6 results about "Shooting method" patented technology

The application discloses a method and system for generating, pattern matching and four-axis numerical control post-processing of fiber winding paths of unequal-pole hole composite material pressure containers, and belongs to the technical field of industrial software data processing. The method comprises the following steps: establishing an unequal-pole hole core mold model, independently setting a front-pole hole radius and a rear-pole hole radius; respectively establishing boundary conditions for front and rear heads, independently searching for a sliding coefficient and judging linear stability based on an arc length parameterized ordinary differential equation set and a shooting method; taking a pole hole turning radius and a residence angle as phase modulation parameters, jointly searching for N / k patterns and calculating a coverage rate; converting path points into four-axis winding machine coordinates considering the continuity of head slopes, safety gaps and C-axis postures; performing multi-axis speed planning and generating NC codes in combination with axis speeds, C-axis angular velocities and U-turn decelerations; and integrating path generation, pattern matching and post-processing in a same process and outputting NC programs. The application solves the problem that a single geodesic line is difficult to meet the constraint of different pole holes at two ends, and improves path convergence, pattern closeness and equipment motion adaptability.

The present application relates to a kind of probability uncertain closed-loop robust trajectory planning method considering actuator saturation, belong to the field of vehicle control technology, to reduce the sensitivity of guided ammunition scheme trajectory to uncertain factors, and while avoiding actuator saturation as far as possible, give full play to its limited control ability.First, the control quantity of the optimal trajectory of the determined performance is obtained as the initial value of the subsequent algorithm;Second, the main uncertain factors are modeled, and the uncertainty quantification module is built based on PCE method;Then, the corresponding constraint condition and objective function are designed, and the open-loop robust planning model is established, the algorithm accuracy and the time-consuming of calculation are considered, and the closed-loop tracking PID controller is designed and coupled with the open-loop planning model;Finally, the direct shooting method is used for closed-loop robust planning.The present application fully considers the matching of scheme trajectory and guidance control system, and overcomes the problems of insufficient precision of nonlinear model description and initial value sensitivity in traditional method.

The application discloses a full-mode switching shooting method and device and a computer readable storage medium, and the method comprises the following steps: when a user starts full-mode shooting, acquiring a current preview image and a shooting environment; determining each mode item in the full mode according to the preview image and the shooting environment; when the user performs the full-mode shooting, acquiring a current shooting state; and determining the execution sequence of each mode item and the execution parameter of each mode item according to each mode item and the shooting state. The application realizes an efficient full-mode adaptive switching shooting scheme, improves the automation degree of multi-mode shooting, simplifies the manual setting steps of the user, saves the manual switching time of the user, and enhances the user shooting experience in the multi-camera multi-shooting mode.

The application relates to a double-spacecraft game path planning method based on a progressive shooting method, which comprises the following steps: establishing a real game optimization model of double-spacecraft under external force dynamics; establishing optimal control conditions of the real game optimization model; based on the optimal control conditions, an optimal solution of a simplified game model of double-spacecraft under no external force dynamics is solved by using a modified shooting method; the optimal solution of the simplified game model is taken as an initial value of the real game optimization model, and the optimal solution of the real game optimization model is solved by using second shooting, so that a real game guidance law of double-spacecraft is obtained. The application solves the problems that the calculation amount of the game guidance law of double-spacecraft is large, and the optimality cannot be guaranteed when the initial value is unreasonable.

The application discloses a trajectory optimization method combining improved direct shooting method and adaptive genetic algorithm, relates to the field of aircrafts, and comprises the following steps: S1, a simplified model of a center of mass motion equation set is obtained by establishing a dynamic equation and a kinematic equation; S2, a constraint condition and an objective function are determined, and a trajectory optimization problem is described as a standard dynamic optimal control problem; S3, the optimal control problem is converted into a nonlinear programming problem by using the improved direct shooting method; S4, a control variable data set is constructed within the constraint range of the control variable, an initial state X0 is taken as input, initial and final time values of the control variable are taken into optimization design variables, the control variable at discrete points in the improved direct shooting method is optimized by using the adaptive genetic algorithm, and the control variable-time history is smoothed by using a cubic spline interpolation, numerical integration is carried out based on a fourth-order Runge-Kutta method with the monotonous change amount (such as speed) in the terminal constraint as a judgment condition, and the optimal control u * is calculated through several iterations, so that an ideal trajectory meeting the conditions is obtained.

The application belongs to the field of aircraft control, and discloses an aircraft attitude control calculation method based on a linear quadratic problem dual solution. The control calculation method first establishes an aircraft attitude control loop linear model, and then sets up a finite time linear quadratic optimal control problem description with different configurations according to an attitude control target. Then, the original optimal control problem is converted into an unconstrained variation problem through linear quadratic optimal control problem duality processing, boundary conditions corresponding to the desired attitude motion of the aircraft in the problem configuration are introduced, and a linear homogeneous equation two-point boundary value problem is obtained. For the two-point boundary value problem, the optimal solution is obtained through a finite number of iteration calculations for attitude control. The control calculation method adopts a finite number of calculations to obtain the optimal solution, realizes efficient solution of attitude control instructions for different flight tasks, solves the problems of high initial value setting requirement, small convergence domain and easy failure of optimization iteration calculation of the shooting method, and has engineering practical value.