3073 results about "Throttle" patented technology

System and methods are disclosed for navigating a host vehicle. In one implementation, at least one processing device may be programmed to receive a plurality of images representative of an environment of the host vehicle, identify, in at least one of the plurality of images a representation of, a target vehicle, determine a separation distance between the host vehicle and the target vehicle, if the separation distance is less than a comfort distance threshold, cause a reduction in a throttle level associated with a throttle system of the host vehicle without activating a braking system associated with the host vehicle, and if the separation distance is determined to be greater than but trending toward a safe distance threshold, which is less than the comfort distance threshold, cause activation of the braking system associated with the host vehicle.

The invention relates to the technical field of intelligent transportation control, in particular to a tomato transportation speed self-adaptive adjustment method based on path road condition feedback, which comprises the following steps: acquiring road images, vibration waveforms and altitude data through a multi-source sensing unit, and constructing real-time road condition information; identifying a driving mode and extracting a corresponding bumping parameter; detecting the maturity grade of the tomato by combining multispectrum and thermal imaging, and querying a maturity-compressive strength corresponding table to calculate a cargo damage threshold value; constructing a dynamic mapping model under multiple working conditions, predicting vibration response and converting the vibration response into equivalent pressure; comparing the equivalent pressure with a damage threshold value to obtain a safety margin, constructing a speed adjustment decision tree and generating a maximum allowable speed value of each road section; and dynamically generating a segmented variable-speed control instruction based on the speed decision matrix, and controlling a throttle valve and a braking system to cooperatively change speed. The method has the advantages of accurate working condition identification, dynamic fruit adaptation, closed-loop speed regulation and control and the like, and is suitable for fine speed control of a high-sensitivity fruit and vegetable transportation scene.

The invention relates to the field of aero-engine bearing cavity structure system testing, and particularly provides an aero-engine bearing cavity inner lubricating oil flow state measuring system which comprises a test piece main body simulating an aero-engine bearing cavity, an oil gas supply and recovery system and a control system. The test piece main body comprises a rotor test piece and a stator test piece which are connected together, and the oil gas supply and recovery system comprises an oil supply system, a gas supply system, an oil return pool and an oil gas separation pump. The control system comprises a controller, and an oil supply throttle valve, an air supply throttle valve, an exhaust throttle valve, a test data acquisition assembly and a test piece main body driving device which are in signal connection with the controller. On the basis of the method, the lubricating oil-air flowing state in the bearing cavity can be monitored and evaluated in real time, and test support can be provided for follow-up bearing cavity optimization design.

The invention discloses a pressure feedback type damping self-adjusting energy feedback oil gas suspension and a working method, and belongs to the field of vehicle oil gas suspensions. The pressure feedback type damping self-adjusting energy feedback oil gas suspension comprises a first-stage small-range damping multi-stage adjuster, a second-stage large-range damping multi-stage adjuster and a one-way energy feedback and energy recovery system, an oil outlet of the first-stage small-range damping multi-stage regulator is connected with an oil inlet of the one-way energy feedback and energy recovery system through an oil inlet pipe, an oil outlet of the one-way energy feedback and energy recovery system is connected with an oil inlet of the first-stage small-range damping multi-stage regulator through an oil return pipe, and a throttling valve is arranged on the oil inlet pipe. And pipelines at the two ends of the two-stage large-range damping multi-stage regulator are arranged on the two sides of the throttle valve on the oil inlet pipe in parallel. The working number of damping holes of the suspension system can be changed, self-adaptive adjustment of damping of the suspension system under the condition that the stroke is changed is achieved, power equipment is not needed, and automatic damping adjustment can be achieved through a mechanical structure. And damping vibration attenuation energy consumption recovery is realized.

The invention discloses a surge valve control method and device, electronic equipment and a vehicle, relates to the field of engines, and aims to determine whether an engine is in a target working condition representing that a supercharger is liable to have a surge phenomenon or not. And on the basis of determining that the engine is in the target working condition, according to the intensity of the change of the operation state of the engine under the target working condition, when the engine is determined to be in a relatively strong transient working condition, whether a surge valve is opened or not is determined in time in combination with the opening degree of a throttle valve. And when it is determined that the surge valve is not opened, whether the surge valve is opened or not is further determined according to the air inlet flow of the engine and the opening degree of the throttle valve. Whether the surge valve is opened or not is judged according to the target working condition, the strong transient working condition and the surge flow of the engine in sequence, the multiple working conditions and operation conditions of the engine are synthesized, the opening condition of the surge valve is more accurately determined, the situation that the surge valve is opened abnormally can be effectively reduced, and therefore the situation that power of the engine is insufficient is effectively reduced.

A solenoid includes a first fixed iron core and a second fixed iron core located on a first end side and a second end side of an axial direction of a coil, a first movable iron core and a second movable iron core located therebetween and attracted by the first fixed iron core and the second fixed iron core by passage of current through the coil, respectively, a spring housed in a spring chamber formed on the first fixed iron core side of the first movable iron core and biasing the first movable iron core to the second fixed iron core side, a leaf spring that regulates movement of the first movable iron core to the second fixed iron core side with respect to the second movable iron core, and a throttle passage that causes the spring chamber to communicate with outside.

The invention relates to the field of vehicle driving motor control, and particularly discloses a wheel side driving motor working state control method and device, and the method comprises the steps: obtaining the instantaneous whole vehicle demand torque according to the real-time accelerator pedal opening degree and the real-time vehicle speed; according to the road gradient and the real-time vehicle speed, the whole vehicle demand torque is predicted; the minimum value of the instantaneous whole vehicle demand torque and the predicted whole vehicle demand torque is taken as the actual whole vehicle demand torque; and controlling the working state of the driving motor according to the actual vehicle demand torque. According to the method, unreasonable driving of a driver is restrained, the actual whole vehicle demand torque is determined by calculating and predicting the whole vehicle demand torque and combining the instantaneous whole vehicle demand torque, power demands of the vehicle under different road conditions and loads are matched, insufficient or excessive power is avoided, the vehicle runs more smoothly, the safety of vehicle driving is improved, and the driving safety of the vehicle is improved. Overload of vehicle mechanical parts is avoided, the service life of the vehicle mechanical parts is prolonged, the working state of the driving motor is reasonably controlled, and energy consumption and vehicle operation cost are reduced.

The invention belongs to the technical field of shock absorbers, and particularly relates to a shock absorber with adjustable damping, a hydraulic damping adjusting device and an air pressure damping adjusting device are arranged on a shock absorber main body, the hydraulic damping adjusting device comprises a hydraulic adjusting end cover, and an adjusting cavity communicated with liquid of a hydraulic driving assembly is arranged on the hydraulic adjusting end cover. The adjusting cavity is in transmission connection with the throttling rod through a hydraulic push rod; the air pressure damping adjusting device comprises an air pressure piston in plunger fit in the damping adjusting cylinder, an air pressure cavity is formed between the air pressure piston and the damping piston, and the corresponding end of the damping adjusting cylinder is connected with an air pressure driving assembly. According to the hydraulic damping adjusting device, the throttling rod is driven to axially move in a hydraulic mode so as to adjust the flow area of the throttling channel, the problem that damping oil leaks in the prior art is effectively solved, and according to the air pressure damping adjusting device, the air pressure compression amount of the air pressure cavity is directly changed through axial movement of the air pressure piston; and the air pressure cavity does not need to be inflated and deflated.

The present invention discloses a fuel cell throttle, which includes a throttle body, an inlet and outlet arranged on both sides of the throttle body, and two closed valves arranged in the throttle body, the two closed valves are arranged opposite to each other up and down, and the two closed valves are respectively connected with elastic reset parts; the fuel cell throttle also includes a driving mechanism for driving the two closed valves to open, and the output execution end of the driving mechanism can be connected to the two closed valves in a transmission manner. The fuel cell throttle proposed in the embodiment of the present invention can open the upper and lower closed valves by air pressure when the driving mechanism loses power or fails, so that air flows from the throttle inlet to the throttle outlet, thereby avoiding damage to the battery stack due to excessive pressure. In addition, the present invention also proposes a fuel cell system and a fuel cell vehicle.

A fuel injection system for an engine of a vehicle includes a throttle body and an elastomeric injection manifold coupled to the downstream end of the throttle body. The injection manifold defines a fuel injector socket. The fuel injection system also includes a fuel injector receivable by the fuel injector socket of the injection manifold and a fuel rail fluidly coupled to the fuel injector. The fuel rail supplies fuel to the fuel injector.

The invention discloses a vehicle control method and device, equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the longitudinal acceleration data and vertical acceleration data of a vehicle when the vehicle is in a self-adaptive crawling condition; determining a user driving style according to the longitudinal acceleration data, and determining a road bumping level according to the vertical acceleration data; determining a target creeping speed according to the accelerator data and the brake data of the vehicle; and determining an increment torque function based on the target creeping speed, the road bumping level and the user driving style, and controlling the vehicle according to the increment torque function so as to maintain the creeping speed of the vehicle at the target creeping speed. The target crawling speed is determined according to the accelerator and brake data of the vehicle, and the incremental torque function is constructed based on the target crawling speed to control the vehicle, so that the crawling speed of the vehicle can meet the actual crawling requirement of a user as much as possible, the user operation is simplified, and the driving experience is improved.

A method for controlling a marine drive having a throttle handle moveable to control a thrust and a detent engageable to resist moving the throttle handle. The method includes configuring a position sensor to generate position data corresponding to positions of the throttle handle and receiving the position data from the position sensor. The method further includes analyzing the position data to determine a first position of the throttle handle in which the detent disengages and generating thrust with the marine drive when the throttle handle is moved into the first position.

The invention provides a refrigeration house multi-fan intelligent cooperative defrosting control system and method. The refrigeration house multi-fan intelligent cooperative defrosting control system comprises an air-cooled condenser, a throttling valve, a compressor, a refrigerating chamber, a bypass valve, an air speed sensor, a temperature and humidity sensor, a temperature sensor, a pressure sensor, a flow meter, an air cooler tail end evaporator, data acquisition equipment, a central processing unit and a control output port. According to the cold storage scene that hot gas bypass defrosting is adopted, and one refrigerating unit is provided with a plurality of air coolers, the ratio (COP) of the accumulated refrigerating capacity to the total energy consumption in the operation period of each air cooler is calculated. And a comprehensive performance coefficient dynamic model of the air cooler is constructed by combining the temperature difference between the air supply and the air return, so that optimal energy efficiency of the air cooler and multi-fan defrosting control are realized. Compared with the prior art, the defrosting control logic is reconstructed from the perspective of the performance coefficient of the air cooler, the frosting condition of the surface of the evaporator at the tail end of the multiple fans of the refrigeration house can be accurately judged, it is ensured that the unit maintains high efficiency in the operation process, and development of the efficient and energy-saving control technology of a refrigeration house refrigerating system is facilitated.

The invention belongs to the field of control of electric vehicles, and discloses a compatible control device and method for stable micro-motion and quick start of a sightseeing vehicle. A vehicle feedback speed value and an accelerator given speed value are collected in real time; the accelerator given speed value after acceleration rate limiting processing is output as a motor correction speed value; the feed-forward curve processes the accelerator given speed value and the rotating speed deviation value to obtain a motor control signal, and the smaller one is taken as a feed-forward control signal to be input into a speed regulator; after the rotating speed deviation value is adjusted through PI parameters of the speed adjuster, the rotating speed deviation value serves as a compensation control signal to be overlapped with the feed-forward control signal to control the motor, so that when the vehicle runs at a low speed, the feed-forward control signal plays a small role, the smaller PI parameters and the compensation control signal set in the speed adjuster play main roles, and when the vehicle runs stably and needs to be started quickly, the motor is controlled. The feed-forward control signal plays a major role, and the vehicle can be quickly started, so that the vehicle can be quickly started while meeting stable micro-motion.

The invention provides a carbon tank aging diagnosis method and device, a vehicle and a storage medium, and the method comprises the steps: determining a first theoretical fuel oil vapor adsorption amount of a carbon tank according to the fuel oil basic evaporation amount and evaporation time of fuel oil; when a preset carbon tank desorption condition is met, the carbon tank is controlled to execute desorption operation; in the process that the carbon tank executes desorption operation, the actual fuel steam desorption amount of the carbon tank is determined according to the desorption flow of the carbon tank, the air flow of a throttle valve, the fuel injection amount and the actual air-fuel ratio; and determining a carbon tank aging diagnosis result according to a comparison result of the first theoretical fuel oil steam adsorption amount and the actual fuel oil steam desorption amount. As whether the carbon tank is aged or not is diagnosed, a user can know the aging condition of the carbon tank in time, so that the aged carbon tank can be maintained or replaced in time, and the problem that the emission of evaporative pollutants of a vehicle exceeds the standard is avoided to a certain extent.

The invention relates to an aero-engine main fuel pump regulator parameter swing global closed-loop control method. The problem that at present, parameter swing faults can only be detected through engine test run is solved. According to statistical analysis of test data of an aero-engine, the rotating speed n2, P2 air pressure, S1 duty ratio and S8 duty ratio parameters of a main fuel pump regulator are controlled through a PID controller on a main fuel pump regulator performance tester under the conditions of simulating different accelerator handle angles and different temperature instruction pressures, so that actual values of follow-up piston displacement, alpha1 and alpha2 parameters are close to expected values, and the actual values of the follow-up piston displacement, alpha1 and alpha2 parameters are close to expected values. And global closed-loop control of the rotating speed and the guide vane angle is realized. The global closed-loop controller comprises an analog sampling module, an analog voltage control module, a signal control module, an upper computer module, a server module, a power supply module, an MCU module and a sensor module. According to the invention, the detection of the aero-engine parameter swing fault on the main fuel pump regulator performance tester is realized, and the occurrence of the parameter swing fault is effectively suppressed.

The utility model relates to a throttling pressure control manifold device, and relates to the technical field of drilling well control. The throttling pressure control manifold device comprises a throttling manifold, a pressure control manifold, a first connecting valve, a second connecting valve and a third connecting valve. The throttling manifold and the pressure control manifold are arranged at intervals in the first direction. And the throttle manifold is communicated with the pressure control manifold at the first connecting valve, the second connecting valve and the third connecting valve. The throttle manifold comprises a main throttle pipeline. The pressure control manifold comprises a main pressure control pipeline. Wherein the first connecting valve is connected with an inlet of the main throttling pipeline, and the first connecting valve is connected with an inlet of the main pressure control pipeline. The second connecting valve is connected with an outlet of the throttling manifold and connected with an inlet of the pressure control manifold. And the third connecting valve is connected with an outlet of the main throttling pipeline and an outlet of the pressure control manifold. According to the throttling pressure control manifold device, the throttling manifold and the pressure control manifold can work cooperatively to achieve two times of pressure control.

The invention relates to the technical field of air door motor control, and discloses an air door motor control method and system based on current detection, and the method comprises the steps: carrying out the single-phase current signal collection of an air door motor system, and obtaining a current change signal in the opening and closing process of an air door; carrying out FFT (Fast Fourier Transform) and wavelet decomposition processing on the current change signal to obtain a current characteristic spectrum component and a time domain characteristic; processing the current characteristic frequency spectrum component and the time domain characteristic to obtain an air door load current characteristic; iterative learning control is executed, and air door rotating speed control parameters are generated; the PWM duty ratio is calculated, and air door motor driving pulses are generated; according to the air door motor control method, a complete air door motor control protection mechanism is established, abnormal conditions such as stalling can be detected and coped with in time, the safety of an air door motor system is improved, and the service life of the air door motor system is prolonged.

The invention relates to the technical field of aero-engines, and particularly provides a variable cycle engine duct experiment system and experiment method. A variable cycle engine duct experiment system comprises: a first combined experiment member comprising a main flow valve and a shunt ring; the second combined experiment piece comprises a first outer culvert, a second outer culvert and an ejector; the inlet of the variable capacitor second external culvert experiment piece is connected with the external culvert outlet of the shunt ring, and the outlet is connected with the second external culvert; an inlet of the first gas collection tank is communicated with an inner culvert outlet of the shunting ring; the bypass ratio adjusting valve is used for adjusting the bypass ratio at the shunting ring; an inlet of the second gas collection tank is connected with an outlet of the first gas collection tank through an inner culvert pressurization simulator, and an outlet is communicated with the first outer culvert; an inlet of the variable capacitor confluence duct experiment piece is communicated with the second outer duct; and the outer culvert throttle valve is connected with an outlet of the variable capacitor confluence culvert experiment piece. According to the technical scheme, engine duct experiments in multiple modes can be achieved, and the experiment efficiency is improved.

A hydraulic system, working vehicle, and method for producing hydraulic power to a hydraulic system of a working vehicle is provided. The hydraulic system includes a fixed displacement hydraulic pump and a speed and torque controlled electric motor for driving the hydraulic pump. An electric controller is arranged to adjust the speed of the electric motor and to thereby adjust produced hydraulic fluid flow and pressure in the system. Further, there is a bypass flow channel including a throttle element for directing limited continuous discharge fluid flow from the system.

The utility model belongs to the technical field of shock absorbers, and particularly relates to a hydraulic damping adjusting device of a shock absorber, the shock absorber comprises a hydraulic cylinder and a piston rod sleeved with a piston valve body, the piston valve body divides an inner cavity of the hydraulic cylinder into an upper oil cavity and a lower oil cavity, the piston rod is provided with a throttling channel, and a throttling rod axially slides on the piston rod. A pre-tightening spring is arranged between the throttling rod and the throttling channel, the hydraulic damping adjusting device comprises a hydraulic adjusting end cover, an adjusting cavity is formed in the hydraulic adjusting end cover, and the adjusting cavity and the throttling rod are matched with a hydraulic push rod on the hydraulic adjusting end cover through a plunger to be in transmission connection. According to the utility model, the throttle lever is driven to axially move in a hydraulic mode so as to adjust the flow area of the throttle channel and realize the damping force adjustment of oil flowing, so that the problems of time and labor waste and low adjustment efficiency caused by mechanical transmission matched adjustment are avoided, and meanwhile, the problem of leakage of damping oil in the prior art is effectively solved.

An electric valve includes a valve member that includes a control portion having a single tapered shape. A stepping motor rotates to move the valve member in a moving section between a valve closing position and a full-open position. When the valve member is at the valve closing position, a control surface of the control portion is in contact with a valve seat. When the valve member moves from the valve closing position and is in the moving section, a throttle passage is formed between the valve seat and the control surface. The moving section includes a first section between the valve closing position and a first position and a second section between the first position and a second position. A controller sets a step angle when the valve member is in the first section to be smaller than when the valve member is in the second section.

The invention relates to the field of automatic driving, and discloses a bicycle intelligent automatic driving control system, which is configured to control each execution mechanism to complete actions through an action decision control module of the bicycle intelligent automatic driving control system, and the action decision control module comprises a map center line processing unit configured to obtain an initial map center line and generate a local planning track; a lateral control unit configured to construct and use a lateral predictive control model to output a lateral control signal; the longitudinal control unit is configured to output a speed predicted value by using a speed model established based on the acceleration response of the single vehicle under a preset condition; based on the deviation between the speed predicted value and the current actual state of the bicycle, estimating the current disturbing force of the bicycle; and calculating an expected accelerator force and an expected brake force for speed control according to the speed prediction value and the estimated current disturbance force. The problem that the steering wheel shakes due to the fact that the track is not smooth can be avoided, and the running stability and riding comfort of the vehicle are remarkably improved.

The invention belongs to the technical field of electric vehicle braking energy recovery, and particularly relates to a pure electric vehicle braking energy recovery control method based on a driving style, which comprises the following steps: S1, working condition identification: detecting the operation state of a driver through a sensor, and distinguishing an accelerator working condition, a sliding working condition and a braking working condition; s2, gear setting, wherein multiple levels of basic recovery gears capable of being manually adjusted are provided, and each gear corresponds to a preset basic recovery strength range; s3, sliding working condition control is conducted, specifically, dynamic adjustment is conducted in combination with scene parameters and vehicle state parameters within the basic recovery strength range corresponding to the basic recovery gear; and S4, brake working condition control, wherein different brake types are distinguished according to brake operation characteristics. According to the method, the core control right of a driver for setting the recovery strength through multi-stage manual gears is reserved, dynamic fine adjustment is conducted in combination with scenes and vehicle states, driving habits and complex road condition requirements are balanced, and differential strategies are executed by distinguishing brake types.

The invention relates to the technical field of carburetors, in particular to a racing motorcycle carburetor throttle valve body system based on double-cavity cooperative control, which comprises a carburetor body, first valve shafts and second valve shafts which are symmetrical to each other are rotationally mounted at the centers of the two ends of the inner sides of the two throttle valve assemblies correspondingly, first bevel gears are fixedly mounted at the upper ends of the two symmetrical first valve shafts, and second bevel gears are fixedly mounted at the upper ends of the two symmetrical second valve shafts; a gear box body is fixedly installed at the upper ends of the two throttle valve assemblies, and a synchronous transmission mechanism used for achieving synchronous action of the first valve shaft and the second valve shaft is arranged in the gear box body. By arranging the two sets of symmetrical throttle valve assemblies and the synchronous transmission mechanism, absolute synchronous equal-proportion opening and closing of the first valve plate and the second valve plate of the double-cavity throttle valve can be achieved, the air inflow difference is avoided, and the double-cavity throttle valve is suitable for the high-rotating-speed scene of motorcycle racing.

The invention relates to the technical field of throttle valve die-casting, in particular to an engine throttle valve die-casting forming die which comprises a supporting plate, the surface of the supporting plate is fixedly connected with a bottom plate, the interior of the bottom plate is fixedly connected with a feeding pipe, the surface of the supporting plate is rotatably connected with a first rotating shaft, and the surface of the first rotating shaft is fixedly connected with a movable plate. A cavity is formed in the center in each movable plate, the two movable plates are unfolded to form an inverted V shape, so that an open cavity is formed after the two movable plates are unfolded, an opening and closing mechanism is arranged at the upper end of the bottom plate, an exhaust mechanism is arranged in each movable plate, a speed reducing mechanism is arranged on the surface of each movable plate, and a pushing mechanism is arranged in each movable plate and close to the corresponding exhaust mechanism; the double movable plates are arranged to form an inverted V-shaped layout when the double movable plates are opened and closed, compressed gas in the first hollow groove can be exhausted from the second hollow groove while the pushing block slowly pushes the air valve to be demoulded, and the compressed gas exhausted from the second hollow groove can promote the demoulding of the throttle valve.

The invention discloses a hovering accelerator estimation method and system for an electric power inspection unmanned aerial vehicle, equipment and a medium, and the method comprises the steps: taking a hovering accelerator of the unmanned aerial vehicle as an estimator, taking a vertical acceleration as a measurement quantity, and carrying out the real-time estimation of the hovering accelerator of the unmanned aerial vehicle through an extended Kalman filtering algorithm; the extended Kalman filtering algorithm is integrated into hovering control of the unmanned aerial vehicle for the first time, compared with an existing PID control algorithm, the control precision and the dynamic response capability of fixed-point hovering of the unmanned aerial vehicle are improved, better robustness is achieved, high-precision, real-time and dynamic stable hovering control can be achieved, the method can be suitable for the unmanned aerial vehicle with the weight changing in real time, and the hovering control accuracy of the unmanned aerial vehicle is improved. And the method has better generalization ability.

The invention discloses an automobile engine throttle valve control and diagnosis system and method, and particularly relates to the technical field of automobile engine throttle valve control. The control method comprises the steps that engine operation parameters are obtained in real time, the target throttle valve pressure ratio is calculated through a speed density method, the target throttle valve opening degree is obtained in combination with related parameters, and an actuator is controlled to conduct adjustment; the diagnosis method comprises the steps of monitoring throttle valve operation state parameters, setting a normal range and comparing and judging faults. The system comprises a data acquisition module, a control calculation module, an execution module and a diagnosis module. The opening degree of the throttle valve can be accurately controlled, the combustion efficiency of the engine is optimized, the fuel economy is improved, and emission is reduced; throttle valve faults can be timely and accurately diagnosed, fault codes are recorded, protection measures are taken, the operation reliability and safety of the engine are improved, all the modules work cooperatively, and the overall operation efficiency of the system is improved.

A multi-vehicle control system (MVCS) for control of a multi-vehicle system having independently powered and steered lead and trailer vehicles connected by a slidable length sensing tow bar system. The MVCS includes a controller configured to receive throttle, brake, and steering signals from the lead vehicle, receive signals from the tow bar system indicating an extension length of the tow bar system, a front angle deviation of the lead vehicle, and a rear angle deviation of the trailer vehicle. The controller is further configured to determine, based on the received signals, a trailer vehicle acceleration / deceleration output and a trailer vehicle steering output, determine a driving scenario of the multi-vehicle system, and operate the multi-vehicle system based on the determined driving scenario and the determined trailer vehicle acceleration / deceleration output and trailer vehicle steering output.

The invention discloses an aircraft cluster cooperative control method based on MADRL, and the method comprises the following steps: obtaining an aircraft cluster cooperative task, considering an aircraft simulation environment containing sudden change interference, and constructing an aircraft kinematics and dynamics model according to the task; modeling the aircraft cluster task into a multi-agent Markov decision process to replace a control process based on negative feedback; performing deep reinforcement learning training on the multi-agent cluster system, and generating an accelerator and three-axis rudder deflection control instruction for controlling the aircraft from the current aircraft environment state value; and designing a deep reinforcement learning algorithm based on selective experience playback, and storing an aircraft environment state value and a corresponding accelerator and three-axis rudder deflection control instruction into a playback buffer pool. According to the method, autonomous intelligent decision making in flight of a multi-agent aircraft cluster system in a complex battlefield environment is realized, and robustness, rapidity and universality of aircraft cluster cooperative control are improved by designing a reward function and a joint strategy.