2474 results about "Vibration control" patented technology

The invention relates to the technical field of vehicle dynamics control, and discloses a vehicle control method and system for a double-closed-loop adjustable magneto-rheological semi-active suspension, and the method comprises the steps: S1, obtaining the state information of a vehicle based on a sensor, building a vibration control model, and calculating and outputting the expected damping force of vibration control; s2, establishing a vehicle body attitude control model, and calculating and outputting vehicle body attitude control expected damping force; s3, calculating the expected damping force obtained in the step S1 and the expected damping force obtained in the step S2 to obtain the total expected damping force; and S4, according to the total expected damping force, the relative speed of the wheels and the vehicle body and the dynamic deflection information of the suspension, a suspension inverse model is established, and expected current is output. According to the method, the control system is optimized by combining the design parameters of the shock absorber and the test parameters of the real vehicle, the current loop adjustment is designed on the basis of the damping loop control, and the tracking compensation control of the current is mainly realized, so that the response speed and the accuracy of the control are improved, and the performance of the magneto-rheological semi-active suspension is further improved.

To provide an information processing system, a control method for the information processing system, and a program that allow a user to distinguish a sound from a specific sound source while leaving the sounds from each sound source as they are, even when a plurality of sound sources are present in a direction of interest that is of interest to the user.SOLUTION: An information processing system 1000 comprises: display means (a display unit 107) capable of displaying an image of a mixed reality space; playback means (an audio output unit 105) capable of playing back sounds from a plurality of sound sources to a user; vibration applying means (a vibration unit 117) for applying vibration to the user; control means (a control unit 111) for controlling displaying a virtual object that can be linked to each sound source on the display means; and selection means for selecting the virtual object (an object selection instruction unit 116). The vibration applying means applies vibration to the user in accordance with the intensity of the sound from the sound source associated with the virtual object if the virtual object is selected.SELECTED DRAWING: Figure 2

The present teachings generally include flexible pickleball paddles and / or frames thereof. In an aspect, a frame of a paddle includes a region adjacent to a throat portion of the paddle that is thinner than other regions of the frame, e.g., thicker regions disposed along its sides, top, and / or handle. The lack of material in this portion of the frame—e.g., disposed directly above the handle—may provide advantageous flexing of the paddle during play (e.g., how fast the paddle can return to the original shape after being flexed), improving power characteristics, control, feel, responsiveness, and / or the like. Moreover, a gap formed by the lack of material in this portion of the frame can provide a region for enhanced weight control (e.g., by filling the gap with a weighted material), and / or for enhanced sound or vibration control (e.g., by filling the gap with a sound dampening and / or vibration dampening material).

The invention provides an inhaul cable vibration control device and a vibration control method. The device comprises a speed type damping unit and a tuned mass damping unit, the speed type damping unit and the tuned mass damping unit are arranged close to the cable beam anchoring end of the inhaul cable, the speed type damping unit comprises two speed type dampers, and the two speed type dampers are symmetrically arranged on the two sides of the cable face of the inhaul cable; the two ends of the speed type damper are connected with the inhaul cable and the ground respectively. The method comprises the following steps: determining the relative arrangement positions of a speed type damping unit and a tuned mass damping unit on the inhaul cable according to the determined broadband vibration order and narrow-band vibration order of the inhaul cable; and configuration parameters of the speed type damping unit and the tuned mass damping unit are determined, the inhaul cable is configured according to the determined damping coefficient of the speed type damper and the cable direction installation positions of the speed type damping unit and the tuned mass damping unit, and vibration control is achieved through the configured inhaul cable. The method has the advantages of guaranteeing the vibration reduction effect of the inhaul cable, being convenient to construct and the like.

The invention discloses a soil resistance perception-based multi-mode adaptive subsoiling mechanism, which comprises an integral rack, a subsoiling monomer, a control system and an energy device, the subsoiling monomer detects soil resistance in real time through a sensor assembly and transmits the soil resistance to the control system, and the control system controls the subsoiling monomer according to the magnitude and change characteristics of the soil resistance. The subsoiler is automatically switched among three modes of traditional rigid connection subsoiling, self-excited vibration subsoiling and forced vibration subsoiling; when the soil resistance is smaller than a first preset threshold value, a rigid connection mode is adopted; when the resistance is between a first preset threshold value and a second preset threshold value, a self-excitation vibration mode is started; and when the resistance is greater than a second preset threshold value, the vibration motor is started to realize forced vibration. The control system not only monitors the resistance absolute value, but also analyzes the time characteristic to realize intelligent threshold adjustment. The problems that a traditional subsoiling mechanism is high in energy consumption and poor in adaptability are solved, and the intelligent subsoiling mechanism has the advantages of intelligent operation mode switching, optimized energy utilization, adjustable vibration parameters and the like.

The invention relates to the technical field of parallel robot control, in particular to a three-degree-of-freedom parallel robot control parameter adjusting method and system. The method comprises the following steps: carrying out end operation space analysis on the parallel robot, and carrying out work pose space optimization to obtain optimized operation space data; performing high-speed motion residual vibration feature extraction on the parallel robot by optimizing operation space data, and performing control parameter intelligent adjustment strategy processing to obtain an intelligent vibration control parameter adjustment strategy; performing real-time vibration monitoring on an end effector of the parallel robot to generate real-time end vibration characteristic data; and intelligent feedforward compensation control adjustment processing is performed on the real-time tail end vibration characteristic data through an intelligent vibration control parameter adjustment strategy, so that intelligent parameter adjustment control operation of the three-degree-of-freedom parallel robot is realized. Through intelligent vibration control parameter adjustment, the residual vibration of the parallel robot after high-speed movement is effectively inhibited, and the working efficiency is improved.

The invention belongs to the technical field of vibration control, and provides a CFD numerical simulation-based TMDI control bridge rigid main beam low-frequency vertical vortex vibration research method, which comprises the following steps of: establishing a rigid main beam-TMDI vertical coupling vibration equation in a wind field, carrying out order reduction processing on the coupling vibration equation by constructing a state equation, embedding a solving process into Fluent software by utilizing a user-defined function, and carrying out low-frequency vertical vortex vibration research on a rigid main beam-TMDI control bridge rigid main beam. And the vertical vortex-induced vibration response of the controlled main beam is obtained by alternately solving the flow field domain and the structural domain. Compared with a theoretical method, the fluid-solid coupling effect can be directly simulated, a vortex-induced force model does not need to be assumed, and the result is more reliable; compared with a wind tunnel test method, various parameters of the structure and the TMDI can be accurately set, physical space constraint is avoided, machining errors do not exist, the method is not limited to low wind speed, and the vibration suppression effect can be verified more conveniently; compared with an on-site actual measurement method, the method does not need to passively wait for vertical vortex vibration of a real bridge for a long time, can obtain richer information, facilitates the development of vibration suppression mechanism analysis, and greatly reduces the research difficulty and cost.

The invention relates to an optimization design method for a multi-fulcrum elastic ring supporting structure of an aero-engine rotor system, and belongs to the technical field of aero-engine vibration control and rotor dynamics simulation. Firstly, a finite element or lumped unit model is adopted to establish a coupling kinetic equation of a rotor and an elastic ring, and fluid-solid coupling factors such as inner and outer oil films of the elastic ring and orifice flow are considered; then, through critical rotating speed and vibration harmonic response analysis, sensitivity evaluation is carried out on rigidity and damping characteristics of different supporting positions, and target vibration reduction modes corresponding to all fulcrums are identified; then, coupling simulation and multi-objective optimization are carried out around the number of bosses of the elastic ring, the height of the bosses, the damping aperture, the thickness of a thin wall and other key structure parameters, and the optimal design meeting the vibration reduction requirement of a rotor system and the strength reliability requirement of the elastic ring is obtained through iteration; and finally, an optimization result is applied to structure manufacturing and assembling. The method can effectively reduce the vibration amplitude of the rotor when the rotor crosses the multi-order critical rotating speed.

The invention relates to the technical field of vibration control, and discloses a quasi-zero stiffness vibration isolator imitating an insect jumping foot structure, which comprises a base and a bearing table between which a vertical spring is arranged, the two sets of connecting rod mechanisms are arranged between the base and the bearing table, each set of connecting rod mechanism comprises two lower connecting rods, two upper connecting rods and two middle connecting rods, the two lower connecting rods are hinged to the top face of the base, the two upper connecting rods are hinged to the bottom face of the bearing table, and the two middle connecting rods are distributed in an X shape; two ends of the two middle connecting rods are respectively hinged with the lower connecting rod and the upper connecting rod; the transverse springs are arranged at the hinged positions of the two lower connecting rods and the two middle connecting rods and the hinged positions of the two upper connecting rods and the two middle connecting rods correspondingly. The vibration isolator is simple in structure, small in transverse size, convenient to assemble and disassemble and easy to adjust, quasi-zero-stiffness vibration isolation is achieved through the special mechanical property of the overall structure, vibration energy can be efficiently absorbed, and the vibration isolator has wide application prospects in the field of low-frequency vibration control.

The invention relates to the technical field of vibration test, and discloses a micro-seismic environment simulation vibration test board and a test method thereof, which realize high-fidelity simulation of multiple types of micro-seismic scenes through a multi-source composite signal generation and waveform reconstruction technology. The dynamic adjustment capability of the control strategy is improved by using disturbance compensation and an adaptive control mechanism, real-time analysis and early warning feedback are performed on the response state in the test process based on the vibration characteristic evaluation result, and an auxiliary decision basis is provided for the vibration control strategy. Besides, a hierarchical closed-loop regulation and control mechanism is logically formed based on local output regulation among multiple axes and a global control strategy, and closed-loop linkage of the control strategy, execution response, state evaluation and control correction is realized, so that the overall regulation and control precision, response sensitivity and test precision are remarkably improved; accurate simulation and stable control of a three-dimensional vibration field are realized.

The present teachings generally include flexible pickleball paddles and / or frames thereof. In an aspect, a frame of a paddle includes a region adjacent to a throat portion of the paddle that is thinner than other regions of the frame, e.g., thicker regions disposed along its sides, top, and / or handle. The lack of material in this portion of the frame — e.g.. disposed directly above the handle — may provide advantageous flexing of the paddle during play (e.g., how fast the paddle can return to the original shape after being flexed), improving power characteristics, control, feel, responsiveness, and / or the like. Moreover, a gap formed by the lack of material in this portion of the frame can provide a region for enhanced weight control (e.g., by filling the gap with a weighted material), and / or for enhanced sound or vibration control (e.g., by filling the gap with a sound dampening and / or vibration dampening material).

The invention relates to a noise damping control system of an offshore wind turbine generator, and belongs to the technical field of offshore wind power generation. The coupling state evaluation module is used for determining a coupling state evaluation index through a preset deep neural network model based on the platform motion information, the vibration spectrum data and the sound pressure signal; the cooperative control strategy generation module is used for determining target rigidity and target damping according to the coupling state evaluation index and the vibration spectrum data; according to the invention, the coupling state evaluation module processes platform motion information, vibration spectrum data and sound pressure signals acquired by the data acquisition module through a preset deep neural network model; the preset model is endowed with strong nonlinear fitting capability through offline supervised learning of massive historical working condition data; and an accurate and quantitative risk basis which cannot be reached by the prior art is provided for subsequent control decisions.

The parallel mechanism comprises a top plate, a base and an upper supporting leg, a partition plate is installed between the top plate and the base, the upper supporting leg is installed between the top plate and the partition plate, and the top of the upper supporting leg is connected with the bottom of the top plate through a flexible spherical hinge. The number of the upper supporting legs is six, every two adjacent upper supporting legs are perpendicular to each other, six lower supporting legs are perpendicularly installed on the top of the base, and the lower supporting legs penetrate through the partition plate and are connected with the upper supporting legs in a one-to-one correspondence mode through hooke joints. The device can realize 0.1-500Hz vibration control, vibration isolation bandwidth and six-degree-of-freedom vibration isolation, has the function of accurate positioning of a parallel mechanism, enables the driving distance of the system to be large through the serial connection of the servo motor and the voice coil motor, and can also be applied to the technical field of equipment for optical testing, measurement, alignment, detection and the like.

The invention discloses a magneto-rheological multi-dimensional vibration isolator, belongs to the field of intelligent vibration control, solves the problems that a traditional vibration isolator can only carry out vibration isolation in a single direction in a limited installation space and parameters cannot be adjusted, and comprises a shell, a rubber main spring, a spherical hinge piston, a cylinder barrel, a magnetic core assembly and a rubber bottom film. When relative movement occurs between a protected device connected with the vibration isolator and a vibration excitation object, the spherical hinge structure converts movement in all directions into vertical movement of the piston, so that magnetorheological fluid is pumped and flows through the magnetorheological fluid annular damping channel to generate damping; and the yield stress of the magnetorheological fluid in the magnetorheological fluid annular damping channel is changed by controlling the input current of the coil, so that the output of different damping forces is realized. The magneto-rheological damper, the rubber vibration isolator, the spherical hinge structure and the piston are organically combined, the structure is simple and compact, and excellent multi-dimensional vibration control, vibration isolation system parameter adjustability, wide-frequency-band vibration isolation and impact resistance are achieved.

The invention discloses a numerical control machine tool vibration suppression self-adaptive control system and method, and relates to the technical field of intelligent vibration control, and the method comprises the steps: building a current-modal dynamic mapping relation between an electrical drive characteristic and a mechanical structure modal response based on a vibration state feature vector; real-time machine tool modal state vectors are obtained through online recursive estimation; the machine tool modal state vector is used as a boundary condition to be injected into the virtual prediction model; solving to obtain an optimal control parameter sequence and a corresponding vibration prediction result in a future time domain by taking multi-performance index collaborative optimization as a target through a rolling optimization control strategy; translating the control parameter sequence into a specific execution instruction and issuing the specific execution instruction; monitoring an execution process in real time and recording actual response data; according to the method, the accuracy of vibration prediction and the real-time performance of control response are improved by establishing the dynamic mapping relation from the electromagnetic driving characteristics of the servo main shaft and the feed motor to the dynamic response of the machine tool structure.

The present invention belongs to the technical field of wind-induced vibration control of bridges, and provides a one-way friction energy dissipation device for controlling the flutter of large-span bridges. The device is quickly installed before the arrival of extremely strong winds, which can temporarily and significantly improve the flutter safety of the bridge, reduce its own wind-resistant design requirements, and significantly reduce the project cost. After the strong wind, it can be easily disassembled without affecting the beauty of the bridge or interfering with navigation under the bridge. The use of one-way bearings greatly reduces the weight, transportation, loading and unloading, and storage costs of the counterweight. The device can adapt to any static wind displacement, has good robustness, is safe and reliable, economical, fast, efficient and practical, and can be shared by multiple bridges at different times, greatly reducing its own and storage costs. The device can also be used for long-term vibration control of large marine structures such as floating offshore platforms, floating wind turbines, and temporarily docked ships under the combined action of wind and waves, and wind vibration control of gentle photovoltaic structures.

The invention belongs to the technical field of vibration control, and provides a large-span bridge vortex vibration control device. The large-span bridge vortex vibration control device comprises a cable, a sling, a pulley, a balancing weight, a damping element, an extension spring and other components, and multi-order vortex vibration of a large-span bridge can be controlled at the same time through parameter optimization design and reasonable arrangement without tuning. During vortex vibration of a bridge, the main beam moves relative to the cable, the sling and the balancing weight, and the damping element provides damping force for the device, so that vortex vibration of the bridge is effectively controlled. The device is simple in design, light in weight, low in manufacturing cost, high in efficiency and good in durability, is suitable for multi-order vortex vibration control, and also plays a role in inhibiting buffeting, flutter and vibration caused by traffic load.

The invention discloses an electromagnetic damping device control method and system for an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle vibration control, and the method comprises the steps: collecting multi-modal data through a sensor, carrying out the preprocessing of the multi-modal data, calculating the external disturbance force according to the preprocessed data, and constructing a BIRF dynamic characteristic model for response prediction; calculating an initial damping coefficient based on a prediction result, optimizing the initial damping coefficient to obtain an optimized compensation signal, and performing real-time early warning according to the obtained optimized compensation signal; the BIRF dynamic characteristic model is used for response prediction, the dynamic modeling precision of the unmanned aerial vehicle in the complex multivariable environment is improved, the damping parameters are adjusted through the optimization algorithm, the real-time control capability of the electromagnetic damping device is enhanced, and the real-time performance of the unmanned aerial vehicle is improved. And vibration characteristic identification and response suppression performance is enhanced through a deep learning and high-frequency signal optimization technology, so that stability improvement and damping performance optimization of the unmanned aerial vehicle in a complex operation environment are realized.

The invention relates to a robot polishing online flutter suppression method based on reinforcement learning, and relates to the technical field of robot vibration control and regulation, and the method comprises the following steps: starting from a vibration signal and a force error signal in a robot polishing process, performing discrete wavelet transform, energy entropy calculation and statistical feature extraction to obtain a vibration signal and a force error signal; the method comprises the following steps: constructing a multi-source feature vector with high identification degree, normalizing the multi-source feature vector, performing feature fusion and dimensionality reduction by adopting a convolutional neural network and a multi-head attention module to obtain low-dimensional feature representation, constructing a time sequence enhanced strategy model through a DDPG framework embedded with LSTM, and outputting impedance parameters based on a time sequence state by an Actor network in the strategy model to obtain a time sequence enhanced strategy model; and the Critic network realizes stable updating of a strategy by minimizing a loss function and combining entropy regularization so as to regulate and control an end effector of the robot, real-time suppression and efficient control of a complex flutter mechanism in the process of polishing the thin-walled workpiece by the robot are realized, and the self-adaptability and the control precision of the system are remarkably improved.

The invention belongs to the technical field of bridge wind-induced vibration control, and provides a one-way friction energy dissipation device for controlling flutter of a large-span bridge. The device is quickly mounted before extremely strong wind comes, the flutter safety of the bridge can be temporarily and greatly improved, the wind resistance design requirement of the device is lowered, and the construction cost is remarkably reduced. After strong wind, the device can be conveniently disassembled, the appearance of the bridge is not influenced, and under-bridge navigation is not interfered. The application of the one-way bearing enables the weight, transportation, loading, unloading and storage cost of the balancing weight to be greatly reduced. The device can adapt to any static wind displacement, is good in robustness, safe, reliable, economical, fast, efficient and practical, can be shared by multiple bridges in different periods, and greatly reduces the self and storage cost. The device can also be applied to vibration control of large ocean structures such as floating ocean platforms and floating fans and temporary berthing ships under the combined action of stormy waves and wind vibration control of soft photovoltaic structures for a long time.

The invention provides an inclined variable-angle aircraft interstage separation ground test device. The inclined variable-angle aircraft interstage separation ground test device comprises an aircraft separation device, an angle adjusting device, a temperature control and acquisition device, a vibration control and impact acquisition device, an ignition control device and a device base. The angle adjusting device comprises a device side plate, an arc groove, an angle ruler, a separation mechanism mounting plate, a supporting hinge, a supporting rod, an adjusting sliding rail, an adjusting base, a locking device, a device base gradienter, a rotating bearing and an auxiliary fixing block. The temperature control device comprises a quartz lamp array heating cage, an outer wall temperature control thermocouple and an inner wall temperature acquisition thermocouple, and can simulate a pneumatic heating environment at a separation moment, so that the thermal deformation matching capability of the separation mechanism in a high-temperature environment and the operation reliability of the separation mechanism are obtained. The vibration control and impact acquisition device is composed of a vibration table, a vibration control sensor and an impact sensor.

The invention relates to the technical field of wind power generation equipment, and discloses a fabricated hollow interlayer concrete-filled steel tube wind power tower drum and an installation method.The fabricated hollow interlayer concrete-filled steel tube wind power tower drum comprises tower drum ring pieces which are sequentially spliced, each layer of tower drum ring piece comprises a pair of drum bodies filled with concrete interlayers, and limiting blocks are fixed to the lower ends of the concrete interlayers; the paired cylinders are connected through transverse prestressed tendons; a concave connector and a convex connector are welded to the upper end and the lower end of the drum body respectively, every two adjacent tower drum ring pieces are connected through a longitudinal prestressed tendon, and the concave connector and the convex connector which are in contact are matched. The device meets the requirements of the ultrahigh wind power tower for structural strength and vibration control. In addition, by means of the prefabricated ring pieces and the internal prestress connection scheme, the transportation and construction difficulty of the tower drum is lowered, and the overall period from production to service is shortened.

The invention discloses an intelligent controllable road bridge vibration detection method based on magnetorheological fluid and a damping device, and belongs to the technical field of bridge engineering structure health monitoring and vibration control, and the method comprises the steps: calculating a comprehensive vibration strength index through multi-source signal fusion and adaptive Kalman filtering, and estimating the bridge speed; the damping force is mapped through the pre-calibration database, and a damper state verification mechanism is introduced; a gain self-adaptive ceiling algorithm is combined with a fuzzy PID control force algorithm for tracking to realize accurate control; finally, the health state of the system is evaluated through performance degradation indexes of temperature compensation, corresponding devices are integrated with a sensing network, a control unit and a distributed acquisition architecture, and the problems that a traditional system is single in state sensing, fixed in control strategy, lack of a self-diagnosis function, complex in engineering wiring and the like are solved. The comprehensive solution integrating intelligent monitoring, self-adaptive control and health self-diagnosis is realized, and the reliability, adaptability and maintainability of the bridge damping system are remarkably improved.

The invention provides a rail transit environment vibration directional control method and system using a wedge-shaped tree array. According to the method, ground surface vertical vibration caused by passing of a train beside a certain ballast track is calculated by constructing a semi-analytical three-dimensional dynamic response model, simulation of the tree vibration reduction measure effect is achieved by coupling the wedge-shaped tree array into the model, and the tree vibration reduction measure effect is achieved by adjusting parameters of the wedge-shaped tree array. The wedge-shaped tree array with the expected vibration reduction effect is obtained, and then design parameters of wedge-shaped tree array vibration reduction measures are obtained. The wedge-shaped tree array is arranged between a track structure and a target vibration control area, and the selection and arrangement mode of tree characteristics such as tree species, tree height and tree diameter can be optimally designed according to a target vibration reduction frequency band and an expected vibration reduction effect. The invention overcomes the limitation of the traditional vibration isolation technology on cost and implementation, provides a wedge-shaped tree array vibration reduction measure which is low in cost and easy to arrange and meets the environmental protection requirement, and has good popularization and application potential.

The invention discloses a roadbed compactness laser radar point cloud evaluation system and method, and belongs to the technical field of intelligent construction of road engineering. The system comprises a laser radar point cloud acquisition module, a self-adaptive multi-scale octree space segmentation module, a differential geometric feature extraction module, a compaction degree field construction module, a compaction degree visualization module and a vibration control module. Differential geometric features are extracted, multi-scale features are fused to construct a compaction degree field, a color coded contour line image is generated, and finally a vibration path is planned and vibration parameters of the road roller are controlled. According to the system, through laser radar point cloud analysis, accurate evaluation and intelligent control of the roadbed compaction degree are achieved, the defects that a traditional compaction method depends on artificial experience, real-time evaluation cannot be achieved, compaction is uneven and the like are overcome, the roadbed compaction quality and construction efficiency are remarkably improved, and the system has important engineering application value.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The invention provides a vibration control method and electronic equipment, and relates to the technical field of terminals. The motor vibration parameter can be obtained by integrating the use state and the electric quantity information of the electronic equipment, self-adaptive adjustment of the vibration parameter is achieved, and the use experience of a user is improved. The method is applied to the folding screen electronic equipment and comprises the following steps: acquiring a use state of the electronic equipment; acquiring electric quantity information of the electronic equipment; and acquiring vibration parameters according to the use state and the electric quantity information. And driving the motor to vibrate according to the vibration parameters.

The invention discloses a milling robot follow-up series-parallel supporting structure, a vibration modeling method and a control method thereof, and relates to the field of milling. The milling robot follow-up series-parallel supporting structure is of a three-stage series-parallel configuration; comprising a supporting point equivalent unit, a robot equivalent unit and a workpiece supported area equivalent unit. The supporting point equivalent units are firstly connected in parallel, the supporting point equivalent units connected in parallel are connected in series with the robot equivalent unit, and the supporting point equivalent units connected in series and the robot equivalent unit are connected in parallel with the workpiece supported area equivalent system; the vibration modeling comprises a vibration equation corresponding to the vibration modeling, and the control method comprises two steps of control equation decoupling and design constraint following control. According to the milling robot follow-up series-parallel supporting structure adopting the robot follow-up supporting strategy and the constraint follow-up control method of the milling robot follow-up series-parallel supporting structure, the servo requirement of vibration control can be met with high precision and low cost.

The invention relates to the technical field of optical coherence elastography, in particular to a microscopic optical coherence elastography method and system.The method comprises the steps that a collection trigger signal is generated, a vibration control signal and a position control signal are output at the same time, and a target excitation system corresponding to a to-be-detected sample is determined; triggering the line scanning camera by collecting a trigger signal, collecting a line scanning image of the to-be-tested sample, and adjusting the position of the to-be-tested sample in the sample table so as to place the to-be-tested sample at a target test position; controlling a bending actuator or an ultrasonic transducer to vibrate by using the vibration control signal so as to excite low-frequency shear waves or ultrasonic waves in the sample to be detected; the to-be-detected sample is scanned through the position control signal to obtain propagation information of low-frequency shear waves or ultrasonic waves, and the pixel-level biomechanical properties of the to-be-detected sample are reconstructed by using a near-field full-wave inversion algorithm, so that the microstructure of a deeper tissue can be observed, the imaging speed is relatively high, and the detection performance of small inclusions is improved.

The invention belongs to the technical field of buffeting detection of aircraft model supporting systems, and discloses a wind tunnel experiment vibration analysis method based on a vibration control equation. According to the elastomer theory, an engineering model is simplified into a non-uniform cross-section beam, the constraint condition is that one end is fixedly connected, the other end is attached to a mass block, and non-uniform dynamic excitation loads are distributed on the surface, and a vibration control equation of the micro-unit is listed according to the Alembert principle; according to the Euler-Bernoulli theory, a relation equation of the bending moment and the deflection of the elastomer is constructed; a system vibration differential equation is obtained, the number of needed measurement points is determined according to the property of the equation, the equation is solved, a vibration analysis model of the system is obtained, and the vibration relation between local parts of the vibration system is further analyzed. The wind tunnel experiment vibration analysis method based on the vibration control equation lays a theoretical foundation for engineering application scenes of vibration control, vibration decoupling, vibration testing and the like of the wind tunnel experiment, and is a simple and efficient analysis calculation method.