533 results about "Simulation control" patented technology

The invention relates to the technical field of factory management. The intelligent factory management method based on digital twinning comprises the following steps: performing dynamic identification and analysis processing on a multi-source heterogeneous communication protocol of factory equipment to obtain a standardized data stream; constructing a three-dimensional digital twinborn model comprising an equipment state and a technological process; generating a virtual control instruction according to an analog control strategy in the three-dimensional digital twin model; sandbox security verification processing is carried out on the virtual control instruction, and a compliance instruction set is screened out; converting the compliance instruction set into a protocol format supported by the target equipment, generating a reverse control instruction and issuing the reverse control instruction to the physical equipment; performing closed-loop feedback optimization processing according to the difference between the execution result of the physical equipment and the prediction result of the three-dimensional digital twinborn model, so as to solve the problem that the digital twinborn model lacks real-time sensor data injection and dynamic behavior constraint embedding, ensure that the model can reflect the real state of the equipment, and improve the real-time performance of the equipment. And the reliability and the execution security of the virtual control instruction are improved.

The invention discloses a load flow calculation and simulation control method and system for a digital twin power grid, and relates to the technical field of digital twin simulation control, and the method comprises the following steps: constructing a digital twin power grid model, and carrying out the dynamic topology optimization processing of the digital twin power grid model based on remote signaling credibility weighting; according to the optimized digital twin power grid model, identifying the power grid operation risk based on an integrated learning model; according to the risk identification result, generating a transfer path control strategy based on an analytic hierarchy process and a fuzzy comprehensive evaluation method; mapping the transfer path control strategy into a control action instruction set, and simulating execution and establishing a feedback correction mechanism on the digital twin power grid model; by generating the optimal path control strategy and performing control strategy analog simulation and self-adaptive feedback correction based on the digital twin power grid model, the problem of lack of intelligent path control strategy selection and simulation verification based on state dynamic identification in the prior art is solved.

The invention discloses a low-voltage transformer area examination meter practical training device and a fault simulation control method, and relates to the technical field of electric power practical training. The device aims at the problems of single scene, extensive evaluation and low skill improvement efficiency in traditional electric power practical training. The meter simulation module is compatible with various meters and is matched with a dual-communication protocol to realize efficient data transmission; the intelligent interaction module provides high-quality interaction experience through a high-definition touch screen and low-delay transmission; the data generation module can quickly switch customized scenes, and the fault simulation module can accurately inject various faults; the training management module depends on advanced technologies of knowledge maps, deep learning and fuzzy comprehensive evaluation to realize full-process closed-loop management from project design and operation guidance to evaluation feedback and intelligent optimization; all the modules cooperate efficiently, and the professionality, the accuracy and the efficiency of power failure troubleshooting and operation and maintenance skill training of trainees are remarkably improved.

The invention relates to the technical field of manufacturing process control, and discloses a multi-dimensional process data co-simulation control method and system and a storage medium. The method comprises the following steps: firstly, collecting a multi-dimensional process parameter set of a plurality of process equipment in a manufacturing production line, carrying out cross-dimensional feature extraction, and generating a comprehensive feature matrix containing a time sequence feature, a spatial distribution feature and an energy consumption feature; according to feature relevance of different dimensions in the comprehensive feature matrix, a process parameter dynamic coupling model is constructed, co-simulation is carried out on interaction between process equipment, and a process state evolution sequence is output; extracting abnormal fluctuation characteristics in the sequence, and generating a process parameter adjustment instruction set; and finally, according to the adjustment instruction set and real-time process feedback data, dynamically correcting model simulation parameters, generating an optimized process control strategy, and executing the optimized process control strategy. According to the method, collaborative analysis and dynamic control of multi-dimensional process parameters are realized, and the accuracy and adaptability of process control are improved.

The invention relates to the field of environment simulation control, in particular to an environment simulation method and system for a high and low temperature test box. The method comprises the following steps: acquiring initial state monitoring parameters of a high and low temperature test box, performing regional environment parameter division and time point gradient change fitting, and constructing a plurality of regional temperature and humidity gradient change curves; identifying a test object in the high and low temperature test box; performing transient thermal change limit evolution excavation on the test object according to the plurality of regional temperature and humidity gradient change curves to generate a transient thermal change limit curve of the current test object; acquiring a preset test box environment simulation log, performing global temperature change cross period optimization according to the transient thermal change limit curve of the current test object, and constructing a global temperature change optimization simulation period; and executing environment simulation control operation according to the global temperature change optimization simulation period, and collecting high and low temperature simulation environment monitoring data. According to the invention, quick-response, accurate and stable environment simulation control is realized.

The invention relates to the technical field of artificial intelligence processing, in particular to a manufacturing and processing system based on artificial intelligence simulation control parameters. According to the manufacturing and processing system, three-dimensional space-time coding is carried out on vibration, temperature and deformation time-varying signals through a multi-mode sensing module; generating a composite feature body including an equipment rigidity distribution matrix, a thermal deformation gradient vector and a material residual stress tensor, and solving the problems of spatial-temporal asynchronization and physical field feature splitting of multi-source data; the parameter resolving module constructs a parameter incidence matrix based on a fractal neural network, combines dynamic constraint conditions of thermal deformation gradient vectors, performs multi-objective optimization on a rigidity distribution matrix and residual stress tensor, generates an initial parameter solution set for eliminating time-lag deviation, and breaks through the nonlinear coupling optimization bottleneck of a traditional static model; and the state dissociation module calls a historical wear feature library to construct a performance attenuation reference surface, and tool accumulated wear and instantaneous thermal deformation disturbance are synchronously inhibited through convolution operation and projection correction of a dynamic compensation factor.

The invention relates to the technical field of flight simulation control and precision measurement, provides a precise positioning method, system and device for a three-dimensional adjustable connecting piece of a flight simulator and a storage medium, and solves the problems of flight simulation control and precision measurement. The method comprises the following steps: acquiring the real-time stroke length of a motion control rod, rotation angle change data and a connecting piece vibration image, outputting a displacement prediction parameter through a platform kinematics model, and generating three-dimensional point cloud data; performing sub-pixel identification and distortion compensation on the image through a mark point identification algorithm to generate a three-dimensional visual coordinate; fusing the point cloud and the visual data, and processing through a Kalman filter to obtain a space pose offset; finally, a displacement compensation instruction is generated, the pose of the connecting piece is adjusted through a closed-loop controller, and accurate positioning of the connecting piece relative to a flight target reference coordinate system is achieved. According to the invention, the accuracy and stability of the pose control of the connecting piece in the dynamic vibration environment are improved.

The invention discloses a multi-cylinder hydraulic equipment data interaction system based on digital twin drive, and relates to the technical field of industrial automation control. The problems that in the prior art, data acquisition and processing lack flexibility and pertinence, model construction and optimization are not perfect enough, and simulation optimization and real-time feedback are lacked are solved. Accurate perception and fault early warning of the equipment state are realized by optimizing the sensor layout and adjusting the acquisition frequency, the physical structure and the working principle of the equipment are accurately described by adopting a digital twin model, and the current and future running states of the equipment are scientifically evaluated and effectively predicted in combination with an evaluation index system of a state analysis unit. A basis is provided for advanced maintenance, the equipment fault risk is reduced, a digital twin model is used for simulating the implementation effect of a control strategy, a control instruction is optimized according to simulation evaluation, the execution effect is monitored in real time for dynamic adjustment, accurate control over equipment is ensured, the stability and reliability of equipment operation are improved, and the production efficiency is improved.

The invention discloses a numerical simulation method for an avalanche impact protection structure based on bidirectional coupling, and relates to the technical field of mountain disaster protection, and the method comprises the steps: modeling and initializing an avalanche material source: employing a discrete element theory to simulate an avalanche process, and achieving the whole-process dynamic simulation and reproduction of an avalanche disaster from the starting to the movement to the impact protection structure; protection structure modeling and parameter setting: modeling an avalanche protection structure based on a universal finite element simulation platform; discrete element-finite element contact coupling setting: solving unit stress and strain data; numerical simulation control and solution; impact response extraction and result analysis: performing systematic analysis on the structure response and impact characteristics to evaluate the dynamic performance and safety margin of the structure under the action of avalanche impact; the method can be used for predicting the impact effect of the avalanche disaster on the downstream structure, and provides a theoretical basis and technical support for design and performance evaluation of a protection structure.

The embodiment of the invention relates to the technical field of robots, and discloses a demonstration method and system for a humanoid robot based on vision, and the method comprises the steps: obtaining a human body demonstration image of a demonstrator in a current scene through a camera assembly; recognizing and analyzing the continuous frames of human body teaching images to obtain human body key point coordinates in each moving stage, and calculating to obtain a joint motion state of each control joint of the corresponding robot; and generating a simulation control instruction of each joint of the humanoid robot according to the joint motion state of each control joint, and sending the simulation control instruction to the corresponding humanoid robot for action simulation. According to the demonstration method of the humanoid robot based on the vision, the human body demonstration image of the demonstrator is obtained through the camera assembly, the demonstrator does not need to wear complex sensor equipment, and the demonstration cost and the operation difficulty are reduced.

The invention discloses an automobile performance display method and system based on VR, and relates to the technical field of automobile VR. The system is composed of a plurality of functional modules, and comprises a multi-modal data acquisition module for acquiring multi-modal data; the multi-modal data comprises human body posture capture, seat mechanics monitoring data and vehicle state synchronization data; the dynamic fusion module is used for extracting modal features based on the multi-modal data; the modal features comprise attitude features, pressure features and performance features, a joint feature vector is obtained through splicing fusion, a multi-head attention mechanism is introduced, and each modal weight is dynamically allocated; a Transform + CNN hybrid architecture is used, modal features are input, a generative adversarial network is used, somatosensory simulation control signals are output, and a vehicle performance mapping model is constructed; and vehicle performance display: obtaining the body posture data of the experiencer, and carrying out self-adaptive performance adjustment on the experiencer according to the vehicle performance mapping model in combination with the current vehicle performance state.

The invention provides a municipal heat supply pipe network working condition twinborn modeling method, system and device and a medium. A pipe network twinborn model is constructed; according to the correlation coefficient matrix of the working condition response characteristics between the monitoring nodes and the pipe network structure parameters of the monitoring nodes, determining the boundary constraint quantity of the position of each monitoring node under the variable working condition; extracting temperature-pressure-flow coupling response characteristics of each monitoring node in the pipe network twinborn model under the variable working condition, and further determining the coupling response loss of twinborn modeling simulation under the variable working condition; and constructing an error cost function of pipe network twinborn simulation according to all the boundary constraint quantities and the coupling response loss, performing parameter optimization on model parameters of the pipe network twinborn model in combination with the error cost function to obtain optimal model parameters suitable for variable working conditions, and updating simulation control parameters of the pipe network twinborn model based on the optimal model parameters. By means of the scheme, cost optimization of simulation parameters in twin modeling of the municipal heat supply pipe network under the variable working conditions can be achieved.

The invention particularly relates to a discharge machining simulation control system for a nuclear power plant in a high-radiation boron-containing water environment, which belongs to the technical field of special maintenance in the high-radiation environment of the nuclear power plant and comprises a man-machine interaction system, a discharge machining control system and subsystems. Each subsystem comprises a pulse power supply system, a servo power system, a washing system, a purification system, a grounding system and a tool system; the man-machine interaction system is used for man-machine interaction and displaying the discharge machining implementation data fed back by the subsystems; the electric discharge machining control system is used for generating an electric discharge machining instruction according to the man-machine interaction information and controlling the subsystems to cooperate to perform electric discharge machining work; and each subsystem is used for implementing electric discharge machining work according to the electric discharge machining instruction and feeding back electric discharge machining implementation data. According to the invention, simulation control of discharge processing in the high-radiation boron-containing water environment of the nuclear power plant is realized.

The invention relates to the technical field of digital twinning, in particular to a multi-robot collaborative operation simulation control method and system based on digital twinning. The method comprises the following steps: acquiring robot structure data; constructing a robot three-dimensional twinborn model based on robot structure data; according to the robot three-dimensional twinborn model, warehousing collaborative operation transportation simulation is carried out, and collaborative operation transportation data is obtained; performing path offset anomaly analysis according to the collaborative operation transportation data to obtain path offset data; performing terrain pit detection according to the path offset data to obtain terrain pit data; robot chassis abrasion detection is conducted according to the terrain pothole data, and chassis abrasion data are obtained; performing ultrasonic crack detection according to the chassis wear data to obtain chassis crack data; and collaborative assembly is carried out according to the chassis crack data to obtain collaborative assembly data. The cooperative assembly efficiency and the operation response rate of multiple robots in a complex environment are improved based on the digital twinning technology.

The invention discloses a power supply and distribution control system based on a virtual power plant, and relates to the technical field of power distribution systems. The system comprises five core modules: a digital twin simulation control closed loop module constructs a complete closed loop of data acquisition, simulation calculation, control execution and model iteration, and realizes real-time synchronization of a physical system and a digital mirror image and accurate issuing of a control instruction; the multi-agent source-load-storage optimization module improves the source-load-storage collaborative scheduling efficiency through distributed agent collection and reinforcement learning; the multi-scene energy storage adaptive control module generates a scene-based energy storage strategy based on meteorological, load and electricity price multi-dimensional perception and model prediction control; and the multi-type energy storage ratio linkage module realizes multi-type energy storage cooperative operation based on an energy storage characteristic database and scenarized weight optimization. All the modules work cooperatively, the system response speed, the control precision and the power supply stability are effectively improved, and the system is suitable for industrial parks and other complex power supply and distribution scenes.

The invention provides a method and a system for acquiring a simulation control point for surveying and mapping, and a medium, and is applied to the technical field of surveying and mapping. The method comprises the following steps: acquiring airborne GNSS positioning data acquired by an airborne GNSS, IMU measurement data acquired by an IMU, original point cloud data, acquired by a three-dimensional laser scanner, of a ground terrain of a measurement area, and reference station GNSS positioning data acquired by a ground reference station GNSS; determining flight path data of the unmanned aerial vehicle according to the airborne GNSS positioning data, the IMU measurement data and the base station GNSS positioning data; performing space-time registration on the flight path data and the original point cloud data to obtain point cloud registration data of the ground topography of the measurement area; and extracting ground points from the point cloud registration data to obtain a simulation control point set of the measurement area. Based on the scheme, the topographic surveying and mapping efficiency and precision can be improved.

The invention relates to the technical field of power grids, in particular to a new energy power generation production analog simulation system which comprises a state simulation module, a sequence arrangement module, a condition verification module, a simulation evaluation module and a state interaction module. The method comprises the following steps: performing analog simulation on a production state of a new energy station to determine a simulation sample set; according to the simulation density of the simulation sample set, establishing operation state vectors, and performing time sequence arrangement on the operation state vectors to generate a power generation state sequence; acquiring simulation conditions of a plurality of time intervals according to the time interval of the maximum output scene under the power generation state sequence, and determining a performance index of each simulation condition; verifying the influence degree of each simulation condition, and analyzing the goodness of fit of the performance indexes under each simulation condition to obtain dominant factors of each simulation condition; according to the dominant factors of each simulation condition, constructing a simulation state guide diagram, and determining a simulation control instruction; accuracy and efficiency of new energy power generation production analog simulation are realized.

The invention provides a digital-analog hybrid simulation method and device.The method comprises the steps that a simulation modeling file is generated according to design information of an analog circuit of a chip, and the simulation modeling file comprises a digital netlist, device library configuration, device mapping configuration, simulation control parameters, simulation signal variables and digital-analog interface conversion rules; and performing digital circuit simulation according to the design information of the digital circuit of the chip and the simulation modeling file, and generating a digital-analog hybrid simulation result of the chip. According to the method provided by the invention, the compatibility between digital-analog hybrid simulation tools can be improved.

The invention relates to the technical field, and discloses an intelligent management method and system for oxygen inhalation, and the method comprises the steps: setting an oxygen flow mixing ratio and a quantitative parameter according to an expected treatment effect, and setting a simulation control for an operator to adjust the oxygen flow mixing ratio in real time; a plurality of sensors are connected to a main controller, data acquisition and state monitoring are carried out through the sensors, and oxygen flow acquisition and air mixing proportion are quantitatively displayed and charged; an air-oxygen proportional electromagnetic valve is arranged, a main controller receives a starting instruction, the air-oxygen proportional electromagnetic valve is controlled according to data collected by a sensor, the flow of mixed gas flowing through the proportional valve and the oxygen proportion are accurately controlled, and remote flow control and program control over oxygen supply are achieved. By means of the method, an intelligent management system for oxygen inhalation is achieved, the whole machine is easy to operate through intelligent control, it is guaranteed that the oxygen flow is adjusted in real time according to the needs of a patient, and the dynamic needs are kept consistent.

The invention relates to the technical field of environment adaptability testing, and discloses an identification key performance comprehensive environment adaptability testing system. The system comprises a multi-environment factor acquisition and processing module for acquiring data and performing normalization preprocessing; the environment scene dynamic modeling module is used for constructing a multi-dimensional association graph and updating a topological structure; the performance index evaluation module evaluates a performance degradation index in a composite environment by means of a spatial-temporal feature fusion algorithm; the failure mode prediction module is used for generating a potential failure mode under multi-environment coupling according to the performance degradation trend and the stress accumulation effect; the environment tolerance analysis module is used for integrating data to establish a virtual model and outputting a tolerance residual error of a specific environment section; the test scheme optimization module is used for generating a self-adaptive test sequence according to the residual error and the map; and the environment scene simulation control module is used for regulating and controlling parameters of the test cabin in combination with multiple information. The system can comprehensively and accurately evaluate the performance and endurance capability of equipment in a composite environment, and has a dynamic adjustment characteristic.

The invention discloses a cracking type control surface follow-up loading test device and a test method. The cracking type control surface follow-up loading test device comprises a test bed; the control surface simulation unit comprises a simulation control surface base, an upper simulation control surface and a lower simulation control surface; the control surface deflection driving mechanism comprises two groups of control surface driving units, and the two groups of control surface driving units are respectively used for adjusting deflection angles of the upper simulation control surface and the lower simulation control surface; the follow-up loading system comprises two groups of control surface loading units, and the two groups of control surface loading units are respectively used for applying loads to the upper simulation control surface and the lower simulation control surface along the deflection direction of the control surfaces; and the control surface translation driving mechanism is respectively connected with the test bed and the simulation control surface base and is used for driving the control surface simulation unit to move along the horizontal direction. According to the invention, the motion simulation of the cracking control surface in various scenes can be realized, the test requirement of asynchronous loading on the two sides of the control surface can be met, and the device and the method can be suitable for tests of cracking control surfaces in different forms and under different requirements.

The embodiment of the invention provides a pipeline inner wall spraying simulation control method and device based on digital twinning, and the method comprises the steps: importing a guide rail model and a motion mechanism model into offline programming software, configuring a kinematic pair, and constructing a virtual scene corresponding to an actual pipeline inner wall spraying production line based on a digital twinning technology; importing a pipeline three-dimensional model, configuring workpiece parameters, and calibrating coordinate data; identifying the boundary of a spraying area on the inner wall of the pipeline, and determining the spraying range; an initial spraying track is generated, parameters are adjusted according to boundary conditions, and the track is optimized; configuring spray gun parameters, importing a flange plate and a spray gun model, and completing basic tool configuration; a tool model is imported, tool parameters are configured, spraying parameters are configured based on the sampling data, and a spraying tool is obtained; according to the embodiment of the invention, simulation is carried out based on the virtual scene, the optimized track and the spraying tool; and presenting the simulation effect in a three-dimensional visualization manner in real time. Spraying track optimization, parameter dynamic matching and real-time visualization of the spraying effect are achieved.

The invention relates to the field of aircraft simulation management, and discloses an aircraft full-process multi-field simulation and real-time comprehensive management system, which is used for solving the problem that normal aircraft change is misjudged as a program fault when an aircraft simulation task is carried out, and comprises the following steps: carrying out unified configuration of a simulation scene, generating a standardized configuration file, and storing the standardized configuration file into a database; the method comprises the following steps: completing three-dimensional scene construction and target dynamic modeling, obtaining an image frame, carrying out image frame preliminary anomaly judgment according to the image frame, if the image frame is judged to be abnormal, carrying out image frame actual anomaly judgment according to aircraft data, and if the image frame is judged to be abnormal, carrying out image frame marking and sending out an early warning. The aircraft operation state is dynamically adjusted according to the simulation control instruction, the aircraft operation state is transmitted to the visual display module, an image output and aircraft operation state graphical display interface is provided, the probability of false touch early warning, simulation process interruption and invalid sample output is effectively reduced, and the credibility and stability of a simulation result are improved.

The invention discloses a truss robot rehearsal control method based on digital twinning, and the method comprises the following steps: S1, constructing a truss robot digital twinning system, including constructing a truss robot virtual scene and constraint, performing data synchronization and bidirectional communication, and configuring a safety rule base and a data recording / playback interface at a twinning end; s2, rehearsing a task to be executed, generating a reference trajectory and a constraint set, and automatically checking the rehearsing process according to the safety rule base to obtain the reference trajectory and the constraint set which pass the rehearsing; and S3, performing parameterized predictive control and real-time tracking on the rehearsed reference trajectory and the constraint set, and controlling a trajectory tracking error to be within a tolerance range. According to the method, a digital twin system corresponding to the physical world is constructed, Laguerre function parameterized model predictive control is introduced to realize low-dimensional rapid solution, high-precision, reproducible and high-reliability rehearsal control of the truss robot is realized, and the field debugging and operation and maintenance cost is remarkably reduced.

The invention relates to the technical field of thermoelectric magnetic field numerical simulation, in particular to a numerical simulation method for liquid metal flow heat transfer under thermal electromagnetic multi-field coupling. The method comprises the following steps: acquiring metal structure physical parameters and thermal electromagnetic multi-field coupling simulation control parameters of metal to be tested; based on the metal structure physical parameters and the thermal electromagnetic multi-field coupling simulation control parameters, liquid metal thermal electromagnetic multi-field reaction numerical simulation and verification are carried out, and liquid metal thermal electromagnetic multi-field reaction verification data are generated; setting single-factor working condition simulation control parameters; and carrying out working condition simulation liquid metal flow heat transfer global characteristic analysis on the liquid metal thermoelectromagnetic multi-field reaction verification data based on the single-factor working condition simulation control parameters so as to establish a liquid metal thermoelectromagnetic flow heat transfer global characteristic model. According to the invention, comprehensive and accurate analysis of flowing and heat transfer of the liquid metal in the closed cavity under the thermal electromagnetic coupling effect by various factors is realized.

The invention provides a multi-mode adaptive wave simulation control system and method for a deep sleep physiotherapy cabin. Belongs to the technical field of fluid mechanics and health intervention. The method comprises the steps that multi-modal physiological parameter collection is conducted on a user on a deep sleep physiotherapy cabin, a real-time physiological data set is generated, the current sleep stage of the user is deduced through a time-frequency analysis and machine learning model on the basis of the data set, a sleep stage label is generated, a pre-trained wave mode generator is dynamically called according to the sleep stage label, and the deep sleep physiotherapy cabin is obtained. An initial set of wave parameters matching the current sleep stage is generated. By sensing the physiological state of the user in a non-contact mode, deducing the sleep stage and dynamically generating and adjusting the wave modes such as sleep guiding and deep sleep maintaining, water fluctuation accurately adapts to the physiological requirements of the user in different sleep stages, a traditional static wave mode is abandoned, highly-personalized sleep adjusting experience is provided for the user, and the sleep quality is effectively improved.

The invention relates to the technical field of automatic driving vehicle testing, in particular to a rainfall adaptive simulation control method and system for automatic driving vehicle testing. The method comprises the following steps: executing an outdoor rainfall simulation process through control parameters, and collecting behavior information of an autonomous vehicle in the simulation process; constructing a target function according to the deviation between the behavior information and expected information and the control parameters; iterating the strategy parameters by adopting a reinforcement learning framework based on a strategy gradient method and taking minimization of the target function as a target to obtain optimal strategy parameters; obtaining an optimal control parameter according to the optimal strategy parameter and the current rainfall state; and under the optimal control parameters, evaluating the performance boundary of the automatic driving system in the rainfall environment according to the behavior information of the automatic driving vehicle. According to the invention, the rainfall simulation scene with high precision and strong controllability is constructed, and the performance boundary of the automatic driving system in the rainfall scene is explored.

The invention belongs to the technical field of flight control, particularly relates to a simulation control method and device for a control load system and a storage medium, and aims to solve the problem of limited effect during simulation control of the control load system in the prior art. The method comprises the following steps: acquiring manipulation input data; carrying out filtering processing on the joystick force / torque data, and carrying out dynamic simulation on the control load system through a pre-constructed digital twin system based on the filtered joystick force / torque data and the control position data so as to determine a virtual force / torque track of the control load system for responding to the control input data; acquiring current flight parameters of the flight simulator, and resolving according to a preset aerodynamic model to obtain a reference force / torque trajectory; and taking the reference force / torque track as a control target, performing optimization solution on the virtual force / torque track, and determining an actuator driving instruction. According to the method, the effect is better when the control of the control load system is executed.

The invention discloses a metal corrosion testing device and method for simulating a dynamic interface of supercritical CO2 and an aqueous solution, and belongs to the technical field of metal corrosion testing. The metal corrosion testing device comprises a reaction kettle, a temperature control system, a gas control system, a supercritical CO2 / aqueous solution interface simulation control system and an electrochemical testing system, the supercritical CO2 / water solution interface simulation control system comprises an electric push rod, a time relay and a sample holder; one end of the electric push rod penetrates through the kettle cover of the reaction kettle and is connected with the time relay; the time relay is used for controlling periodic reciprocating motion of the electric push rod; the electrochemical testing system comprises an electrochemical workstation and an electrochemical probe; the electrochemical workstation is connected with an electrochemical probe, and the electrochemical probe is arranged on the corrosion exposure experiment sample; the temperature control system is arranged in the reaction kettle, and the gas control system is connected with the reaction kettle. The technical problem that the metal corrosion of the dynamic interface of the supercritical CO2 and the aqueous solution cannot be accurately analyzed in the prior art is solved.

The invention relates to the technical field of unmanned aerial vehicle simulation, and discloses an unmanned aerial vehicle flight state simulation method based on digital twin. The method comprises the steps that a digital twin system comprising a physical unmanned aerial vehicle entity and a virtual simulation model is constructed, and multi-source flight data streams such as position information, motion parameters and environment perception data of the physical unmanned aerial vehicle are collected; and performing multi-dimensional feature fusion processing on the multi-source data to generate a fusion feature representation, and determining a flight state estimation value and related confidence information by adopting a probabilistic state modeling algorithm based on the fusion feature. And updating the virtual simulation model according to the estimated value and the confidence coefficient, so that the virtual simulation model simulates the real-time flight state. Flight state clustering analysis is performed in the virtual model to detect anomalous patterns, and an adaptive simulation threshold set is generated based on historical flight data. And comparing the abnormal mode with the adaptive threshold set, and outputting a simulation control instruction for operation of the unmanned aerial vehicle. The method can effectively support accurate simulation and abnormal control of the flight state of the unmanned aerial vehicle.