摘要：【中文】本发明公开了基于双机械臂协作打磨系统的动力学模型设计方法，包括如下步骤：步骤一，构建双机械臂基于打磨加工轨迹的雅可比矩阵，在运动学层面，基于双机械臂的雅可比矩阵，结合打磨刀具和夹持工件的物理参数，将双机械臂的各关节和打磨轨迹结合起来，构造出从打磨轨迹速度到各机械臂关节速度的雅可比矩阵；步骤二，构建打磨刀具和工件打磨力简化力学模型；步骤三，构建双机械臂协作打磨系统耦合动力学模型，将所述协作打磨系统分为加工机械臂系统和夹持机械臂系统，分别构建耦合加工机械臂系统的动力学模型和耦合夹持机械臂系统的动力学模型。 【EN】The invention discloses a dynamic model design method based on a double-mechanical-arm cooperation polishing system, which comprises the following steps of: firstly, constructing a Jacobian matrix of two mechanical arms based on a grinding processing track, combining physical parameters of a grinding tool and a clamping workpiece based on the Jacobian matrix of the two mechanical arms and the grinding track on the aspect of kinematics, and constructing the Jacobian matrix from the grinding track speed to the joint speed of each mechanical arm; step two, constructing a polishing tool and workpiece polishing force simplified mechanical model; and thirdly, constructing a coupling dynamic model of the double-mechanical-arm cooperation polishing system, dividing the cooperation polishing system into a mechanical arm processing system and a clamping mechanical arm system, and respectively constructing the dynamic model of the coupling mechanical arm processing system and the dynamic model of the coupling clamping mechanical arm system.

摘要：【中文】本发明公开了一种基于速度重配的协调机械臂多约束加工优化方法，包括如下步骤：步骤一，构建机械臂协调夹持动力学模型，简化出多机械臂夹持工件的物理模型，通过拉格朗日动力学方法确定机械臂动力学模型中的惯量项、哥氏力项、离心力项和重力项，将工件的内力项及其计算方法引入动力学方程中构成等式；步骤二，设计基于齐次加权最小范数法的协调机械臂在约束情况下关节速度重配算法，首先构建多机械臂协调任务雅可比矩阵，然后设计基于关节位置和关节力矩约束的性能指标方程，基于性能指标方程，结合机械臂运动学和动力学齐次化构型，设计基于关节惩罚权重的速度重配表达式。 【EN】The invention discloses a coordinated mechanical arm multi-constraint processing optimization method based on speed reconfiguration, which comprises the following steps of: the method comprises the steps that firstly, a mechanical arm coordinated clamping dynamic model is constructed, a physical model of a workpiece clamped by a plurality of mechanical arms is simplified, an inertia term, a Coriolis force term, a centrifugal force term and a gravity term in the mechanical arm dynamic model are determined through a Lagrange dynamic method, and an internal force term of the workpiece and a calculation method thereof are introduced into a dynamic equation to form an equation; and secondly, designing a joint speed reconfiguration algorithm of the coordinated mechanical arm based on the homogeneous weighted minimum norm method under the constraint condition, firstly constructing a Jacobian matrix of the coordinated tasks of the multiple mechanical arms, then designing a performance index equation based on joint position and joint moment constraint, and designing a speed reconfiguration expression based on joint penalty weight based on the performance index equation and combining the kinematics and dynamics homogeneous configuration of the mechanical arm.

摘要：【中文】本发明公开了不确定混沌系统间接自适应最优同步控制器设计方法，包括以下步骤：A.构建不确定混沌系统同步权重矩阵自组织模糊规划器；B.设计自适应最优同步控制器；C.设计自适应监督递归补偿器；D.对控制器闭环系统进行稳定性分析。通过设计方法完成最优同步控制器的设计，能够根据系统状态在很短时间内补偿同步不确定性、参数摄动和干扰，将被控混沌系统轨迹和跟踪误差收敛到期望值（域）附近，结合自适应递归监督补偿器进一步减小和消除同步残差，保证了不确定混动系统同步稳定性，有效提高了同步控制精度和性能。 【EN】The invention discloses a design method of an indirect self-adaptive optimal synchronous controller of an uncertain chaotic system, which comprises the following steps: A. constructing an uncertain chaotic system synchronization weight matrix self-organizing fuzzy planner; B. designing a self-adaptive optimal synchronous controller; C. designing an adaptive supervision recursion compensator; D. and carrying out stability analysis on the closed-loop system of the controller. The design of the optimal synchronous controller is completed through the design method, the synchronization uncertainty, the parameter perturbation and the interference can be compensated in a short time according to the system state, the track and the tracking error of the controlled chaotic system are converged to be close to a desired value (domain), the synchronous residual error is further reduced and eliminated by combining the self-adaptive recursive supervision compensator, the synchronization stability of the uncertain hybrid system is ensured, and the synchronization control precision and performance are effectively improved.

摘要：【中文】本发明公开了一种高倍聚光太阳能光伏、光热复合联产联供组件，菲涅尔聚光透镜的下方通过中部波状挡板支撑，四周边缘固定在框架上部，框架下部固定在换热底板正面的四周边缘处，换热底板正面中间的空白区域用于固定光伏‑光电复合联产单元、导热载体、导热柱体及中部波状挡板，其中光伏‑光电复合联产单元固定在导热载体正中位置，导热柱体穿插于两个光伏‑光电复合联产单元之间，并穿透换热底板，使之直接与纳米复合相变蓄热保温层相接触，将纳米复合相变蓄热保温层与换热底板的背面吹涨板密封固定。本发明高倍聚光太阳能光伏、光热复合联产联供组件极大地提高了太阳能的产热效率和发电效率，降低了能源消耗、环境污染和生产成本。 【EN】The invention discloses a high-power light-gathering solar photovoltaic and photothermal composite co-production combined supply assembly, wherein a Fresnel light-gathering lens is supported by a middle corrugated baffle, the peripheral edge of the Fresnel light-gathering lens is fixed on the upper part of a frame, the lower part of the frame is fixed on the peripheral edge of the front surface of a heat exchange bottom plate, and a blank area in the middle of the front surface of the heat exchange bottom plate is used for fixing a photovoltaic-photoelectric composite co-production unit, a heat conduction carrier, a heat conduction column and the middle corrugated baffle, wherein the photovoltaic-photoelectric composite co-production unit is fixed in the middle of the heat conduction carrier, the heat conduction column is inserted between two photovoltaic-photoelectric composite co-production units and penetrates through the heat exchange bottom plate to be directly contacted with a nano composite phase-change heat-accumulation heat. The high-concentration solar photovoltaic and photothermal composite co-production combined supply component greatly improves the heat production efficiency and the power generation efficiency of solar energy, and reduces the energy consumption, the environmental pollution and the production cost.

摘要：【中文】本发明公开了一种除冰雪用吸波沥青混凝土及其制备方法，由以下质量百分比的原料制成：改性沥青3.5％～5％、石质粗集料40％～62％、石质细集料15％～25％、磁铁矿渣或铜渣破碎细集料15％～25％、水泥1％～2％、石墨烯与四氧化三铁混合研磨的吸波粉料3％～6％。本发明的吸波沥青混凝土铺筑于路面磨耗层，可显著提高路面表层吸波升温速率，极大地提高了微波除冰雪方法的工作效率。 【EN】The invention discloses wave-absorbing asphalt concrete for removing ice and snow and a preparation method thereof, wherein the wave-absorbing asphalt concrete is prepared from the following raw materials in percentage by mass: 3.5 to 5 percent of modified asphalt, 40 to 62 percent of stone coarse aggregate, 15 to 25 percent of stone fine aggregate, 15 to 25 percent of magnet slag or copper slag crushed fine aggregate, 1 to 2 percent of cement and 3 to 6 percent of wave-absorbing powder prepared by mixing and grinding graphene and ferroferric oxide. The wave-absorbing asphalt concrete is paved on a pavement wearing layer, so that the wave-absorbing heating rate of the pavement surface layer can be obviously improved, and the working efficiency of the microwave ice and snow removing method is greatly improved.