50results about How to "Drift suppression" patented technology

The invention provides a method for driving a perovskite X-ray detector through pulse voltage and a perovskite X-ray array detection system, and belongs to the technical field of photoelectric detection.According to the method, the pulse voltage is used for weakening ion migration and current injection in a perovskite material, so that drifting of dark current and light current of the perovskite X-ray detector is restrained, and the performance of the perovskite X-ray detector is improved. The energy consumption and heat accumulation of the detector are reduced, specifically, pulse voltage acts on the two ends of an electrode of the perovskite X-ray detector, and a current signal in the pulse voltage excitation application process is recorded. Based on the method provided by the invention, the radiation detection current stability of the perovskite X-ray detector can be improved, the device energy consumption and the element cost are further reduced, and the commercialization pace of the perovskite X-ray detector is promoted.

The utility model is applicable to the technical field of wheel machining, and provides a milling device for a die-casting wheel, which comprises a case, a machining chamber is arranged on the case, and a milling cutter group for milling a die-casting wheel blank is arranged on the inner wall of the top of the machining chamber; the mounting table is fixedly mounted on the inner wall of the bottom of the machining chamber, and a clamp used for clamping and fixing a die-casting wheel blank is arranged on the mounting table; and the liquid storage tank is used for containing dust falling liquid and is fixedly mounted on the case. According to the scheme, the milling device for the die-casting wheel has a conventional milling function, drifting of chippings and impurities is effectively restrained, and the working environment and the health of operators are protected.

The invention provides a temperature control method of an intermediate infrared laser, and relates to the technical field of lasers. The temperature control method comprises the steps that the reference temperature T0 of the intermediate infrared laser is set, and driving current is injected into the intermediate infrared laser; in any nth period of the driving current, initial temperature parameters of the intermediate infrared laser are collected, and an initial temperature control curve T (n) of the nth period is formed; forming a reference temperature curve T1 (n) in the nth period based on the initial temperature control curve T (n); forming a gradient temperature control curve of the nth period based on the initial temperature control curve T (n), the reference temperature curve T1 (n) and the reference temperature T0; and forming temperature control data based on the gradient temperature control curve, and storing the temperature control data in the temperature control device, so that the temperature control device performs temperature control on the intermediate infrared laser according to the temperature control data. The invention further provides electronic equipment and a temperature control device.

This invention discloses a miniature flow sensor and an on-chip constant temperature difference control circuit for the flow sensor. The circuit includes a first resistor, a second resistor, an ambient resistor, an adjustable resistor, a micro-heater, an operational amplifier, a start-up resistor, and a start-up power supply. The ambient resistor and the micro-heater have the same temperature coefficient. One end of the first resistor is connected to one end of the second resistor and the output terminal of the operational amplifier. The other end of the first resistor is connected to one end of the start-up resistor, one end of the adjustable resistor, and the positive input terminal of the operational amplifier. The other end of the second resistor is connected to one end of the micro-heater and the negative input terminal of the operational amplifier. The other end of the start-up resistor is connected to the positive terminal of the start-up power supply. This constant temperature difference control circuit effectively maintains a constant overheating temperature of the micro-heater, thereby achieving a wide measurement range, low power consumption operation, and suppressing drift caused by ambient temperature, significantly improving the accuracy of the measurement results.

The present invention provides an intelligent BDU voltage detection circuit, including a power module, a controller, a voltage sampling module, a multi-channel voltage-dividing circuit, and a channel switching module; the controller is connected to the voltage sampling module in communication; multiple input ends of the multi-channel voltage-dividing circuit are respectively connected to multiple load-end voltages of a power battery, and in the multi-channel voltage-dividing circuit, multiple output ends of some voltage-dividing circuits are respectively connected to multiple input ends of the channel switching module in a one-to-one correspondence; the output end of the channel switching module is connected to a voltage sampling end of the voltage sampling module, and the channel switching module is used to select one path from multiple output signals of the partial voltage-dividing circuit for differential output. The signal acquisition method of the present invention, which selects one path for output from multiple load-end voltages, can avoid directly inputting all load-end voltages into the voltage sampling module for acquisition, saves the hardware resources of the voltage sampling module, reduces the load of the voltage sampling module, and greatly reduces the cost.

The application discloses a method for measuring a detection tilt angle of a two-component atomic shearing interferometer, constructs a tilt angle set of a swing angle device; the angle of a mirror is turned between the time when atoms are subjected to the action of a pi Raman laser and a second pi / 2 Raman laser; a plurality of groups of odd number and even number are alternately detected; all tilt angles in the tilt angle set are traversed; and the actual included angle of the longitudinal direction of a CCD camera imaging surface relative to the Z-axis direction is calculated by fitting. The application also discloses a measuring device for the detection tilt angle of the two-component atomic shearing interferometer. The application enables the current atomic shearing interferometer to accurately measure the tilt angle of the detection system, thereby solving the problems of noise and system error caused by the non-zero return of the tilt angle of the detection system of the atomic shearing interferometer, and suppressing the drift of the differential measurement of the two-component atomic interferometer caused by the change of the tilt angle.

The present application relates to the technical field of feeding and dosing device, especially relates to an automatic feeding and dosing device for anti-blocking granular ammonia-nitrogen removing agent and a feeding method thereof. The automatic feeding and dosing device and the feeding method thereof are aimed at solving the technical problems that the labor intensity of workers is large, dust is harmful to human body, the continuity and uniformity of dosing cannot be guaranteed, and the saving of reagent is not conducive in the prior art. The present application provides an automatic feeding and dosing device for anti-blocking granular ammonia-nitrogen removing agent, which comprises a supporting column, a material bin, a lifting control device, a guide assembly, an outer dust cover, a rotary control assembly, a sealing cover plate, a limiting seat, a screen, a flexible knocking assembly, a power device, a spraying pipe, a nozzle and a discharging adjusting assembly. The present application adopts a crane to automatically feed the ammonia-nitrogen removing agent, ensures the continuity and uniformity of dosing of the ammonia-nitrogen removing agent, saves the amount of the ammonia-nitrogen removing agent, effectively suppresses dust dispersion through spraying, and reduces the harm to human body.

The application discloses a power assisting curve self-adaptive generation method and system based on riding habit learning, relates to the field of intelligent control of electric power assisting bicycles, and comprises the following steps: establishing a riding habit library based on historical riding data of target riders, and storing a pedaling force habit center and a pedaling frequency habit center representing long-term pedaling behavior characteristics of the riders; collecting multi-source real-time sensing data such as pedal torque, pedaling frequency, vehicle driving state and battery state in real time; constructing a comfort envelope model through the pedaling force habit center and the pedaling frequency habit center, and calculating a comfort coefficient; generating comprehensive control indexes in combination with the comfort coefficient, the vehicle driving state and the battery state data, dynamically adjusting the shape parameters of a basic power assisting function, generating a self-adaptive power assisting curve matched with a current riding scene, and then determining a motor power assisting torque instruction and outputting the motor power assisting torque instruction to a motor controller. In this way, the individualized coordination and coupling of man-machine torque aiming at natural pedaling force performance of the riding user habits are realized.

This invention discloses an underwater range-gated dynamic imaging method based on metaheuristic attitude estimation, belonging to the field of underwater imaging technology. The method includes: constructing an underwater range-gated laser imaging system; acquiring a continuous, spatiotemporally matched sequence of original scanned images by synchronously controlling laser emission, scanning, and gated exposure; selecting reference frames from the original scanned image sequence and determining the effective imaging region; modeling inter-frame rigid body motion using six-degree-of-freedom pose parameters; constructing a global optimization objective function based on gray-level mean square error; and designing an adaptive weighted pixel loss function, assigning weights to pixels by normalizing gray-level and gradient information to suppress the influence of bright areas. This invention applies metaheuristic optimization ideas to the 6D pose estimation problem of underwater range-gated laser imaging, constructing a 6D pose optimization framework suitable for highly sparse and highly constrained scenarios based on PSO, overcoming the fundamental challenges of feature point scarcity and insufficient datasets.

The present invention discloses a MEMS mutually synchronous oscillator based on phase control, which belongs to the field of micromechanical systems and nonlinear dynamics technology. The MEMS mutually synchronous oscillator includes a PID controller and a pair of oscillator modules, and the oscillator module is composed of a resonator, an oscillation circuit and a phase control circuit; the oscillation circuit in each oscillator module is used to enable the resonator in the oscillator module to achieve self-excited oscillation, and the signal of the oscillation circuit is injected into the oscillation circuit in another oscillator module after adjusting the amplitude and phase through the phase control circuit; the PID controller is connected to one of the oscillation circuits to obtain the oscillation frequency, and outputs a phase control amount to change the phase of the injected signal according to the error between the current oscillation frequency obtained and the set oscillation frequency. The present invention realizes flexible regulation of the oscillation frequency of the mutually synchronous oscillator without introducing additional thermal noise and increasing power, thereby improving the frequency stability of the MEMS oscillator.

The invention discloses a dynamic modeling analysis system for combustion atmosphere data of a biomass oxygen-enriched combustion boiler, and relates to the technical field of dynamic modeling analysis. The system comprises a working condition self-adaptive feature extraction module, a time sequence maintaining model training module, an online self-adaptive correction module and an incremental model updating module. Through a working condition adaptive feature extraction module, a time sequence maintenance model training module, an online adaptive correction module and an incremental model updating module, adaptive feature vectors are generated through feature extraction, a basic model is obtained through training, and online correction and incremental updating are performed by combining feature vector verification threshold judgment. And finally, iterative upgrading is completed through an incremental learning fine tuning model, the reliability of dynamic modeling analysis of the combustion atmosphere data of the biomass oxygen-enriched combustion boiler is improved, and the problem that in the prior art, the reliability of dynamic modeling analysis of the combustion atmosphere data of the biomass oxygen-enriched combustion boiler is low is solved.

The invention discloses an air compressor cluster cooperative control and energy efficiency optimization method based on digital twinning, and the method comprises the following steps: collecting the real-time operation data of an air compressor cluster and an air supply system, and carrying out the time alignment, and obtaining the time alignment data; establishing a digital twinborn model of the air compressor cluster air supply system; the method comprises the following steps of: constructing a Zonotop observer to obtain an initialized coupling Zonotop; generating a candidate group control strategy set in the rolling optimization window; a reachable domain propagation operator is called to execute prediction updating, and prediction coupling Zonotop is obtained; consistency shrinkage is executed, and an updated coupling Zonope is obtained; and loading each candidate group control strategy to the digital twinborn model, executing simulation deduction, selecting an optimal control strategy from the candidate group control strategy set, and issuing the optimal control strategy to an air compressor cluster execution control system for execution. The feasibility and the stable energy-saving effect of the air compressor cluster cooperative control strategy are improved.

This invention discloses a control method, system, device, and storage medium based on inertial sensor attitude calculation, including: acquiring acceleration and angular velocity; calculating motion attitude data based on acceleration and angular velocity; calculating the relative attitude angle change from the motion attitude data; mapping the relative attitude angle change to relative directional displacement to obtain relative directional displacement data and sending it to the host. This application utilizes the feature of existing smart wearable devices equipped with inertial sensing units to convert motion attitude into relative attitude angle changes, providing an attitude calculation method. This application can use BLE wireless transmission, balancing mobility and portability, making it suitable for wearable devices such as smart glasses. Furthermore, this application introduces complementary filtering, dead zone, and output filtering steps into the attitude calculation method, improving the accuracy of attitude calculation. It also adds an automatic calibration step, which can suppress drift and jitter, reducing the false touch rate.

The application discloses a kind of double-fan sintering machine group single-fan operation thick material layer sintering device and method, belong to metallurgical sintering technical field.The technical scheme of the present application mainly includes: first isolation stops fan and adjusts valve baffle to complete flue gas flow balance, optimizes raw material ratio and moisture to reduce material layer resistance, adopts double-layer loose material to improve ventilation condition, time-sharing period dynamic adjustment fan air pressure adapts sintering process, combined with whole system air leakage control and sintering endpoint linkage regulation and control, without modifying main equipment can realize 800-920mm thick material layer stable sintering.The present application solves the problem of insufficient air volume, uneven airflow distribution, uneven thick material layer sintering, large operating condition fluctuation and high energy consumption when the double-fan sintering machine group operates with single fan, can improve the quality of sintered ore, reduce production energy consumption, and ensure continuous operation of production line during equipment maintenance and fault period.

This invention discloses a method for the collaborative restoration of structure and texture in Dunhuang murals based on structural uncertainty, belonging to the field of image restoration technology. The method includes: a structure prediction step, which generates a structure reconstruction result through an encoder-decoder architecture based on codebook quantization and simultaneously outputs pixel-level structural uncertainty parameters; a texture reconstruction step, which models the texture completion process as texture flow propagation on a graph structure and adaptively adjusts the propagation range and constraint strength according to the structural uncertainty parameters; and a fusion step, which fuses structural features and texture features at multiple scales and dynamically adjusts the fusion strength according to the structural uncertainty parameters to generate the final restoration result. This invention achieves effective linkage between structure prediction and texture reconstruction through structural uncertainty parameters, suppressing the transmission of structural errors to the texture generation process when there is large-area damage or severe information loss, while maintaining overall consistency and natural detail, making it suitable for the digital restoration of Dunhuang murals.

The invention relates to the field of phase-change switches, and provides a preparation process of a phase-change material layer in order to solve the problem that an existing phase-change material layer is initially in a high-resistance state and needs to be electrically initialized, and the preparation process comprises the following steps: S100, preparing a GeTe phase-change film through a photoetching process and a magnetron sputtering process; s200, preparing a phase change material layer from the phase change film through an annealing process; the initial vacuum degree of the annealing process is lt; the pressure is 5 * 10 <-2 > Pa, the annealing temperature is 280-350 DEG C, and the heating rate is 1t; the temperature is 20 DEG C / min, and the annealing time is gt; the time is 20 minutes. According to the invention, the first-time electric stress impact is eliminated, the destructive first-time switching operation is fundamentally avoided, the device enters a working state from the beginning under mild and uniform heat treatment, the generation of initial defects is greatly reduced, and the initial point of phase change fatigue is delayed, so that the recyclable operation life of the device is remarkably prolonged; according to the device provided by the invention, the first switching operation is omitted, the complexity of driving circuit design of the chip and the cost of chip test are reduced, and the design and test are simplified.

The invention discloses a method and a device for detecting multi-component gas in tail gas in an alcohol-based fuel combustion process. The method comprises the following steps: sequentially performing alkali liquor soaking, acid liquor coarsening and ultrasonic cleaning on a ceramic tube, preparing double-component slurry, and then performing dispensing coating and sintering in an oxygen atmosphere to obtain a double-coating gas sensitive sensor; a gas sensor is connected with a single chip microcomputer and a signal processing circuit, a display module and a reset circuit are configured, and a temperature control heating system is constructed to achieve temperature adjustment of the sensor. Acquiring initial parameters of the gas sensor, establishing a kinetic equation, introducing a compensation function and compensation parameters, and implementing signal sampling processing to obtain a gas concentration value; a platinum resistor temperature sensor is adopted to collect temperature in real time, a baseline drift algorithm and a correction model are established, and zero point and range calibration is carried out regularly through standard gas. Through the scheme of the invention, cross sensitivity and baseline drift can be suppressed, and the detection accuracy is improved.

The invention discloses a method for improving the reliability of a phase delay film and the phase delay film, and belongs to the technical field of optics. According to the invention, the sulfur-sulfur alkyl chain-containing compound is adopted to perform molecular modification on the phase delay film, so that the adsorption and invasion rate of the phase delay film to water molecules can be reduced, and polymer swelling, plasticizing and hydrolysis effects caused by water vapor can be reduced; thermal motion of a polymer molecular chain in a high-humidity and high-temperature environment is inhibited, internal stress release and microstructure change are reduced, and then the problems of phase delay value drift, haze rising and surface physical degradation of the phase delay film in the high-humidity and high-temperature environment are solved; and the optical stability and the mechanical stability of the phase delay film in a high-humidity and high-temperature environment are improved.

The invention relates to the technical field of inertial navigation, in particular to a point position correction method and device of a single-axis rotation modulation inertial navigation system and a medium. According to the method, the inertial navigation system is corrected by introducing external position information, so that the positioning error of the inertial navigation system can be obviously reduced. According to the method, the internal calculation error of the inertial navigation system can be corrected in real time or regularly, so that the calculated position is closer to the real position, and the navigation accuracy is improved. The method disclosed by the invention has obvious effects in the aspects of improving the navigation precision, enhancing the system stability, optimizing the attitude solution, improving the system adaptability, simplifying the operation process and the like.

The invention discloses a progressive point cloud precise registration method based on mixed features, and relates to the field of point cloud precise registration, and the method comprises the steps: S1, respectively extracting feature data for source data and target data, and obtaining point cloud and color features; s2, constructing point cloud and color features obtained in the process S1 as mixed features # imgabs0 #; S3, establishing feature matching pairs # imgabs1 #; S4, checking geometric consistency, and S5, mixing icp for a matching pair sequence # imgabs2 #; the method is suitable for more challenging scenes, the search range is gradually narrowed to establish the matching relation, larger coarse matching errors can be tolerated, the precision of the fine matching result is high, and the degradation problems such as drifting can be restrained.

An electrochemical device is disclosed, including a housing, an electrode assembly, a first bonding piece, and a second bonding piece. The electrode assembly includes electrode plates and a separator. The electrode plates include a first electrode plate and a second electrode plate. The separator is disposed between the first electrode plate and the second electrode plate. The electrode assembly is of a wound structure and located in the housing. In a winding direction, the electrode assembly includes a first section, a first bend section, a second section, and a second bend section that are connected sequentially. An outermost coil of the first section is the separator. The first bonding piece is configured to bond an outermost coil of the electrode plates in the first section together with the separator located outside the outermost coil of the electrode plates in the first section. A bonding force between the first bonding piece and the outermost coil of the electrode plates in the first section is 3 N / m to 30 N / m. The second bonding piece is configured to bond an outermost coil of the separator in the first section together with the housing. A bonding force between the second bonding piece and the housing is 20 N / m to 150 N / m. This application further provides an electronic device containing the electrochemical device. This application can improve the anti-drop performance and safety of the electrochemical device.

This invention discloses a low-voltage fire-resistant intelligent fire-fighting cable with distributed temperature measurement and positioning function, belonging to the field of fire-fighting cable technology. It includes a cable body comprising an insulated core, an oxygen barrier layer, a shielding layer, and an outer sheath. The insulated core, from the inside out, includes a conductor layer, a fire-resistant layer, and an insulation layer. The conductor layer is formed by multiple strands of fine copper wire twisted together. The insulation layer comprises cross-linked polyolefin. A filling layer is provided at the gaps between the insulated cores, and a temperature sensing unit is also provided within the filling layer. The temperature sensing unit includes a fiber optic temperature measurement structure, which can acquire temperature distribution information along the cable. A drain wire is provided within the shielding layer. Through this invention, the temperature sensing unit, employing a distributed fiber optic temperature measurement structure arranged along the cable axis, allows the fiber optic cable to be deployed synchronously along the entire length of the cable during the cabling process, achieving continuous temperature acquisition and distributed sensing along the cable, thereby acquiring temperature distribution information for the entire line and identifying local temperature rise changes.

The present invention relates to a p-GaN HEMT device with high threshold voltage stability, belonging to the field of microelectronic technology. The device is provided with source-drain ohmic contact electrodes on a barrier layer, and a passivation layer is provided between the source-drain ohmic electrodes; the p-GaN layer is etched to retain only the region under the gate, and the p-GaN layer in the region under the gate is isolated and divided into three parts by the passivation layer, wherein the p-GaN near the source and near the drain form a Schottky contact with the gate, and the p-GaN in the middle part forms an ohmic contact with the gate. The p-GaN HEMT device provided by the present invention utilizes the shielding effect of the gate near the drain, so that the potential of the gate near the source and the middle gate is stable and will not be affected by the external drain bias stress; at the same time, the ohmic contact formed by the p-GaN in the middle part and the gate provides a path for releasing the charge generated under the high drain voltage bias, thereby improving the stability of the device threshold voltage.

The invention provides an incremental SfM reconstruction method based on relative orientation uncertainty, and relates to the technical field of computer vision, and the method comprises the steps: obtaining a plurality of to-be-reconstructed images, calculating the relative orientation uncertainty index between each pair of images in the plurality of images, and calculating the relative orientation uncertainty index between each pair of images in the plurality of images; the relative orientation uncertainty index is calculated based on the minimum singular value of the relative orientation coefficient matrix; images are used as nodes, connection relations between the images are used as edges, each edge is endowed with a weight to construct an undirected graph model, and the weights are in negative correlation with relative orientation uncertainty indexes; selecting a node with the highest weight and an adjacent node with the lowest relative orientation uncertainty index of the node to form an initial image pair, and resolving an initial relative pose; and selecting a node with the lowest relative orientation uncertainty index from the alternative nodes connected with the current model, adding the selected node into the model, resolving the camera pose of a newly added image, gradually adding the image until all the images are added, obtaining a reconstruction path with the lowest uncertainty, and further completing model reconstruction.

The present application relates to the technical field of lithium battery, specifically, a kind of abnormal impedance analysis method and system for lithium battery storage location probe.The method includes, establish structured database, structured database includes structured data sequence;Select structured data sequence from structured database, construct sample space;Each structured data sequence in sample space is carried out curve reconstruction, establishes voltage-time curve, current-time curve and capacity increment curve;Voltage-time curve, current-time curve and capacity increment curve are carried out feature extraction, and construct multi-dimensional feature sequence with multiple feature dimensions;Based on multi-dimensional feature sequence, whether each structured data sequence in sample space exists abnormality is judged.The system is used to realize the method.The present application can realize the analysis detection of the abnormal impedance of the lithium battery storage location probe corresponding to each working channel based on the operation data of each working channel at the same time.

The application discloses an unmanned ship autonomous departure control method. The method comprises the following steps: data acquisition and preprocessing, collecting expert data of manual departure in multiple scenes, and cleaning and extracting features of the expert data; imitating learning initializes a departure control strategy, training the preprocessed data based on a behavior cloning method, optimizing the training process by defining a loss function, monitoring the strategy generalization ability by using evaluation indexes, and obtaining an initial departure control strategy; reinforcement learning optimization and cyclic iteration, designing a dynamic adaptive reward function integrating multiple targets, optimizing the initial departure control strategy by using an SAC algorithm, triggering transfer learning fine-tuning combined with environmental state changes, and realizing cyclic iteration and update of the control strategy. The application constructs a data-driven closed-loop framework, significantly improves the self-adaptive ability, control accuracy and generalization ability of the unmanned ship to the dynamic environment, and balances the departure safety, operation efficiency and energy consumption economy.

The application discloses an intelligent inspection robot system based on 5G communication and a control method thereof, relates to the technical field of industrial automation and intelligent inspection, and comprises three parts of a mobile robot platform, a remote control terminal and a cloud server; the mobile robot platform serves as a core execution unit and comprises a main control unit; an STM32F103ZET6 is used as a core processor, and is responsible for multi-sensor data fusion, logic control of each module and instruction analysis and execution; test results show that, in the 5G mode, the average transmission delay of sensor data and control instructions is only about 92 ms, the video stream delay is about 200 ms, and there is no freezing and packet loss phenomenon; compared with a traditional WiFi or 4G scheme, the application effectively solves the problems of high transmission delay, short distance and insufficient signal stability, and truly realizes remote real-time monitoring and high-speed data backhaul across regions, and meets the strict requirements for remote control in an industrial high-risk scene.

The invention relates to the technical field of intelligent manufacturing, in particular to an intelligent efficient heat preservation graphene plate manufacturing method which comprises the following steps: monitoring transient response values of functional particles in graphene composite slurry, obtaining a dielectric constant change rate, constructing a ratio function curve, adjusting an electric field inversion rate and judging abnormity, and generating particle orientation distribution. The method comprises the steps of constructing a dynamic coupling mechanism of a dielectric constant change rate and an alternating electric field frequency, restraining migration and identifying a heat conduction path, simulating a thermal channel focusing structure, calculating a combined load and triggering collaborative scheduling, and generating a reordering scheduling queue. According to the method, the optimal spatial configuration is established to enhance the absorption capacity of far infrared waves in a specific frequency band, and the manufacturing efficiency and the functional response density of the plate are improved on the premise of ensuring the forming consistency of the microstructure by combining with an equipment load collaborative scheduling mechanism.

The present invention discloses a safe and fast charging method for lithium batteries based on distributed robust model predictive control, comprising: establishing an electro-thermal-aging coupling model of lithium batteries and identifying aging parameters offline; identifying electro-thermal parameters online based on terminal voltage and temperature measured by a real battery, and building a state observer based on an electrical model to estimate the state of charge of the battery in real time; obtaining voltage and temperature prediction values ​​and voltage and temperature actual values ​​measured by a real battery based on a coupling model, and building a historical sample data set of voltage prediction error and temperature prediction error; building distributed robust constraints for voltage and temperature, measuring the uncertainty of voltage prediction error and temperature prediction error, and reconstructing the distributed robust constraints into processable constraints; solving the optimization problem of distributed robust model prediction based on the reconstructed processable voltage and temperature constraints, and combining an objective function that takes into account charging speed, capacity attenuation and current fluctuation, to obtain an optimal charging current.