92 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 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 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 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.

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 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 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.

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 invention discloses an autonomous underwater vehicle-rope-driven manipulator trajectory planning method, and relates to the technical field of manipulator trajectory planning, and the method comprises the following steps: constructing a rigid dynamic framework by using a Lagrange method based on a manipulator geometric structure, and calculating generalized fluid force by combining fluid dynamics simulation; forming a rigid-liquid coupling modeling; establishing a rope flexible motion model by adopting a Cosseerat rod theory, coupling the rope flexible motion model with the rigid-liquid coupling modeling, constructing a rigid-flexible-liquid coupling dynamic model, determining a maximum working space of the manipulator based on the model, and defining a virtual working space as a constraint boundary of trajectory planning; generating a smooth basic trajectory through quintic spline interpolation, analyzing stress conditions at different path points, screening a basic expected trajectory meeting conditions, and extracting characteristic curve parameters; and finally, selecting an optimal track by using an optimization function to ensure that the system moves stably without impact.

The application relates to a passability analysis method for an intelligent wheelchair driving on a sandstone road, which comprises the following steps: 1, establishing a finite element wheelchair multi-rigid-body dynamics model; 2, establishing a discrete element sandstone loose road model; 3, performing passability simulation calculation of the intelligent wheelchair on the sandstone loose road; 4, performing passability analysis of the intelligent wheelchair, collecting and processing the data of the driving wheel hook traction force, the traction torque and the wheel subsidence under different slip rates; and 5, passability evaluation of the intelligent wheelchair. The application discloses a passability analysis method for a wheelchair whole vehicle system in a driving process, solves the problems of the limitations of an existing system passability simulation method and low simulation precision, improves the passability simulation precision, makes the simulation result capable of truly reflecting the traction characteristics of the intelligent wheelchair whole vehicle when driving on a loose road, has high applicability and operability, and effectively solves the wheelchair subsidence and trouble-removal on a sandstone road.

The invention discloses a space debris typical inertia feature extraction method based on X-ray simulation, and solves the problem that inertia estimation is inaccurate due to the fact that a traditional visible light imaging and radar detection means cannot accurately obtain the internal structure of space debris. According to the method, based on the image data set under the X light source, track estimation is carried out in combination with deep learning and a rigid body dynamic model, and when dynamic analysis is carried out on the space debris, the motion track and speed of the space debris can be accurately estimated.

This invention discloses a method for determining the separation time between stages containing thrust reversers and springs. This method can accurately determine the separation time between the booster and the main stage, providing support for separation safety and a reference for the main stage engine ignition time. The method mainly includes three parts: spring reverser time calculation, initial separation time calculation, and complete separation time calculation. First, aerodynamic simulation is used to calculate the aerodynamic forces in the initial state of the spring reverser and the fully extended state of the spring, thereby obtaining the spring reverser time through variable acceleration motion calculation. Then, using the fully extended spring state as the initial time point, the time it takes for the main stage and booster to reach a 5mm gap is calculated as the initial separation time. Subsequently, through coupled computational fluid dynamics and rigid body dynamics simulation, the separation trajectory of the booster under aerodynamic forces is obtained, thus obtaining the time for complete booster separation. Finally, the total separation time including thrust reversers and springs is obtained by summing the three time components.

The invention discloses a three-dimensional animation effect simulation device and method based on AIGC in the technical field of artificial intelligence and virtual simulation, and the device comprises an AIGC generation module which is used for generating a three-dimensional model and an animation sequence based on an input instruction; the physical engine verification module is used for verifying the physical rationality of the three-dimensional model in real time based on the animation sequence, including collision detection, rigid body dynamics and centroid stability calculation; the computing power dynamic allocation module is used for dynamically allocating GPU resources to a rendering or physical simulation task according to scene requirements; and the cross-scene adaptation module is used for calling a preset physical parameter template library and adapting different types of scenes generated by the AIGC. According to the method, through deep coupling of the AI and the physical engine, heterogeneous computing power collaboration and dynamic LOD optimization, the problems of low efficiency, physical distortion, resource contention and the like in traditional animation production are solved, and the interaction authenticity and the computing efficiency are remarkably improved.

The invention relates to the technical field of engine detection, in particular to an engine knock fault detection method based on vibration signal analysis. The method comprises the following steps: acquiring and preprocessing a voltage vibration signal and a pulse square wave signal of an engine to obtain a vibration digital sequence and a pulse timestamp set; a difference value of adjacent timestamps is extracted from the pulse timestamp set as a time span, a rigid body kinetic equation is constructed in combination with a physical mechanical angle interval, a transient angular acceleration is calculated, a vibration digital sequence is mapped to a crankshaft rotation space, and an equal-angle vibration sequence is obtained; frequency domain conversion is conducted on the equal-angle vibration sequence, mechanical noise is filtered out, a knock residual signal is obtained, knock characteristic energy in the monitoring window is calculated, and when the knock characteristic energy exceeds a preset safety threshold value, a control adjusting instruction is issued. According to the method, the mechanical operation state under the transient variable load is restored, the order fuzzy defect is effectively restrained, and the bottom layer operation load and response delay are reduced.

The invention discloses an adapter multi-rigid-body dynamic modeling method based on pre-pressing and flexibility characteristics. According to the invention, an adapter model is dispersed in a multi-rigid-body dynamic framework, and a nonlinear spring-torsion spring unit is introduced to realize flexible deformation, so that the nonlinear mechanical response of an adapter body in a launching process is effectively simulated; based on a nonlinear rigidity curve calibrated by an experiment or simulation, the compression and torsion response of the adapter is accurately reproduced; through the spring original length offset correction technology, the actual assembly pre-compression state is directly mapped, and the initial condition accuracy is improved. According to the invention, the pre-pressing of the adapter and the nonlinear mechanical response of the adapter in the launching process can be effectively simulated, and the large subsample calculation and rapid iteration requirements of a rocket launching system are met.

The invention relates to the field of intelligent sports, and discloses a digital evaluation method and device for shadowboxing training actions, and the method comprises the following steps: constructing a human body multi-rigid body dynamics full-state model; calculating an operation space inertia and an instantaneous spiral parameter; an inertia and spiral coupling manifold is constructed, and dynamic consistency is evaluated; executing kinetic energy minimization evaluation based on the Jacobian null space; generating an evaluation result; the device comprises a full-state model construction module, a parameter mapping and analysis module, a consistency evaluation module, a null-space kinetic energy calculation module and a comprehensive evaluation output module. According to the method, the coincidence degree of the inertial distribution of the human skeleton structure and the tail end hitting or pushing track is quantified, so that whether the overall action of a shadowboxing exerciser reaches the standard or not can be identified from the dynamics level, and the problem that whether the exerciser is driven by an overall body method or imitates the style only by local limbs cannot be distinguished is solved.

The invention discloses a sea-turtle-imitating amphibious robot path tracking method based on model predictive control, which comprises the following steps of: firstly, establishing a sea-turtle-imitating amphibious robot multi-rigid-body dynamic simplified model containing a water flow dynamic coefficient, and simplifying a control dimension in combination with biological motion characteristics; analyzing and quantifying water flow dynamic parameters through computational fluid mechanics simulation in combination with a steady-state dragging test, a rotating arm test and an unsteady planar motion mechanism; constructing a robot model and an underwater environment in a dynamic simulator; a model predictive control-fuzzy logic cascade controller is designed, an upper layer generates reference force and torque through rolling horizon optimization, and a lower layer maps the reference force and torque into an actuator instruction based on a fuzzy rule; and finally, verifying and evaluating the robustness and tracking precision of the controller in a simulation environment. The method effectively deals with nonlinear water flow dynamic effect, parameter uncertainty and unmodeled environment interference, and has high control precision and strong robustness through U-shaped and 8-shaped path verification.

The invention discloses an energy-saving path planning and learning optimization method for intelligent ship navigation, and belongs to the field of ship path planning, and the method comprises the steps: building a ship control motion model based on a kinematics parameter mapping relation between a fixed coordinate system and an appendage coordinate system in combination with a Fossen rigid body dynamic model; mathematical models of sea wind, sea waves and sea currents are constructed and substituted into a ship control motion model, and finally a ship navigation energy consumption model is constructed; setting three constraint conditions of speed, course angle and safe distance, and designing a safe reinforcement learning algorithm based on an MDP framework; a safety reinforcement learning algorithm is improved, a simulation environment is built, multiple groups of experiment conditions are set for experiment, and a result is analyzed. According to the method, the ship energy-saving path planning model is constructed, an improved safety reinforcement learning method is provided, the ship navigation energy efficiency and safety are improved, and an effective solution is provided for green intelligent shipping.

The application provides an omnidirectional full-drive robot trajectory tracking method based on constraint simplification, and belongs to the technical field of ground wheeled mobile robot trajectory tracking. The method establishes a robot kinematics model on the basis of rigid body dynamics, represents the transformation relationship between each group of wheel speed vectors and robot speed information in a world coordinate system, and converts a plurality of hard constraint problems caused by motor physical characteristics into soft constraint or unconstrained problems in a target function, so that the program running speed and the solution success rate are improved. In addition, the tracking error caused by mechanical friction and noise interference is compensated based on high-frequency odometer information in the outermost control loop, so that the robot accurately executes according to the control instruction. Through experiment verification, the solution speed of each frame of the method is less than 50 ms, and the tracking error evaluation of the reference trajectory is controlled to be less than 5 cm.