23 results about "Rolling moment" patented technology

The invention provides a rolling pass parameter intelligent inversion and dynamic correction method based on machine learning, and the method comprises the steps: outputting a deformation resistance Kf value according to the obtained current rolling temperature and strain rate; based on the deformation resistance Kf value, predicted values of the total rolling force and the rolling moment are obtained; establishing a transient heat balance equation, and outputting a final rolling temperature predicted value; by taking the minimization of the pass number and production time and the minimization of the total energy consumption as targets, an optimal rolling schedule is generated and decided; and the corresponding model parameters are optimized in batches by regularly utilizing historical data, so that short-term self-adaption and long-term optimization control of the rolling process is realized. According to the method, various feasible rolling schemes are automatically generated by utilizing an optimization algorithm, so that an operator can select the optimal scheme according to actual conditions; by comparing a predicted value with an actual value in real time, current model parameters are quickly adjusted, and accumulated production data are regularly utilized to comprehensively optimize the model, so that long-term stable operation and accurate prediction of the system are ensured.

The invention relates to a stabilization self-adaptive control method and device based on double gyroscopes, and the self-adaptive control method comprises the steps: constructing a real-time updated'sea wave-ship-double gyroscope 'coupling dynamic model, and introducing the online identification of ship rolling parameters; physical limit, damping, maximum torque and other constraints of the double-gyroscope executing mechanism are explicitly written into a control law; the two gyroscopes are symmetrically arranged and opposite in precession direction, so that yawing torques are mutually counteracted and rolling torques are superposed, and the stabilization efficiency is improved; adaptively selecting PID according to the rolling amplitude, the sea condition uncertainty and the working state of the actuator, and adaptively switching the fuzzy adaptive PID and the model prediction control strategy; calculating a control instruction based on the selected strategy and the updating model, and performing physical constraint processing such as torque saturation and angle amplitude limiting; and outputting a safety instruction to drive the gyroscope to generate stabilization torque. The method can adapt to different working conditions, and the efficient and stable active stabilization performance and stabilization effect are kept under the multiple working conditions.

A data structure is described for actuating a chassis system of a vehicle having at least one actuator which can be actuated to carry out wheel-selective and / or axle-selective interventions, the data structure comprising at least one of the following substructures: - a first substructure for setting a force direction of the actuator, - a second substructure for distributing a rolling moment by means of the actuator, - a third substructure for providing the rolling moment, - a fourth substructure for changing the vehicle height by means of the at least one actuator, - a fifth substructure for changing the rigidity of the actuator, and - a sixth substructure for prioritizing driving dynamics requirements. The invention further relates to a corresponding method and to a corresponding device.

This invention discloses an active suspension roll control method, system, vehicle, and computer-readable storage medium, belonging to the field of vehicle suspension technology. The active suspension roll control method is applied to a vehicle's active suspension system. The control method includes: acquiring the vehicle's total mass, lateral acceleration, and center of gravity height; calculating the total roll moment using the following formula: M_roll_total = M * Ay * Hei_CoG; where M_roll_total is the total roll moment, M is the vehicle's total mass, Ay is the lateral acceleration, and Hei_CoG is the center of gravity height; and controlling the active suspension system based on the total roll moment. By controlling the active suspension system based on the total roll moment calculated from the lateral acceleration, rather than feedback control based on the error between the target roll angle and the actual roll angle, the problem of robustness being affected by large noise at the actual roll angle is eliminated, making the roll control of the vehicle's active suspension system more stable and reliable.

The invention relates to the technical field of lithium battery copper foil manufacturing, and discloses a crude foil engine control method and device, a crude foil engine, a storage medium and a program product, and the crude foil engine comprises a cathode roller used for electrolyzing crude foil and a winding roller used for drawing and collecting copper foil; the measuring roller is used for measuring the linear speed and the winding tension of the crude foil; the method comprises the steps that the actual winding speed and the actual winding tension in the copper foil winding process of a winding roller and the measuring linear speed of a measuring roller are monitored; based on the actual winding speed and the measurement linear speed, the actual winding diameter is calculated; based on the actual winding tension and the actual winding diameter, the initial winding moment is calculated; determining a tension compensation torque based on the magnitude relationship between the actual winding tension and the preset winding tension; and the target winding torque is determined on the basis of the sum of the initial winding torque and the tension compensation torque, the winding roller is controlled to execute winding operation at the target winding torque, and speed and tension matching between cathode roller electrolytic foil generation and winding of the winding roller is achieved.

The application discloses a hovercraft posture stabilizing device based on Magnus effect, which comprises a pipe beam support fixed behind a duct air propeller, a transverse roller assembly and a longitudinal roller assembly which are perpendicular to each other and rotatable are installed on the pipe beam support, the transverse roller assembly comprises left and right rollers which are horizontally installed on the pipe beam support, the longitudinal roller assembly comprises upper and lower rollers which are vertically installed on the pipe beam support, and a motor which drives the left and right rollers and the upper and lower rollers to rotate. When air flow passes through the rollers, a Magnus force which points to the side of the accelerated air flow is generated on the side of the accelerated air flow. When the hovercraft is lowered, the left and right rollers roll clockwise at the same speed, and a downward force is provided to form a counterclockwise pitching moment together with gravity. When the hovercraft is leftwardly deviated, the left and right rollers roll reversely at the same speed, and a rightward rolling moment is provided to restore a good balance state. When the upper and lower rollers rotate at a high speed, the hovercraft is turned.

This invention proposes a lightweight loading device and its design method suitable for low-altitude propeller balances, belonging to the technical field of low-altitude aircraft test balances. The aim is to solve the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration. In this invention, the low-altitude propeller balance is horizontally mounted on a raised base via a lower balance connector, and the upper surface of the low-altitude propeller balance is connected to the upper balance connecting plate. The central body is mounted on the outside of the low-altitude propeller balance; the front and rear, and left and right cantilever arms are all mounted on the central body; drag lugs are installed on both sides of the left and right cantilever arms, and normal force and roll moment lugs are installed on the left and right cantilever arms; pitch moment lugs are installed on the front and rear cantilever arms. This invention solves the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration.

The invention discloses a forklift active anti-rollover control system and method based on multi-source sensing and dynamic detection. The defects that in the prior art, sensing is single, and control is extensive are overcome. The system comprises a sensing module (a forward binocular camera and an inertia / acceleration / steering angle sensor), a data processing module (a YOLOv8 algorithm and a dynamic model), a hierarchical control module and an execution module. According to the method, cargo images and forklift operation data are collected, cargo inclination parameters are fused and recognized, the gravity center and the roll moment of the forklift are calculated, five risk grades are divided, and progressive control over sound-light alarm, reverse compensation moment, forced deceleration, emergency braking and power cut-off is correspondingly achieved. The system realizes synchronous monitoring of cargo and forklift states, is accurate in control, adapts to various forklifts, effectively improves the anti-rollover early warning accuracy and operation safety, and is suitable for warehouse logistics and other complex working conditions.

The application discloses a rotary aircraft and relates to the technical field of aircraft design, and comprises an aircraft body and a plurality of tail wings which are uniformly arranged on the tail of the aircraft body in the circumferential direction; the trailing edge of the tail wing is provided with a stationary vortex generator; the stationary vortex generator is located on one side of the airfoil of the tail wing; and the stationary vortex generator can hinder the airflow of the airfoil to form a stationary vortex; the rotary aircraft designed based on the stationary vortex lift principle can be designed and controlled on the basis of the vertical tail wing; a plurality of stationary vortex generators are arranged along the tail wing of the rotary aircraft, so that a rolling moment parallel to the axis direction of the aircraft is generated; the direction and size of the vortex lift can be adjusted by adjusting the parameters and positions of the stationary vortex generators, so that the direction and size of the rolling moment can be controlled.

The application discloses a kind of vehicle control methods for limit cornering operating mode, belong to vehicle dynamics control technical field.The method first obtains target longitudinal resultant force, target additional yaw moment and target total anti-roll moment;Establish the mapping relationship between vehicle control target and actuator layer control quantity;Introduce control target slack variable, rewrite each target into soft constraint form containing slack variable;Joint optimization cost function containing control target priority trade-off cost is constructed;Under the condition of satisfying tire adhesion constraint, the optimal distribution of each wheel longitudinal force and front, rear axle active stabilizer bar output torque is obtained.The application realizes the adaptive trade-off of control target under limit operating mode by slack variable mechanism, avoids distribution rigidity and degree of freedom lock, and optimizes stabilizer bar interaxle distribution based on adhesion margin, inhibits single axle tire premature saturation, significantly improves the yaw stability and steering controllability of vehicle in high-speed sharp turn, emergency obstacle avoidance and other limit operating mode.

The invention discloses an ornithopter steering lifting control device based on dihedral rudder control, belongs to the technical field of ornithopters, and is suitable for micro ornithopters and can be expanded to large ornithopters such as manned ornithopters. The device comprises a fuselage, a flapping driving mechanism, a left wing assembly and a right wing assembly, a driving motor synchronously drives wings to flap up and down through an incomplete gear mechanism, micro digital steering engines of the wing assemblies independently adjust the dihedral angles of the corresponding wings, and the dihedral angles can be subjected to differential adjustment within the range of-10 degrees to 50 degrees. The device realizes steering by independently controlling left and right upper dihedral angles to form rolling torque, and realizes lifting by synchronously adjusting the upper dihedral angles to change the vertical component of lift force. Structures such as a tail vane and an aileron are abandoned, the wing arms are made of light high-strength carbon fiber materials, the problems that a traditional control scheme is complex in structure, lagged in response and low in efficiency are solved, the characteristics of light weight and high response are achieved, the efficient aerodynamic performance of symmetric flapping is reserved, the maneuverability, wind resistance and cruising ability of the ornithopter are improved, and the ornithopter is suitable for high-frequency flapping empennage-free scenes.

A steering system for a watercraft having twin propulsion units whose thrust axes are fixed to diverge outward from a longitudinal centerline in plan view. During a turn, a controller differentially commands thrust such that the outboard propulsion unit produces greater thrust than the inboard unit. The outward alignment of the thrust axes yields a net lateral force whose vertical offset from the craft's center of gravity produces a rolling moment that banks the hull inward toward the turn. The system enables banked turns without swiveling drives or rudders and supports zero-radius maneuvers at low speeds. Embodiments include electric propeller pods or water-jet nozzles, planing and hydrofoil craft, and optional feedback to regulate bank angle.

The invention provides an underwater vehicle target strength calculation method considering ocean current influence, which comprises the following steps: determining vehicle types including a cylindrical vehicle and a flat vehicle; aiming at different aircrafts, respectively constructing aircraft disturbance torque models, and acquiring rolling torques and pitching torques of a cylindrical aircraft and a flat aircraft; based on the obtained rolling torque and pitching torque of the cylindrical vehicle and the flat vehicle, attitude response models of the cylindrical vehicle and the flat vehicle are constructed respectively, the attitude response models of the vehicles are solved, and rolling angles and pitching angles of the cylindrical vehicle and the flat vehicle are obtained; calculating the static target strength of the aircraft, and correcting the target strength by considering the real-time change of the rolling angle and the pitching angle of the aircraft to obtain a time-varying curve of the target strength of the aircraft; according to the method, the influence of rolling and pitching on the target strength of the underwater vehicle is considered, and the calculation precision of the target strength is improved.

A rotor control device for performing attitude control of a fuselage of an aircraft includes a VTOL rotor control unit for controlling each rotor based on a roll moment command value, a pitch moment command value, and a yaw moment command value. When the magnitude of the roll moment command value or the magnitude of the pitch moment command value is equal to or greater than a threshold, the VTOL rotor control unit controls each rotor without using the yaw moment command value.

The invention provides a power distribution control method and device for an eVTOL aircraft electric propulsion system, and belongs to the technical field of aircraft electric propulsion. Based on eVTOL aircraft electric propulsion system state parameters and electric driving system state parameters, pitching moment, rolling moment and yawing moment which are generated on the aircraft by pulling force / pushing force generated by each propeller are calculated, and target pulling force / pushing force of each propeller is calculated; according to the calculated relation between the target pulling force / pushing force of each propeller and the output power of each propelling motor, the target output power of each propelling motor is calculated, a propelling motor top layer control instruction is formed and sent to each propelling motor controller, and the propelling motor controllers control the propelling motors to reach the target output power. The pitching moment, the rolling moment and the yawing moment generated by faults of internal parts of the eVTOL aircraft electric propulsion system can be eliminated or reduced, and the stability of the eVTOL aircraft is improved.

The invention relates to the technical field of cabin leveling control, in particular to a hydraulic lifting type sand ship spiral cabin leveling device and a stability optimization method thereof. According to the method, the transverse contour of a gravel pile is obtained in real time, the stacking deflection direction and degree are recognized, the target material distribution amount which needs to be transferred from the deflection high side for balancing the left material height and the right material height is dynamically calculated on the basis of the material capture rate obtained through calibration in combination with contour information, and asymmetric stacked gravel is analyzed and optimally adjusted through angle deflection. And the basic pushing speed of the screw mechanism is set according to the to-be-filled height difference of the two sides after material distribution, and the ship rolling angle is introduced for speed compensation correction. Deflection of the guide plates is analyzed and adjusted according to the cargo hold sandstone stacking form, driving of the spiral structure is combined to be matched with speed adjustment, dynamic balance distribution of sandstones is achieved, the height of the cargo gravity center is reduced, the ship body rolling moment is reduced, and the cabin leveling operation efficiency, the ship navigation stability and the overall cargo carrying capacity are improved synchronously.

The invention provides a self-adaptive adjusting device and method for wide aluminum foil rolling, and belongs to the technical field of aluminum foil production. The self-adaptive adjusting device comprises two working rollers, and the two working rollers are arranged at intervals in the vertical direction and used for rolling aluminum foil; the two middle rollers are used for transmitting pressure; the two supporting rollers are used for supporting the middle roller; the working roller comprises a roller body and a lining arranged on the roller body in a sleeving mode. According to the method, the whole-flow, in-situ and advanced sensing of the rolling process is realized, and the problem of information lag is fundamentally solved; the integrated bushing is arranged on the working roll, so that the system can collect the most original and direct force and heat signals causing thickness deviation in real time in a roll gap at the moment of rolling; according to the method, a traditional mode depending on post-rolling or export detection is changed, a detection link is preposed, a data basis and a time window are provided for implementing timely and accurate intervention, and a large number of unqualified products generated due to information lag are avoided from the source.

The application provides a lightweight loading device suitable for a low-altitude propeller balance and a design method thereof, and belongs to the technical field of low-altitude aircraft test balance. The purpose is to solve the problem that the existing loading device cannot meet the requirements of simulating real installation mode, high stiffness and lightweight calibration of a low-altitude propeller six-component balance with a diameter of less than 200 mm. In the application, the low-altitude propeller balance is horizontally installed on a raised base through a balance lower connecting piece, and the upper surface of the low-altitude propeller balance is connected with a balance upper connecting plate; a center body is installed on the outer side of the low-altitude propeller balance; front and rear cantilevers and left and right cantilevers are all installed on the center body; resistance lifting lugs are installed on the two sides of the left and right cantilevers; the left and right cantilevers are provided with normal force lifting rings and rolling moment lifting rings; and the front and rear cantilevers are provided with pitching moment lifting rings. The application solves the problem that the existing loading device cannot meet the requirements of simulating real installation mode, high stiffness and lightweight calibration of a low-altitude propeller six-component balance with a diameter of less than 200 mm.

The application provides a roll torque measuring device and method for a high-speed underwater vehicle, comprising a head slip ring fixing structure, a bearing cabin section structure and a pool cover plate, the head slip ring fixing structure is arranged on the head of a measured prototype, the bearing cabin section structure is arranged between adjacent cabin sections of the measured prototype, and the head slip ring fixing structure and the bearing cabin section structure are fixedly connected with the pool cover plate; the head slip ring fixing structure comprises an optical slip ring, a rotor of the optical slip ring is fixedly connected with the measured prototype, and a stator of the optical slip ring is fixedly connected with the pool cover plate; the bearing cabin section structure is internally provided with a bearing, an inner ring of the bearing is sleeved on the outside of the measured prototype, and an outer ring of the bearing is fixedly connected with the bearing cabin section structure body. The application can simulate the high-speed self-propelled motion process of the vehicle in water, simulate the roll motion response in the high-speed navigation process at a low cost and risk, and accurately measure the roll torque generated by the vehicle body and different differential rudder angles at different navigation speeds.

The invention provides a high-aspect-ratio model supporting device and a support interference correction method. The high-aspect-ratio model supporting device comprises an attack angle mechanism, a first supporting rod part, a first balance, at least two groups of second supporting rod parts and at least two groups of second balances, the attack angle mechanism is connected with the first balance through the first supporting rod part, the first balance is connected with the first side wing of the model through the first group of second supporting rod parts and the second balance, and the first balance is connected with the second side wing of the model through the second group of second supporting rod parts and the second balance. The splayed supporting rod is formed by the two sets of second supporting rod parts, the three-component second balance is installed at the tail end of the splayed supporting rod to measure resistance, lift force and pitching moment, the other three components of aerodynamic force (lateral force, rolling moment and yawing moment) are measured through the six-component first balance, and therefore the aerodynamic force of the splayed supporting rod is prevented from being measured, higher measurement precision is obtained, and the measurement precision is improved. The support interference variable of each aerodynamic component is deducted more accurately, and support interference is corrected.

The application discloses a kind of dual-fuselage aircraft landing gear asymmetric brake load calculation method, device and system, belong to aircraft landing gear asymmetric brake load calculation field, comprising: the vertical force balance equation of dual-fuselage aircraft when asymmetric braking, lateral force balance equation, roll moment balance equation, yawing moment balance equation, pitch moment balance equation, the relationship formula of right main landing gear brake resistance and vertical load, left front landing gear, the proportional relationship formula of right front landing gear lateral force and vertical load;The equation and relationship formula solved are constructed, left main landing gear vertical load, right main landing gear vertical load, left front landing gear vertical load and right front landing gear vertical load when asymmetric braking are obtained;According to vertical load, right main landing gear brake resistance, left main landing gear lateral load, left front landing gear lateral load and right front landing gear lateral load are obtained.The present application calculation process is simple and accurate.

The application discloses a kind of vehicle control methods for limit cornering operating mode, belong to vehicle dynamics control technical field.The method first obtains target longitudinal resultant force, target additional yaw moment and target total anti-roll moment;Establish the mapping relationship between vehicle control target and actuator layer control quantity;Introduce control target slack variable, rewrite each target into soft constraint form containing slack variable;Joint optimization cost function containing control target priority trade-off cost is constructed;Under the condition of satisfying tire adhesion constraint, the optimal distribution of each wheel longitudinal force and front, rear axle active stabilizer bar output torque is obtained.The application realizes the adaptive trade-off of control target under limit operating mode by slack variable mechanism, avoids distribution rigidity and degree of freedom lock, and optimizes stabilizer bar interaxle distribution based on adhesion margin, inhibits single axle tire premature saturation, significantly improves the yaw stability and steering controllability of vehicle in high-speed sharp turn, emergency obstacle avoidance and other limit operating mode.

A data structure is described for controlling a vehicle's chassis system with at least one actuator that can be controlled to perform wheel-selective and / or axle-selective interventions, wherein the data structure includes at least one of the following substructures: - a first substructure for setting a force direction of the actuator, - a second substructure for distributing a roll moment by means of the actuator, - a third substructure for providing the roll moment - a fourth substructure for changing the vehicle height using at least one actuator, - a fifth substructure for changing the stiffness of the actuator, - a sixth substructure for prioritizing vehicle dynamics requirements. Furthermore, a corresponding procedure and a corresponding device are described.