118 results about "Rigid body dynamics" patented technology

The invention discloses a covariance self-adaptive control method for a quadruped robot for spine joint adjustment. The method comprises the following steps that 1, a spine quadruped robot kinematics model with spine joints, a robot trunk dynamics model with the spine joints and a robot leg multi-rigid-body dynamics model are established; 2, based on the energy stability margin theorem and the spine joint coupling effect, a posture control method of the spine joint quadruped robot is provided by combining a covariance self-adaptive evolutionary strategy, and the angle, rigidity and damping coefficient of spine joints are estimated and adjusted according to the terrain gradient; 3, extracting the spatial relationship between the trunk mass center and the foot ends of the robot as an expected reference, updating the expected mass center position in real time, and constructing a model prediction control method to control the posture of the spinal joint quadruped robot; 4, the position of the foot falling point of the swing leg is designed in advance in combination with the additional freedom degree provided by the spine joint and MPC prediction state information. The motion stability of the robot in the complex terrain is improved.

The invention relates to a multi-person motion capture real-time digital human driving method based on a skeleton-muscle interaction model, and belongs to the field of artificial intelligence and ubiquitous universe. According to the method, the key points of the human body are detected through YOLO-Pose, the positions of the shielding points are obtained through a double-stage dynamic shielding point compensation method, and the accuracy of the key points is guaranteed. And outputting the three-dimensional coordinates of the key points of the human body by adopting a three-dimensional key point depth extractor based on multi-dimensional exclusive-shared feature reasoning in combination with an MT ransPose model. A real person-skeleton model-digital person real-time mapping method is provided, three-dimensional key points are mapped to a standard human body skeleton model, and a digital person role and the skeleton model are bound through a weight mapping algorithm. Based on a skeleton-muscle interaction model, the digital person accurately reflects a real motion posture by introducing the mechanical action of a skeleton rigid body dynamic model and a muscle force line model, and the process of driving the digital person in real time through multi-person motion capture is achieved.

The invention relates to the technical field of quadruped robot control, and discloses a quadruped robot anti-disturbance motion control method based on a cost weight adaptive mechanism, which comprises the following steps: constructing a quadruped robot state equation based on a single rigid body dynamic model, a model prediction control problem with cost weight, friction cone constraint and gait constraint is formed through discretization; a cost weight self-adaptive mechanism based on disturbance observation is introduced on the basis of a model prediction control framework, the disturbance intensity is estimated by taking the attitude error of the fuselage and the corresponding change rate as disturbance observation values, and the cost weight corresponding to the attitude in the model prediction control problem is dynamically adjusted; by solving a model prediction control problem, an expected ground reaction force and a target state are calculated in real time, and motion control of the quadruped robot is realized in combination with a gait planner and a joint controller. According to the invention, the motion stability and anti-disturbance performance of the quadruped robot under external disturbance are improved based on a cost weight adaptive mechanism of disturbance observation.

The invention discloses a wheel-legged robot whole-body motion control system and method considering slippage steering, and relates to the technical field of wheel-legged machine control. The system comprises an input module used for receiving an expected motion track or a motion instruction from an upper layer planning system; the trajectory optimization module takes the motion trajectory output by the input module as a tracking target, so that the platform can be optimized in real time along an offline trajectory; the tracking control module is used for solving a joint torque through inverse dynamics by adopting a total rigid body dynamic model, realizing motion tracking through a whole body control WBC method, and solving a motion and contact force priority task by using a hierarchical optimization method; and the state estimation module is used for estimating all current state quantities of model predictive control MPC and information required by whole body control WBC through sensor information. By means of the system, high-dynamic stable motion control over the wheel-legged robot under the complex terrain can be achieved.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention provides a four-foot single-arm robot cooperative motion control method and system, and relates to the field of four-foot single-arm robot planning and control, and the method comprises the steps: building a multi-rigid-body dynamic model and a single-rigid-body reduced-order model as model constraints; screening out a feasible landing area; a safe landing area is generated; formulating a landing point cost function, and determining an optimal landing point; discretizing a state transition equation of the quadruped single-arm robot; taking steps capable of spanning as inequality constraints, taking the optimal landing point as elevation map equality constraints, and introducing the inequality constraints and the optimal landing point into a model prediction controller; based on a multi-rigid-body dynamic model, a multi-task planning method is optimized, control strategies are reasonably distributed, conflict tasks of four-foot movement and mechanical arm operation are dynamically coordinated, and cooperative control is conducted on multiple tasks. And fusing target data of a depth camera at the tail end of the mechanical arm, and autonomously planning a posture adjustment path of the robot body. The cooperative grabbing stability and accuracy of the robot are remarkably improved.

The invention provides an omni-directional all-drive robot trajectory tracking method based on constraint simplification, and belongs to the technical field of ground wheel type mobile robot trajectory tracking. According to the method, a robot kinematic model is established on the basis of rigid body dynamics, the transformation relation between each set of wheel speed vectors and robot speed information in a world coordinate system is represented, and multiple sets of hard constraint problems caused by motor physical characteristics are converted into soft constraint or unconstrained problems in a target function. And the program running speed and the solving success rate are improved. In addition, tracking errors caused by mechanical friction and noise interference are compensated for on the control outermost ring based on high-frequency speedometer information, and it is ensured that the robot accurately executes according to a control instruction. Through experimental verification, the solving speed of each frame of the method is within 50ms, and the tracking error evaluation of a reference trajectory is controlled within 5cm.

The invention discloses a mechanical arm simulation system supporting industrial quality inspection, which relates to the technical field of industrial automation and comprises a multi-physics field simulation engine module, a digital twin interface module, a defect sample library module and a cooperative control module. According to the method, traditional entity mechanical arm debugging is replaced by rigid body dynamics simulation based on a physical engine, loss and production line shutdown caused by repeated trial and error of equipment are avoided, rapid construction of the digital twin environment of the production line is achieved by means of an efficient CAD model conversion process and a lightweight loading technology, and high-fidelity optical simulation is achieved through a parameterized defect model library and high-fidelity optical simulation. Various common industrial defects and complex optical effects are covered, the modeling bottleneck of a quality inspection scene is broken through, real-time closed-loop interaction of visual inspection and motion control is realized by using thread separation and an efficient communication technology, and the recognition robustness of a visual algorithm to tiny defects is guaranteed; the reliability of algorithm verification is improved through the quantitative output of algorithm performance indexes and the comprehensive test of extreme working conditions by the simulation system.

The invention discloses a simulation test method and system for an unmanned aerial vehicle control algorithm, relates to the field of intelligent system simulation test, and can solve the defects of an unmanned aerial vehicle simulation system in high real scene rendering and physical engine precision at the present stage. The method solves the problems that the real characteristics of a visual sensor and a flight platform cannot be accurately simulated, the performance of an algorithm in a complex real scene is difficult to effectively evaluate, and the adaptability of the algorithm to a hardware environment is difficult to verify, and comprises the following steps: constructing a high-trueness virtual environment according to scene requirements and rigid body dynamics simulation requirements of an unmanned aerial vehicle simulation test; constructing a simulation model according to the physical motion characteristics of the unmanned aerial vehicle hardware and the performance of the sensing equipment; importing the simulation model into a high-reality virtual environment, and performing parameter setting on the simulation model; and testing and verifying a control algorithm of the unmanned aerial vehicle based on the high-trueness virtual environment and the simulation model completed by parameter setting. The method is used for performing simulation test and verification on the control algorithm of the unmanned aerial vehicle.

The invention provides a state feedback model prediction control method and system for a legged robot, and belongs to the technical field of robot control. Firstly, a closed-loop state observer is used for dynamically tracking disturbance information in a single rigid body dynamic model of the legged robot; then, according to the expected motion state set by the legged robot and a disturbance prediction value, a model prediction control strategy MPC is adopted to predict the motion state of the legged robot at the future moment, and ground reaction force meeting MPC constraint conditions is solved; and finally, constraint relaxation WBC is adopted to carry out secondary optimization on the MPC solving result, and the joint torque of the leg-foot robot is calculated. According to the invention, on the basis of improving the control performance of the leg-foot robot, the stability and reliability of the leg-foot robot facing uncertainty and external disturbance can be enhanced.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention discloses a real-time measurement method and system for martial arts striking mechanical characteristics, and belongs to the technical field of sports biomechanical measurement, and the method comprises a multi-sensor signal acquisition step, a mechanical characteristic extraction step, a biomechanical analysis step, a technical style evaluation step and a result output and feedback step. According to the system, an intelligent target and wearable sensor cooperative measurement framework is adopted, a piezoelectric force sensor array is arranged in the intelligent target to collect a three-dimensional impact force time history curve, and a wearable inertial measurement unit collects kinematics parameters; performing reverse dynamic analysis based on a rigid dynamic chain model, and calculating joint torque contribution and energy transfer efficiency; technical style identification is realized through matching with a mechanical characteristic fingerprint database; and outputting a striking mechanical parameter report and personalized training suggestions. The technical problem that the striking effect in traditional martial art training is difficult to quantitatively evaluate is solved.

The invention discloses an industrial robot tail end vibration response calculation method and system, solves the problem of how to improve industrial robot tail end dynamic response prediction accuracy, and belongs to the field of industrial robot dynamics analysis. According to the method, elements of the industrial robot are regarded as rigid bodies or flexible bodies, all assemblies are integrated into a rigid-flexible coupling dynamic model in combination with a robot kinematic model, step-by-step parameter identification is conducted on the decoupled rigid body dynamic model and structural dynamic model, inertial parameters are identified by considering the influence of nonlinear joint friction, and the method is suitable for industrial robot control. Further identifying a rotational inertia matrix in the robot milling kinetic model; joint elastic parameters are identified by considering the influence of non-linear joint rigidity, and a damping matrix in a robot milling kinetic model is further identified. And the torque fluctuation of each joint is predicted, the vibration response of each joint is calculated in combination with a robot milling kinetic model, and finally the robot tail end vibration response is calculated in combination with robot kinematics.

The invention discloses a loader load process prediction method based on MBD-DEM coupling simulation data driving, and is applied to the technical field of loader load prediction. Comprising the following steps: establishing a multi-rigid-body dynamic model of a loading machine working device; constructing a discrete element model of the material particles by adopting discrete element simulation software; mBD-DEM coupling is realized based on the multi-rigid-body dynamic model and the discrete element model; different working condition combinations are set, and load history data are obtained; preprocessing the load history data and the corresponding working condition data; constructing and training an LSTM neural network; and predicting the loading process of the loader based on the trained LSTM neural network. According to the method, the mechanical kinematics and dynamics characteristics of the loading machine working device and the discrete characteristics of materials can be considered at the same time, and the load prediction accuracy is improved.

The invention discloses a self-adaptive neural network distributed control system and method for a mechanical arm, and belongs to the technical field of automatic control. Comprising a multi-mechanical-arm system which has position and attitude constraints and is provided with a sensor, a three-dimensional rigid body dynamic model for receiving sensor data from the multi-mechanical-arm system, and a universal time-varying asymmetric barrier function integrated with the three-dimensional rigid body dynamic model, the adaptive neural network is used for estimating unknown kinetic parameters in the system online; and the distributed cooperative tracking controller is designed based on estimation of the adaptive neural network. According to the method, a new universal time-varying asymmetric barrier function of an output constraint multi-mechanical-arm system containing unknown dynamics is constructed, and an online learning module based on a feedforward neural network is established, so that the problem of asymmetric time-varying output constraint of insensitive parameter online estimation is solved; the dynamic estimation problem insensitive to an initial value and limited by asymmetric time-varying output can be solved at the same time.

The invention provides a train transverse offset calculation method and system based on aerodynamic simulation, and the method comprises the steps: building an aerodynamic model, and obtaining aerodynamic data of the intersection of elevated crosswind and tunnels under different working conditions; the pneumatic data comprises wind pressure data and equivalent acting force and acting moment data acting on the train mass center in the X direction, the Y direction and the Z direction; and importing the pneumatic data into a multi-rigid-body dynamic model of the motor train unit to carry out pneumatic response analysis so as to obtain the maximum transverse offset of the train under each working condition. According to the method, linear superposition is conducted on the static part and the dynamic part, the final transverse offset of the train under different working conditions is obtained, and the method for calculating the transverse offset of the train is more accurate and reliable so that the safety of the train in complex environments such as elevated crosswind and tunnel intersection can be guaranteed.

A method for constructing a dynamic model of a coupled system of high-speed railway train-track-substructure includes: experimentally obtaining key technical parameters with nonlinear and frequency-varying characteristics in the high-speed railway infrastructure system; constructing a novel wheel-rail contact model suitable for higher speed levels and integrating it into the vehicle-track coupled dynamic model; constructing a train vehicle model and track structure model based on the principles of multi-rigid-body dynamics and the finite element method; and using a self-developed program to realize the dynamic modeling of the train-track system; taking the ballastless track structure, subgrade, bridge, and tunnel structures of high-speed railways as research objects, and applying a finite element simulation platform to realize the construction of a refined finite element model of the track-substructure structure; this invention achieves a breakthrough in the theoretical modeling of the vehicle-track-substructure system of higher speed railways, providing a research method and platform for deepening the understanding of the coupled dynamic mechanism of complex systems of high-speed railway infrastructure with speeds of 400 km / h and above.

The invention discloses a posture control method and system of a discrete gravity center double-wheel-foot robot and a storage medium, and relates to the technical field of gravity center control. Discrete configuration and rapid switching of the gravity center position are achieved by actively adjusting hip joints and knee joints, and a robot model is established based on multi-rigid-body dynamics; simplifying the model into an inverted pendulum linear model family with parameters changing along with the gravity center in the front-back direction; a plurality of discrete gravity center working conditions are preset, each working condition corresponds to a specific joint target angle and model parameters, and the optimal working condition is selected for switching according to the real-time posture and the motion state; and designing a cooperative control law by adopting a linear quadratic regulator, and finally, realizing stable attitude control of the robot under complex terrains and disturbances through multi-joint cooperative execution. According to the method, the disturbance rejection capability and the attitude stability margin are remarkably improved through discrete gravity center configuration, meanwhile, the model complexity and the real-time calculation burden of continuous gravity center adjustment are avoided, and control performance and engineering realizability are achieved at the same time.

The invention discloses a composite anti-interference and anti-skid motion control method for a four-footed inspection robot, and relates to the technical field of robot control. The method comprises the following steps: establishing a quadruped robot single rigid body dynamic model influenced by uncertain disturbance and constrained by a coulomb friction cone, and correspondingly establishing a tracking error system model of equivalent motion of the quadruped robot; designing a disturbance observer based on a tracking error system model, and performing active lumped estimation and compensation on disturbance caused by uncertainty in an external environment and a system; designing a composite anti-interference model prediction control method according to the tracking error model of the equivalent motion of the quadruped robot; and the recursion feasibility of the composite anti-interference model prediction control method and the stability of a closed-loop system are verified. According to the control method, the adverse effect of multi-source uncertain interference on robot motion control can be relieved, the control precision of the robot is improved, meanwhile, the foot end acting force is limited to be within the anti-skid feasible range, and the posture stability of the robot is better maintained.

The invention provides a steam generator pipeline wear simulation method, system and device and a storage medium, and relates to the technical field of physical testing. The simulation method comprises the steps that a fluid-solid coupling model of the heat transfer tube bundle and the foreign matter is established, and the foreign matter model is set to be a rigid body dynamic mesh model; solving the fluid-solid coupling model to determine stress information and motion information of the foreign body model under the action of the flow field; and based on the instantaneous speed and the resistance, the accumulated wear depth of the foreign matter to the heat transfer tube bundle under the action of the flow field is determined. According to the simulation method, the foreign matter stress information is captured in real time in the foreign matter movement process, the foreign matter movement information is updated, meanwhile, the abrasion rate of the heat transfer tube bundle is synchronously calculated based on the foreign matter stress and movement information, and full-process real-time simulation of lifting resistance, displacement and the abrasion rate of the foreign matter in the simulation process is achieved; and the accuracy and the reliability of a wear depth simulation result are greatly improved.

The invention relates to an integrated fatigue durability analysis method and system for a power assembly suspension bracket. The method comprises the following steps: establishing a rigid body dynamic model of a 19-degree-of-freedom power assembly suspension system of a commercial vehicle based on a whole vehicle; establishing a finite element model of the suspension bracket, and solving and outputting a modal neutral file and a modal stress file of the suspension bracket; establishing a rigid-flexible coupling dynamic model of the power assembly suspension system to consider the influence of the flexibility of the bracket; solving the rigid-flexible coupling dynamic model, and outputting modal displacement files of the suspension bracket under different road excitation; based on a modal stress recovery theory, the modal stress and the modal displacement of the suspension bracket are superposed, and the fatigue life of each node of the suspension bracket is calculated by using a Goodman corrected S-N method; the invention provides a method for analyzing the fatigue durability of a structure under the conditions of long driving mileage and complex road conditions, which is used for efficiently predicting the fatigue durability of a bracket after a vehicle runs for hundreds of thousands of kilometers under the complex road conditions.

The invention relates to a method and a system for improving the smoothness performance of a commercial vehicle considering the lightweight of a vehicle frame, and the method comprises the following steps: S1, determining three optimization elements: an optimization target, a constraint condition and an optimization variable according to the characteristics of the commercial vehicle; s2, constructing a commercial vehicle rigid body dynamic model, and constructing a cab finite element model and a frame finite element model; based on the three models, constructing a whole vehicle rigid-flexible coupling dynamic model; s3, establishing a vehicle smoothness performance multi-objective optimization process, setting optimization iteration times, and applying a multi-objective optimization algorithm to carry out commercial vehicle multi-disciplinary performance optimization design; s4, judging whether the output result meets the optimization target and the constraint condition at the same time or not, and if yes, outputting an optimization scheme; if not, the optimization variable continues to be calculated until all optimization iterations are completed; while the smoothness performance of the vehicle is improved, the light weight of the vehicle frame is taken into account.

The embodiment of the invention provides a robot performance prediction method and device, equipment and a storage medium, which are used for realizing accurate prediction of robot performance. Comprising the following steps: simulating the rigid body dynamic model based on a joint driving instruction output by the operation control model, and obtaining mechanical and kinematic response parameter information output by the rigid body dynamic model; consistency comparison is carried out on the mechanics and kinematics response parameter information, corresponding prediction parameter information output by the operation control model and robot actual measurement parameter information, the rigid body dynamic model is calibrated according to a consistency comparison result, and a calibrated model is obtained; a key bearing part of the calibrated model is subjected to flexibility, a rigid-flexible coupling dynamic model is obtained, actually-measured robot motion data are input into the rigid-flexible coupling dynamic model, and a dynamic stress result of the key bearing part is determined; according to the dynamic stress result, durability evaluation is conducted on the key bearing component, and an evaluation result is obtained.

The application discloses a method and device for simultaneously collecting array vibration and mechanical characteristics of a multi-fracture GIS, and the vibration acceleration sensor is installed on the fracture to collect vibration signals, and the number of action time sequence complete events during GIS opening and closing operations is determined; a rigid body dynamics model is established to simulate the GIS opening and closing operations, and the number of action time sequence complete feedback events during simulation is obtained; when the number of action time sequence complete feedback events is equal to the number of action time sequence complete events, the optimal installation position of the vibration acceleration sensor is determined; the vibration transmission and collection time delay of each vibration acceleration sensor is obtained; the vibration transmission and collection time delay is superimposed on the time interval of each action time sequence during the GIS opening and closing operations to obtain the performance time interval of each action time sequence; and the performance time interval of each vibration signal is marked in the performance time interval of each action time sequence, so that the problems of improper installation, excessive vibration transmission and collection time delay of the vibration and mechanical characteristic collection device are solved.

The invention discloses a shipborne captive balloon multi-body dynamics modeling and numerical simulation method, which comprises the following steps: establishing a multi-rigid-body dynamics model of a shipborne captive balloon, programming the modeling process by using a programming language, completing secondary development modeling and simulation in multi-body dynamics calculation software, and submitting to a solver for calculation. Based on the advantage that shaft sleeve force one-class flexible connection can equivalently replace spherical hinge pair one-class rigid connection in the system, the number of constraint equations in a vehicle multi-body system kinetic equation is reduced, and then more efficient real-time simulation and control of the shipborne captive balloon are achieved.

The present invention provides a method and system for collaborative motion control of a quadruped single-arm robot, relating to the field of quadruped single-arm robot planning and control. The method comprises: establishing a multi-rigid body dynamics model and a single rigid body reduced-order model as model constraints; screening feasible landing areas; generating a safe landing area; formulating a landing point cost function and determining the optimal landing point; discretizing the state transition equation of the quadruped single-arm robot; introducing the traversable steps as an inequality constraint and the optimal landing point as an elevation map equality constraint into a model predictive controller; optimizing the multi-task planning method based on the multi-rigid body dynamics model, rationally allocating control strategies, dynamically coordinating conflicting tasks between quadruped motion and manipulator operation, and collaboratively controlling multiple tasks; and integrating target data from a depth camera at the end of the manipulator arm to autonomously plan the posture adjustment path of the robot body. The present invention significantly improves the stability and accuracy of collaborative grasping by the robot.

The present invention provides a robot dynamic parameter identification method and system, including: establishing a mapping relationship between a minimum parameter set and a standard parameter set when a rigid body dynamic model is linearized; establishing a symmetric positive definite matrix manifold, and calculating relevant formulas based on the differential geometry structure of the manifold; establishing a geometric excitation optimization criterion and generating an optimal excitation trajectory with a traditional observation matrix condition number; establishing a parameter identification optimization objective function, and constructing a geometric convex approximate upper bound constraint suitable for iteration as a regularization term; iteratively identifying a minimum parameter set and nonlinear friction parameters. The present invention combines the geometric excitation trajectory optimization criterion with the traditional observation matrix condition number to stimulate the robot system characteristics, constructs a convex approximate upper bound constraint suitable for iterative optimization as a regularization term of the parameter identification optimization function, and iteratively identifies it with a nonlinear friction model to obtain inertia parameters that are more in line with the robot structure, ensuring the physical rationality of the parameters while improving the identification accuracy.

This invention is an attitude control method for asymmetric spacecraft, comprising three steps: First, quantifying the disturbance torque of the asymmetric structure and establishing a multi-rigid-body dynamics model including a pyramid-configured control moment gyroscope group and the asymmetric spacecraft; second, designing the control law of the control moment gyroscope group, adjusting the rotation angle and angular velocity of the four frames to output control torque while avoiding singularities, for controlling the attitude of the asymmetric spacecraft; finally, designing the control law for the spacecraft base attitude, updating the inertial torque in real time by feeding back the current attitude error, and simultaneously providing nonlinear torque and compensation torque. The three torques are combined and provided as the desired control torque to the control law of the control moment gyroscope group.

The application provides a quad-rotor unmanned aerial vehicle anti-disturbance control method, and specifically comprises the following steps: S1, a nonlinear model predictive controller outputs expected angular velocity to an angular velocity model reference adaptive controller; S2, the nonlinear model predictive controller outputs expected total thrust to a thrust model reference adaptive controller; S3, a rigid body dynamics theory is used to obtain a quad-rotor dynamics model, a collision impact disturbance analysis is performed on the angular velocity model reference adaptive controller, body torque instructions are output according to the quad-rotor dynamics model, a load uncertainty analysis is performed on the thrust model reference adaptive controller, and total thrust instructions are output according to the quad-rotor dynamics model; S4, a control distribution module is used to map the body torque instructions and the total thrust instructions to thrust instructions of each rotor of the quad-rotor unmanned aerial vehicle; and S5, the calculated thrust instructions are transmitted to the quad-rotor for execution.

The present invention relates to a method for Adams / Matlab co-simulation of an underwater robot-manipulator system. By using the Lagrange equation method in the widely popular multi-rigid body dynamics theory in Adams software, the dynamic model of the system is automatically established, and the control system is established by using the visualization simulation tool Simulink in Matlab software, so as to simulate the underwater robot-manipulator system and obtain the coupling influence of the operation of the manipulator on the body under the corresponding input.