset distance, and simulating strike-slip fracture layering deformation according to preset analysis steps by adopting displacement loading control; in the analysis step, target information is output according to a preset output information type; according to the target information, a visual simulation result is created, and the visual simulation result is used for representing the stratified deformation evolution process of strike-slip fracture.

The invention discloses a coupling dynamic response calculation method for a floating platform and a mooring system, and relates to the technical field of ship and ocean engineering, and the method comprises the steps: determining a water elasticity response estimated value of the floating platform at a (T + 1) th response updating step at a current simulation moment; the dynamic response of the mooring point is obtained through conversion of the water elasticity response estimated value, and the mooring load of the mooring system in the (T + 1) th response updating step is obtained through calculation; solving the hydroelastic response of the floating platform by using the mooring load of the (T + 1) th response updating step; and when the dynamic response iterative coupling calculation reaches a convergence state, obtaining a dynamic response numerical simulation result and entering a next simulation moment. According to the method, the coupling effect of the mooring system and the floating platform under the common influence of rigid body motion and elastic deformation of the floating platform is considered, and the coupling dynamic response of the floating platform and the mooring system of the floating platform can be predicted more accurately.

The invention discloses a humanoid robot bionic foot with autonomous terrain testing capability, which comprises a front sole component and a rear sole component which are flexibly connected through a sole fascia, a support connecting frame is hinged with an arch component to form a space transmission structure, and the support connecting frame and the arch component cooperate with the fascia to form an arched composite support. The locust-imitating foot pad has the innovation points that the locust-imitating foot pad realizes segmented flexible and local fitting buffering; the pelma fascia and the arch-shaped arch absorb impact in the initial gait stage, and rigid body transmission is reduced; the dorsal muscle imitating elastic sheet and the achilles tendon imitating elastic sheet store and release energy in the second half of the gait, and the dynamic stability is improved; pressure sensors are arranged at three points of the front / rear sole and the ankle joint, a space stress model is constructed, distribution of the force center and the touchdown point of the sole is analyzed in real time, and the terrain state is judged. Through structure-sensing coupling, the foot can autonomously judge the terrain under the non-driving state, passive foot landing adaptation is achieved, environment dependence is simplified, and the application range is wide. And the walking robustness under the complex terrain is improved.

An aiming guide system configured for connection to a bone plate including an aiming arm and a connection assembly. The aiming arm has a rigid body extending from a proximal end to a distal end with a plurality of aiming holes defined through the rigid body between the proximal end and the distal end thereof. The distal end defines an attachment slot through the body. The connection assembly is configured to engage an attachment screw hole of the bone plate and the attachment slot such that the aiming arm is fixed in position relative to the bone plate with each of the aiming holes aligned with a respective hole along the bone plate.

The invention discloses a welding robot welding seam positioning method for shipyard part machining. The problems that an existing method is poor in deformation adaptation, weak in interference resistance and insufficient in positioning precision for shipyard large-size parts are solved. The method comprises the four steps that 1, a to-be-welded part is pre-fixed through a shipyard special tool, and a laser contourgraph, a millimeter wave radar and an industrial camera are combined to collect multi-source features; 2, obtaining a final welding seam positioning coordinate through multi-source feature layered extraction (a global reference feature layer builds a coordinate network, and a local welding seam feature layer improves a groove / gap parameter), global-local correlation matching (a rigid body transforms a mapping coordinate and calculates a deformation deviation) and dynamic deviation compensation (cubic spline interpolation fits a deformation curve and generates a three-dimensional compensation amount); 3, a positioning coordinate calibration robot TCP is imported, and a path is generated according to the welding seam type; and 4, verifying the precision in a no-load manner, and recalculating the compensation amount if the deviation exceeds 0.1 mm. The method is high in positioning precision, strong in interference resistance and suitable for complex working conditions of shipyards.

The invention belongs to the technical field of mobile robot positioning and mapping. The invention provides an indoor loopback detection method and system based on angle features, and the method comprises the steps: carrying out the filtering of a key frame point cloud in a height direction, generating an average point cloud, extracting angle feature points from the average point cloud, carrying out the discrimination of a convex angle and a concave angle of each angle feature point, and carrying out the recognition of a convex angle and a concave angle. And constructing triangular descriptors based on the angle feature points and the corresponding convex angle and concave angle discrimination results, performing unified management on the triangular descriptors in the historical key frame by adopting a hash table structure, and determining the current key frame according to each triangular descriptor of the current key frame and the triangular descriptors of the historical key frame in the hash table structure. According to the method, multiple candidate loopback frames are determined, loopback verification is carried out on each candidate key frame, an optimal loopback frame is determined, two-dimensional rigid body transformation corresponding to the optimal loopback frame is used as initial pose estimation of point cloud registration between the current key frame and the optimal loopback frame, and high-robustness loopback detection is achieved.

The invention relates to the field of clearance checking of a vehicle chassis part DMU (digital prototype), in particular to clearance checking between parts with large deformation. Specifically, the invention provides a dynamic gap checking method based on flexible body deformation coupling analysis, and the method comprises the steps: building a flexible body nonlinear mechanical model through finite elements, applying boundary conditions such as working conditions and loads, executing large deformation and nonlinear analysis, and obtaining deformation data of an anisotropic material under a limit load; converting the deformation data into a parameterized entity model through a geometric reconstruction algorithm, and constructing a high-precision digital prototype; multi-degree-of-freedom kinematics simulation is implemented in a DMU module of three-dimensional design software, and three-dimensional space analysis is performed on dynamic gaps between flexible bodies and between flexible and rigid bodies in combination with a contact interference analysis algorithm. The method can be used for checking the clearance between the moving parts, judging the interference of the moving parts and confirming the operation stability of the vehicle in complex and severe working conditions.

The invention discloses a rigid-flexible coupling multi-body dynamics analysis method based on a new modal flexible body, which comprises the following steps: large-range rigid body motion based on a moving contact elastomer is effectively separated by a floating coordinate description method, and deformation response relative to a floating coordinate system is a result of combined action of a moving contact load and an inertia distribution load. The method can be decomposed into a group of complete superposition of elastic free interface modal responses, and the group of complete elastic free interface modal sets are converted into a combination of a few key global main modals and static equivalent interface residual modals, so as to ensure the completeness and convergence of modal characterization of the moving contact elastomer. According to the method, the completeness and convergence of the modal representation of the moving contact body can be ensured, and the model scale can be greatly reduced.

The invention relates to a solid-liquid two-phase flow field analysis method and device, a simulation system and a computer storage medium, and belongs to the technical field of flow field analys.The solid-liquid two-phase flow field analysis method comprises the steps that a solid-liquid two-phase flow field model is constructed, dividing the solid-liquid two-phase flow field model into a multi-layer grid model according to the distance between a fluid and a rigid body in the solid-liquid two-phase flow field model; performing discrete analysis on the particles according to the particle volume of each particle in the solid-liquid two-phase flow field model and the grid volume of the multi-layer grid model, determining the particle volume fraction in each grid, and calculating the drag force of the fluid to the particles based on the particle volume fraction and a preset drag force model; and determining the motion state of each particle in the flow field based on the drag force and the contact force during particle collision, and determining the distribution state of each particle in the flow field based on the motion state. According to the invention, fine analysis of the solid-liquid two-phase flow field can be realized.

The invention discloses a shaft system alignment key process identification and optimization method based on an error flow model, and the method comprises the steps: constructing an error source set in a shaft system assembly process, and building a related space coordinate system based on an assembly topological relation; establishing a nominal pose transfer equation based on an infinitesimal rigid body coordinate transformation principle; constructing a joint surface contact error vector by combining the diameter of the flange on the basis of a flange opening value and a dislocation value measured on site; performing first-order linearization processing on the nominal pose transfer equation based on the joint surface contact error vector, and obtaining a sensitivity matrix; constructing a state equation for describing error accumulation according to the sensitivity matrix and the error source set; a sensitivity coefficient is constructed based on a state equation and is compared with a judgment threshold, key control characteristics are identified, accurate errors can be predicted by quantifying a transmission mechanism of each error source, and key procedures are accurately identified in combination with the sensitivity coefficient, so that a reasonable strategy is adopted for optimization, and the product quality is ensured to be qualified.