Motion state determination method, docking control method, system, device and medium

Abstract

The present invention discloses a method for determining a motion state, a docking control method, a system, a device and a medium, the method comprising: obtaining first electrical signal information in a first electromagnetic coil and second electrical signal information in a second electromagnetic coil; constructing a target model based on the first electrical signal information and the second electrical signal information; calculating a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil and a mutual inductance parameter between the two according to the target model; determining the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter. The present invention makes full use of the electromagnetic coupling characteristics between electromagnetic coils, uses the electromagnetic coil itself as a position sensor, effectively improves the resource utilization rate on the device without occupying extra space, and effectively improves the accuracy and efficiency of electromagnetic docking between devices.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a method for determining a motion state, a docking control method, a system, a device and a medium. Background Art

[0002] At present, the relative distance and relative speed between two devices are generally determined through sensors. The number and type of sensors set on the device correspond to the number and type of motion state parameters that need to be determined. Setting multiple sensors on the device will undoubtedly increase the space occupancy rate of the device, and the use of sensor detection is limited by the detection environment, optical interference and other problems, which affect the detection accuracy.

[0003] Taking the docking scenario of space equipment as an example, with the increasingly complex tasks such as on-orbit maintenance and construction, higher requirements are put forward for on-orbit docking technology. The problems of large impact force, plume pollution, propellant consumption and optical interference in traditional spacecraft and docking technology can no longer meet the requirements. However, electromagnetic docking technology based on electromagnetic force control can avoid the above shortcomings and realize flexible docking and safe separation of two spacecraft through non-contact, continuous, reversible and synchronous control capabilities, which has broad application prospects. Based on this, the research on electromagnetic docking technology can provide technical support for the on-orbit docking application of my country's aerospace equipment. Electromagnetic docking technology is mainly used in the rendezvous and docking of small satellites such as micro-nano satellites, and the small size of satellites limits the number of on-board resources to a certain extent. The on-orbit operation of satellites usually includes many experimental tasks, so the on-board control resources that can be used to control rendezvous and docking are very limited. Setting position sensors on satellites will undoubtedly occupy more on-board resources and cannot meet the actual higher requirements of on-orbit docking. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defect that the existing technology of determining the motion state between devices by setting multiple sensors on the devices will increase the space resource occupancy rate of the devices and cannot meet the needs of actual scenarios. A motion state determination method, docking control method, system, device and medium are provided.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a method for determining a motion state, the method being applied to a first device and / or a second device, wherein the first device is provided with a first electromagnetic coil, and the second device that moves relative to the first device is provided with a second electromagnetic coil;

[0007] The determination method comprises:

[0008] Acquire first electrical signal information in the first electromagnetic coil and second electrical signal information in the second electromagnetic coil;

[0009] Building a target model based on the first electrical signal information and the second electrical signal information;

[0010] Calculate a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween according to the target model;

[0011] The motion state information between the first electromagnetic coil and the second electromagnetic coil is determined based on the first self-inductance parameter, the second self-inductance parameter, and the mutual inductance parameter.

[0012] Preferably, the first electrical signal information includes a first voltage parameter and a first current parameter, and the second electrical signal information includes a second voltage parameter and a second current parameter;

[0013] The step of constructing a target model based on the first electrical signal information and the second electrical signal information comprises:

[0014] constructing a flux linkage reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter;

[0015] constructing a first flux linkage model based on the first current parameter and the second current parameter;

[0016] The step of calculating the first self-inductance parameter in the first electromagnetic coil, the second self-inductance parameter in the second electromagnetic coil, and the mutual inductance parameter therebetween according to the target model comprises:

[0017] Calculating a first flux error corresponding to the first electromagnetic coil and a second flux error corresponding to the second electromagnetic coil according to the flux output by the first flux model and the flux output by the flux reference model;

[0018] adjusting initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain target weight parameters;

[0019] The target weight parameter corresponds to the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

[0020] Preferably, the step of constructing a first flux linkage model based on the first current parameter and the second current parameter comprises:

[0021] An ANN (two-layer neural network) is used to construct the first flux linkage model based on the first current parameter and the second current parameter; wherein the model parameters of the first flux linkage model correspond to self-inductance parameters and mutual inductance parameters.

[0022] Preferably, the step of adjusting the initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain target weight parameters includes:

[0023] Use BP algorithm (error back propagation algorithm) to design weight adjustment network;

[0024] The initial weight parameters of the first flux linkage model are adjusted according to the weight adjustment network, and the weight parameters when both the first flux linkage error and the second flux linkage error satisfy a preset range are used as the target weight parameters.

[0025] Preferably, the formula corresponding to the step of constructing the flux reference model based on the first voltage parameter, the first current parameter, the second voltage parameter and the second current parameter is as follows:

[0026]

[0027] Among them, T is the first magnetic flux in the first electromagnetic coil, U T For the first voltage parameter, R T is the resistance of the first electromagnetic coil, i T is the first current parameter, Ψ C is the second magnetic flux in the second electromagnetic coil, U C For the second current parameter, R C is the resistance of the second electromagnetic coil, i C is the second current parameter;

[0028] The formula corresponding to the step of using a double-layer neural network ANN to construct the first flux linkage model based on the first current parameter and the second current parameter is as follows:

[0029] Ψ T =L T i T +M CT i C

[0030] Ψ C =L C i C +M TC i T

[0031] Among them, L T , LC 、M CT and M TC are the weight parameters of the model, L T Corresponding to the self-inductance parameter in the first electromagnetic coil, L C Corresponding to the self-inductance parameter in the second electromagnetic coil, M CT represents the mutual inductance parameter between the first electromagnetic coil and the second electromagnetic coil, M TC represents the mutual inductance parameter between the second electromagnetic coil and the first electromagnetic coil, and M CT With M TC Both are equal in size.

[0032] Preferably, the step of determining the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter comprises:

[0033] Finite element analysis is used to perform fitting processing based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter to obtain the relative distance between the first electromagnetic coil and the second electromagnetic coil.

[0034] Preferably, after the step of obtaining the relative distance between the first electromagnetic coil and the second electromagnetic coil, the step further includes:

[0035] At the same sampling time, the relative distance is differentiated to determine the relative speed between the first electromagnetic coil and the second electromagnetic coil.

[0036] The present invention further provides an electromagnetic docking control method, which is applied to a first device. The electromagnetic docking control method is implemented based on the above-mentioned motion state determination method. The electromagnetic docking control method includes:

[0037] adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information;

[0038] The adjusted first control voltage is applied to the first electromagnetic coil to achieve docking of the first device with the second device.

[0039] Preferably, when the motion state information includes the relative distance between the first device and the second device, the step of adjusting the first control voltage for achieving the docking between the first device and the second device according to the motion state information includes:

[0040] Determining a first difference between the relative distance and the target docking distance;

[0041] Acquire a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter;

[0042] The first control voltage is adjusted according to the first difference and the second difference.

[0043] Preferably, when the motion state information includes a relative distance and a relative speed between the first device and the second device, the step of adjusting the first control voltage for achieving docking between the first device and the second device according to the motion state information includes:

[0044] Determining a first difference between the relative distance and the target docking distance;

[0045] Acquire a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter;

[0046] determining a third difference between the relative speed and the target docking speed;

[0047] The first control voltage is adjusted according to the second difference and the third difference, or the first difference, the second difference and the third difference.

[0048] The present invention further provides an electromagnetic docking control method, which is applied to a second device, wherein the second device is provided with a second electromagnetic coil, and the electromagnetic docking control method comprises:

[0049] acquiring a second current parameter in the second electromagnetic coil;

[0050] determining a fourth difference between the second current parameter and a target parameter;

[0051] According to the fourth difference, or the motion state information determined by the above-mentioned method for determining the motion state and the fourth difference, adjusting the second control voltage used to achieve the connection between the first device and the second device;

[0052] The adjusted second control voltage is applied to the second electromagnetic coil to achieve docking of the first device and the second device.

[0053] The present invention further provides a system for determining a motion state, the system being applied to a first device and / or a second device, wherein the first device is provided with a first electromagnetic coil, and the second device that moves relative to the first device is provided with a second electromagnetic coil;

[0054] The determination system comprises:

[0055] A first electrical signal acquisition module, used to acquire first electrical signal information in the first electromagnetic coil;

[0056] A second electrical signal acquisition module, used to acquire second electrical signal information in the second electromagnetic coil;

[0057] A target model building module, used to build a target model based on the first electrical signal information and the second electrical signal information;

[0058] a parameter calculation module, configured to calculate, according to the target model, a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween;

[0059] A motion state information determination module is used to determine the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

[0060] Preferably, the first electrical signal information includes a first voltage parameter and a first current parameter, and the second electrical signal information includes a second voltage parameter and a second current parameter;

[0061] The target model building module includes:

[0062] a flux linkage reference model building unit, configured to build a flux linkage reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter;

[0063] A first flux linkage model building unit, configured to build a first flux linkage model based on the first current parameter and the second current parameter;

[0064] The parameter calculation module comprises:

[0065] a flux linkage error calculation unit, configured to calculate a first flux linkage error corresponding to the first electromagnetic coil and a second flux linkage error corresponding to the second electromagnetic coil according to the flux linkage output by the first flux linkage model and the flux linkage output by the flux linkage reference model;

[0066] a weight parameter adjustment unit, configured to adjust an initial weight parameter of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain a target weight parameter;

[0067] The target weight parameter corresponds to the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

[0068] Preferably, the first flux model construction unit is used to construct the first flux model based on the first current parameter and the second current parameter using a double-layer neural network ANN; wherein model parameters of the first flux model correspond to self-inductance parameters and mutual inductance parameters.

[0069] Preferably, the weight parameter adjustment unit is used to design a weight adjustment network using an error back propagation algorithm, and adjust the initial weight parameters of the first flux linkage model according to the weight adjustment network, and use the weight parameters when both the first flux linkage error and the second flux linkage error satisfy a preset range as the target weight parameters.

[0070] Preferably, the formula corresponding to the step of constructing the magnetic flux reference model by the magnetic flux reference model construction unit is as follows:

[0071]

[0072] Among them, T is the first magnetic flux in the first electromagnetic coil, U T For the first voltage parameter, R T is the resistance of the first electromagnetic coil, i T is the first current parameter, Ψ C is the second magnetic flux in the second electromagnetic coil, U C For the second current parameter, R C is the resistance of the second electromagnetic coil, i C is the second current parameter;

[0073] The formula corresponding to the step of constructing the first magnetic linkage model by the first magnetic linkage model construction unit is as follows:

[0074] Ψ T =L T i T +M CT i C

[0075] Ψ C =L C i C +M TC i T

[0076] Among them, L T , L C 、M CT and M TC are the weight parameters of the model, L T Corresponding to the self-inductance parameter in the first electromagnetic coil, L C Corresponding to the self-inductance parameter in the second electromagnetic coil, M CT represents the mutual inductance parameter between the first electromagnetic coil and the second electromagnetic coil, M TC represents the mutual inductance parameter between the second electromagnetic coil and the first electromagnetic coil, and M CT With M TC Both are equal in size.

[0077] Preferably, the motion state information determination module is used to perform fitting processing based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter using finite element analysis to obtain the relative distance between the first electromagnetic coil and the second electromagnetic coil.

[0078] Preferably, the motion state information determination module is further used to differentiate the relative distance at the same sampling time to determine the relative speed between the first electromagnetic coil and the second electromagnetic coil.

[0079] The present invention further provides an electromagnetic docking control system, which is applied to a first device. The electromagnetic docking control system is implemented based on the above-mentioned motion state determination system, and the electromagnetic docking control system includes:

[0080] A first adjustment module, used for adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information;

[0081] The first voltage applying module is used to apply the adjusted first control voltage to the first electromagnetic coil to achieve docking between the first device and the second device.

[0082] Preferably, when the motion state information includes a relative distance between the first device and the second device, the first adjustment module includes:

[0083] A first difference determination unit, used to determine a first difference between the relative distance and the target docking distance;

[0084] a second difference determination unit, configured to obtain a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter;

[0085] The first voltage regulating unit is configured to regulate the first control voltage according to the first difference and the second difference.

[0086] Preferably, when the motion state information includes a relative distance and a relative speed between the first device and the second device, the first adjustment module includes:

[0087] A first difference determination unit, used to determine a first difference between the relative distance and the target docking distance;

[0088] a second difference determination unit, configured to obtain a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter;

[0089] A third difference determination unit, used to determine a third difference between the relative speed and the target docking speed;

[0090] The second voltage regulating unit is used to regulate the first control voltage according to the second difference and the third difference, or the first difference, the second difference and the third difference.

[0091] The present invention further provides an electromagnetic docking control system, which is applied to a second device, wherein a second electromagnetic coil is provided on the second device, and the electromagnetic docking control system comprises:

[0092] A current parameter acquisition module, used to acquire a second current parameter in the second electromagnetic coil;

[0093] a difference determination module, configured to determine a fourth difference between the second current parameter and a target parameter;

[0094] a second voltage regulating module, configured to regulate a second control voltage for achieving docking between the first device and the second device according to the fourth difference, or according to the motion state information determined by the motion state determination system and the fourth difference;

[0095] The second voltage applying module is used to apply the adjusted second control voltage to the second electromagnetic coil to achieve docking between the first device and the second device.

[0096] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for determining the motion state or the above-mentioned electromagnetic docking control method when executing the computer program.

[0097] The present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the program implements the steps of the above-mentioned motion state determination method or the steps of the above-mentioned electromagnetic docking control method.

[0098] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0099] The positive and progressive effects of the present invention are:

[0100] In the present invention, without using position sensors such as laser sensors, the relative distance and relative speed between the two electromagnetic coils are observed in real time based only on the inherent characteristics of the electromagnetic coils themselves in the device (such as a satellite) and the voltage signals and current signals in the electromagnetic coils of the two devices, thereby fully utilizing the electromagnetic coupling characteristics between the electromagnetic coils, that is, the ability to transmit voltage and current signals between the electromagnetic coils, and using the electromagnetic coils themselves as position sensors, thereby fully utilizing the functions of the electromagnetic coils and reducing the resource occupation of a position sensor on the device, that is, without occupying extra space, effectively improving the resource utilization rate on the device; in addition, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control to adjust the control voltages of the two devices, thereby being able to generate controllable electromagnetic attraction or electromagnetic repulsion, ultimately effectively improving the docking accuracy and efficiency between the two electromagnetic devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] Figure 1 It is a schematic diagram of a scene in which two devices are located in the present invention.

[0102] Figure 2 It is the circuit diagram corresponding to the electromagnetic coils in the two devices in the present invention.

[0103] Figure 3 This is a flow chart of a method for determining a motion state according to Embodiment 1 of the present invention.

[0104] Figure 4 This is a flow chart of a method for determining a motion state according to Embodiment 2 of the present invention.

[0105] Figure 5 This is a schematic diagram of adjusting the model weight parameters according to Embodiment 2 of the present invention.

[0106] Figure 6 It is the MRAS state observer in the method for determining the motion state of embodiment 2 of the present invention.

[0107] Figure 7 This is a flow chart of the electromagnetic docking control method of embodiment 3 of the present invention.

[0108] Figure 8 This is the first flow chart of the electromagnetic docking control method of embodiment 4 of the present invention.

[0109] Fig. 9 This is the second flow chart of the electromagnetic docking control method of embodiment 4 of the present invention.

[0110] Fig.10 This is a schematic diagram of PI control in the electromagnetic docking control method of Example 4 of the present invention.

[0111] Fig.11This is a flow chart of the electromagnetic docking control method of Example 5 of the present invention.

[0112] Fig.12 This is a module diagram of a system for determining a motion state according to Embodiment 6 of the present invention.

[0113] Fig.13 This is a module diagram of a system for determining a motion state according to Embodiment 7 of the present invention.

[0114] Fig.14 This is a module schematic diagram of the electromagnetic docking control system of Example 8 of the present invention.

[0115] Fig.15 This is a module schematic diagram of the electromagnetic docking control system of embodiment 10 of the present invention.

[0116] Fig.16 This is a schematic diagram of the structure of an electronic device that implements the method for determining the motion state of embodiment 11 of the present invention. DETAILED DESCRIPTION

[0117] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0118] like Figure 1 FIG. 1 is a scene diagram of a method for determining a motion state according to an exemplary embodiment of the present invention. The diagram takes determining the motion state of two devices during relative motion as an example. In actual application, the number of devices can be set according to actual conditions, and is not limited to two in the diagram. It can be three, four or even more. Figure 1 , the first device 11 is provided with a first electromagnetic coil 111, the second device 12 is provided with a second electromagnetic coil 112, and see Figure 2 ; Input the target voltage to any of the two electromagnetic coils. Assuming that the target voltage is input to the first electromagnetic coil of the first device, based on the electromagnetic induction principle - mutual induction phenomenon, the current in the first electromagnetic coil changes, and the changing magnetic field generated by it will cause the second electromagnetic coil of the second device to generate an induced voltage. Similarly, the current change in the second electromagnetic coil will also generate an induced voltage in the first electromagnetic coil. This phenomenon is called mutual induction phenomenon, and the generated induced voltage is called mutual induction voltage.

[0119] The first device and the second device may both be large devices such as spacecraft or train carriages, the first device and the second device may be household devices such as sweeping robots and corresponding charging devices, and the first device and the second device may also be toys. The first device and the second device may also be any other devices that need to be equipped with electromagnetic coils and need electromagnetic docking.

[0120] Example 1

[0121] The method for determining the motion state of this embodiment is applied to the first device and / or the second device. The first device is provided with a first electromagnetic coil, and the second device that moves relative to the first device is provided with a second electromagnetic coil.

[0122] like Figure 3 As shown, the method for determining the motion state of this embodiment includes:

[0123] S101, obtaining first electrical signal information in the first electromagnetic coil and second electrical signal information in the second electromagnetic coil;

[0124] The first electrical signal information includes a first voltage parameter and a first current parameter, and the second electrical signal information includes a second voltage parameter and a second current parameter.

[0125] The first device and the second device are both provided with a voltage sensor and a current sensor, and these electrical signal information are detected in real time by the sensors in the corresponding devices.

[0126] S102, constructing a target model based on the first electrical signal information and the second electrical signal information;

[0127] S103, calculating according to the target model a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween;

[0128] S104. Determine motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter, and the mutual inductance parameter.

[0129] The motion state information includes but is not limited to the relative distance and relative speed between the first device and the second device.

[0130] The process of determining the motion state between the two devices does not require other position sensors such as laser sensors, but only relies on the voltage signal and current signal in the two electromagnetic coils, thereby improving the resource utilization on the equipment while reducing the occupied space and equipment configuration costs.

[0131] In this embodiment, without using position sensors such as laser sensors, the relative distance and relative speed between the two electromagnetic coils are observed in real time based only on the inherent characteristics of the electromagnetic coils in the device and the voltage signals and current signals in the electromagnetic coils of the two devices, thereby making full use of the electromagnetic coupling characteristics between the electromagnetic coils, that is, the ability to transmit voltage and current signals between the electromagnetic coils, and using the electromagnetic coils themselves as position sensors, thereby making full use of the function of the electromagnetic coils and reducing the resource occupation of a position sensor on the satellite, that is, effectively improving the resource utilization rate on the device (such as a satellite) without occupying extra space.

[0132] Example 2

[0133] like Figure 4 As shown, the method for determining the motion state of this embodiment is a further improvement on Embodiment 1, specifically:

[0134] In a possible embodiment, step S102 includes:

[0135] S1021, constructing a flux linkage reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter;

[0136] S1022, constructing a first flux linkage model based on the first current parameter and the second current parameter;

[0137] Specifically, step S1022 includes:

[0138] A double-layer neural network ANN is used to construct a first flux linkage model based on the first current parameter and the second current parameter; wherein the model parameters of the first flux linkage model correspond to the self-inductance parameter and the mutual inductance parameter.

[0139] In a possible embodiment, the formula corresponding to step S1021 is as follows:

[0140]

[0141] Among them, T is the first magnetic flux in the first electromagnetic coil, U T is the first voltage parameter, R T is the resistance of the first electromagnetic coil, i T is the first current parameter, Ψ C is the second magnetic flux in the second electromagnetic coil, U C is the second current parameter, R C is the resistance of the second electromagnetic coil, i C is the second current parameter;

[0142] The formula corresponding to the first flux linkage model constructed by using a two-layer neural network ANN based on the first current parameter and the second current parameter is as follows:

[0143] Ψ T =L T i T +M CT i C

[0144] Ψ C =L C i C +M TC i T

[0145] Among them, LT , L C 、M CT and M TC are the weight parameters of the model, L T Corresponding to the self-inductance parameter in the first electromagnetic coil, L C Corresponding to the self-inductance parameter in the second electromagnetic coil, M CT represents the mutual inductance parameter between the first electromagnetic coil and the second electromagnetic coil, M TC represents the mutual inductance parameter between the second electromagnetic coil and the first electromagnetic coil, and M CT With M TC Both are equal in size.

[0146] In a possible embodiment, step S103 includes:

[0147] S1031, calculating a first flux error corresponding to the first electromagnetic coil and a second flux error corresponding to the second electromagnetic coil according to the flux output by the first flux model and the flux output by the flux reference model;

[0148] S1032, adjusting initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain target weight parameters;

[0149] The target weight parameter corresponds to a first self-inductance parameter, a second self-inductance parameter and a mutual inductance parameter.

[0150] Specifically, step S1032 includes:

[0151] The error back propagation algorithm is used to design the weight adjustment network;

[0152] The initial weight parameters of the first flux linkage model are adjusted according to the weight adjustment network, and the weight parameters when the first flux linkage error and the second flux linkage error both meet the preset range are used as target weight parameters.

[0153] According to the inherent characteristics of the electromagnetic coil itself, when the relative distance between the first electromagnetic coil and the second electromagnetic coil is different, the self-inductance and mutual inductance of the two coils are also different, and the self-inductance and mutual inductance between the two coils are known functions of the relative distance.

[0154] For a given voltage U T , U C 、i T 、i C , if the relative distance is obtained by finite element analysis based on the weight parameter fitting of the two-layer neural network ANN The same as the target docking distance d, then the first magnetic flux error corresponding to the first electromagnetic coil is And the second flux error corresponding to the second electromagnetic coil should all be zero; when the relative distance If the docking distance d is different from the target, the first magnetic flux error and the second flux error Both are not zero. At this time, the weight parameters of the two-layer neural network ANN need to be adjusted or corrected. The specific process is as follows:

[0155] like Figure 5 As shown, it includes two input nodes, whose inputs represent the first current parameter i T (k-1) and the second current parameter i C (k-1) past value; and two output nodes, the output is the flux linkage of the first electromagnetic coil at the current moment The flux linkage with the second electromagnetic coil The weights L and M are both related to the relative distance and are adjustable adaptive weights.

[0156] The error back propagation algorithm is used to design the weight adjustment network, and the objective function is selected as:

[0157]

[0158] Where ε(k)=[ε T (k) ε C (k)] T .

[0159] The change in weight L can be expressed as:

[0160]

[0161] Similarly, the change in weight M can be expressed as:

[0162]

[0163] The weight adjustment expression can be obtained as follows:

[0164] L(k)=L(k-1)+ΔL(k)

[0165] M(k)=M(k-1)+ΔM(k)

[0166] In order to learn quickly, a larger learning rate should be selected, but this may cause oscillation of the ANN output. To avoid this, a momentum term can be introduced to adjust the influence of the (k-1)th weight change on the current kth weight calculation, so as to ensure the accelerated convergence of the iterative calculation. The improved weight adjustment expression is:

[0167] L(k)=L(k-1)+ΔL(k)+αΔL(k-1)

[0168] M(k)=M(k-1)+ΔM(k)+αΔM(k-1)

[0169] In a possible embodiment, step S104 includes:

[0170] S1041, performing fitting processing based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter by using finite element analysis to obtain a relative distance between the first electromagnetic coil and the second electromagnetic coil;

[0171] Specifically, the finite element analysis and experimental calibration are combined to finally obtain the fitting processing result to ensure the accuracy of the fitting result.

[0172] In addition, the size, material and other factors of the two electromagnetic coil devices can also be considered in the finite element analysis to finally obtain the fitting processing result and ensure the accuracy of the fitting result. How to fit the input parameters based on the finite element analysis to obtain the relative distance between the two is a mature technology in this field, so it will not be repeated here.

[0173] S1042. At the same sampling time, differentiate the relative distance to determine the relative speed between the first electromagnetic coil and the second electromagnetic coil.

[0174] According to the above formula, we can construct Figure 6 The state observer of the MRAS shown in the figure obtains the target weight parameters of the double-layer neural network ANN that meet the requirements through simulation calculation and experimental calibration of the inherent characteristics of the electromagnetic coil, and can obtain the functions of the self-inductance and mutual inductance of the two coils with respect to the relative distance. The relative distance between the first electromagnetic coil and the second electromagnetic coil is estimated based on the functions of the self-inductance and mutual inductance with respect to the relative distance by using finite element analysis; and then the observed value of the relative distance is differentiated at the same sampling time to obtain the observed value of the relative speed.

[0175] In this embodiment, without using position sensors such as laser sensors, the relative distance and relative speed between the two electromagnetic coils are observed in real time based only on the inherent characteristics of the electromagnetic coils in the device and the voltage signals and current signals in the electromagnetic coils of the two devices, thereby making full use of the electromagnetic coupling characteristics between the electromagnetic coils, that is, the ability to transmit voltage and current signals between the electromagnetic coils, and using the electromagnetic coils themselves as position sensors, thereby making full use of the function of the electromagnetic coils and reducing the resource occupation of a position sensor on the satellite, that is, effectively improving the resource utilization rate on the device (such as a satellite) without occupying extra space.

[0176] Example 3

[0177] The electromagnetic docking control method of this embodiment is applied to the first device, and the electromagnetic docking control method is implemented based on the motion state determination method in embodiment 1 or 2.

[0178] like Figure 7 As shown, the electromagnetic docking control method of this embodiment includes:

[0179] S201, adjusting a first control voltage for achieving docking between a first device and a second device according to motion state information;

[0180] S202: Apply the adjusted first control voltage to the first electromagnetic coil to achieve docking between the first device and the second device.

[0181] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0182] Example 4

[0183] The electromagnetic docking control method of this embodiment is a further improvement on Embodiment 3, specifically:

[0184] like Figure 8 As shown, when the motion state information includes the relative distance between the first device and the second device, step S201 includes:

[0185] S2011, determining a first difference between the relative distance and the target docking distance;

[0186] S2012, obtaining a first current parameter in the first electromagnetic coil, and determining a second difference between the first current parameter and the target current parameter;

[0187] S2013. Adjust the first control voltage according to the first difference and the second difference.

[0188] like Fig. 9 As shown, when the motion state information includes the relative distance and relative speed between the first device and the second device, step S201 includes:

[0189] S2014, determining a first difference between the relative distance and the target docking distance;

[0190] S2015, obtaining a first current parameter in the first electromagnetic coil, and determining a second difference between the first current parameter and the target current parameter;

[0191] S2016, determining a third difference between the relative speed and the target docking speed;

[0192] S2017. Adjust the first control voltage according to the second difference and the third difference, or the first difference, the second difference and the third difference.

[0193] Based on PI controller (proportional integral controller), three closed-loop control of position, speed and current is realized. Fig.10 As shown, specifically, the relative distance between the first electromagnetic coil (tracking electromagnetic coil) and the second electromagnetic coil (target electromagnetic coil) in the two desired devices, i.e., the target docking distance, is used as the given input signal of the position controller, and the observed relative distance is used as the feedback signal of the position controller, and the position controller outputs the desired relative speed, i.e., the target relative speed; the target relative speed is used as the given input signal of the speed controller, and the observed relative speed is used as the feedback signal of the speed controller, and the speed controller outputs the desired current, i.e., the target current parameter; the target current parameter is used as the given input signal of the current controller, and the first current parameter detected by the current sensor in the first device is used as the feedback signal of the current controller, and the output signal of the current controller is the desired coil end voltage, i.e., the adjusted first control voltage; the pulse generation module is triggered according to the first control voltage to generate a corresponding pulse signal, and is output to the driver to drive the first electromagnetic coil in the first device, and at this time, the first electromagnetic coil can also become a tracking electromagnetic coil.

[0194] Under the action of closed-loop control, the two electromagnetic coils generate currents of corresponding magnitudes and directions through control voltages of different magnitudes and directions, thereby generating controllable electromagnetic attraction or electromagnetic repulsion to effectively control the electromagnetic docking between the two devices.

[0195] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0196] Example 5

[0197] The electromagnetic docking control method of this embodiment is applied to the second device, and the electromagnetic docking control method is implemented based on the motion state determination method in embodiment 1 or 2.

[0198] like Fig.11 As shown, the electromagnetic docking control method of this embodiment includes:

[0199] S301, obtaining a second current parameter in a second electromagnetic coil;

[0200] S302, determining a fourth difference between the second current parameter and the target parameter;

[0201] S303: adjusting a second control voltage for achieving docking between the first device and the second device according to the fourth difference, or the motion state information determined by the motion state determination method in Embodiment 1 or 2 and the fourth difference;

[0202] S304: Apply the adjusted second control voltage to the second electromagnetic coil to achieve docking between the first device and the second device.

[0203] When the first device is a tracking electromagnetic device, the second device is a corresponding target electromagnetic device. The first electromagnetic coil is a tracking electromagnetic coil, and the second electromagnetic coil is a target electromagnetic coil.

[0204] like Fig.10 As shown, the set target current parameter is used as the given input signal of the current controller, and the second current parameter in the second electromagnetic coil detected by the current sensor in the second device is used as the feedback signal of the current controller. The output signal of the current controller is the desired coil end voltage, that is, the adjusted second control voltage; the pulse generating module is triggered according to the second control voltage to generate a corresponding pulse signal, and output it to the driver to drive the second electromagnetic coil in the second device.

[0205] In addition, three closed-loop controls of position, speed and current can be implemented in the second device based on the PI controller to ultimately obtain an adjusted second control voltage. The specific adjustment control process is similar to the process of obtaining the adjusted first control voltage in Example 5, so it will not be repeated here.

[0206] Under the action of closed-loop control, the two electromagnetic coils generate currents of corresponding magnitudes and directions through control voltages of different magnitudes and directions, thereby generating controllable electromagnetic attraction or electromagnetic repulsion to effectively control the electromagnetic docking between the two devices.

[0207] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0208] Example 6

[0209] The motion state determination system of this embodiment is applied to the first device and / or the second device. The first device is provided with a first electromagnetic coil, and the second device moving relative to the first device is provided with a second electromagnetic coil.

[0210] like Fig.12 As shown, the motion state determination system of this embodiment includes:

[0211] A first electrical signal acquisition module 1, used to acquire first electrical signal information in the first electromagnetic coil;

[0212] A second electrical signal acquisition module 2, used to acquire second electrical signal information in the second electromagnetic coil;

[0213] The first electrical signal information includes a first voltage parameter and a first current parameter, and the second electrical signal information includes a second voltage parameter and a second current parameter.

[0214] The first device and the second device are both provided with a voltage sensor and a current sensor, and these electrical signal information are detected in real time by the sensors in the corresponding devices.

[0215] A target model building module 3, used to build a target model based on the first electrical signal information and the second electrical signal information;

[0216] A parameter calculation module 4 is used to calculate a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween according to a target model;

[0217] The motion state information determining module 5 is used to determine the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

[0218] The motion state information includes but is not limited to the relative distance and relative speed between the first device and the second device.

[0219] The process of determining the motion state between the two devices does not require other position sensors such as laser sensors, but only relies on the voltage signal and current signal in the two electromagnetic coils, thereby improving the resource utilization on the equipment while reducing the occupied space and equipment configuration costs.

[0220] In this embodiment, without using position sensors such as laser sensors, the relative distance and relative speed between the two electromagnetic coils are observed in real time based only on the inherent characteristics of the electromagnetic coils in the device and the voltage signals and current signals in the electromagnetic coils of the two devices, thereby making full use of the electromagnetic coupling characteristics between the electromagnetic coils, that is, the ability to transmit voltage and current signals between the electromagnetic coils, and using the electromagnetic coils themselves as position sensors, thereby making full use of the function of the electromagnetic coils and reducing the resource occupation of a position sensor on the satellite, that is, effectively improving the resource utilization rate on the device (such as a satellite) without occupying extra space.

[0221] Example 7

[0222] like Fig.13 As shown, the motion state determination system of this embodiment is a further improvement of Embodiment 6, specifically:

[0223] The target model building module 3 of this embodiment includes:

[0224] A flux linkage reference model building unit 6, configured to build a flux linkage reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter;

[0225] The first flux linkage model building unit 7 is used to build a first flux linkage model based on the first current parameter and the second current parameter.

[0226] Specifically, the first flux model building unit 7 is used to build the first flux model based on the first current parameter and the second current parameter by using a double-layer neural network ANN; wherein the model parameters of the first flux model correspond to the self-inductance parameter and the mutual inductance parameter.

[0227] In a possible embodiment, the formula corresponding to the step of constructing the magnetic flux reference model by the magnetic flux reference model construction unit 6 is as follows:

[0228]

[0229] Among them, T is the first magnetic flux in the first electromagnetic coil, U T is the first voltage parameter, R T is the resistance of the first electromagnetic coil, i T is the first current parameter, Ψ C is the second magnetic flux in the second electromagnetic coil, U C is the second current parameter, R C is the resistance of the second electromagnetic coil, i C is the second current parameter;

[0230] The formula corresponding to the step of the first magnetic flux model building unit 7 building the first magnetic flux model is as follows:

[0231] Ψ T =L T i T +M CT i C

[0232] Ψ C =L C i C +M TC i T

[0233] Among them, L T , L C 、M CT and M TC are the weight parameters of the model, L T Corresponding to the self-inductance parameter in the first electromagnetic coil, LC Corresponding to the self-inductance parameter in the second electromagnetic coil, M CT represents the mutual inductance parameter between the first electromagnetic coil and the second electromagnetic coil, M TC represents the mutual inductance parameter between the second electromagnetic coil and the first electromagnetic coil, and M CT With M TC Both are equal in size.

[0234] The parameter calculation module 4 of this embodiment includes:

[0235] A flux error calculation unit 8 is used to calculate a first flux error corresponding to the first electromagnetic coil and a second flux error corresponding to the second electromagnetic coil according to the flux output by the first flux model and the flux output by the flux reference model;

[0236] A weight parameter adjustment unit 9 is used to adjust the initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain a target weight parameter;

[0237] The target weight parameter corresponds to a first self-inductance parameter, a second self-inductance parameter and a mutual inductance parameter.

[0238] Specifically, the weight parameter adjustment unit is used to design a weight adjustment network using an error back propagation algorithm, and adjust the initial weight parameters of the first flux model according to the weight adjustment network, and use the weight parameters when both the first flux error and the second flux error meet a preset range as target weight parameters.

[0239] According to the inherent characteristics of the electromagnetic coil itself, when the relative distance between the first electromagnetic coil and the second electromagnetic coil is different, the self-inductance and mutual inductance of the two coils are also different, and the self-inductance and mutual inductance between the two coils are known functions of the relative distance.

[0240] For a given voltage U T , U C 、i T 、i C , if the relative distance is obtained by finite element analysis based on the weight parameter fitting of the two-layer neural network ANN The same as the target docking distance d, then the first magnetic flux error corresponding to the first electromagnetic coil is And the second flux error corresponding to the second electromagnetic coil should all be zero; when the relative distance If the docking distance d is different from the target, the first magnetic flux error and the second flux error Both are not zero. At this time, the weight parameters of the two-layer neural network ANN need to be adjusted or corrected. The specific process is as follows:

[0241] like Figure 5 As shown, it includes two input nodes, whose inputs represent the first current parameter i T (k-1) and the second current parameter i C (k-1) past value; and two output nodes, the output is the flux linkage of the first electromagnetic coil at the current moment The flux linkage with the second electromagnetic coil The weights L and M are both related to the relative distance and are adjustable adaptive weights.

[0242] The error back propagation algorithm is used to design the weight adjustment network, and the objective function is selected as:

[0243]

[0244] Where ε(k)=[ε T (k) ε C (k)] T .

[0245] The change in weight L can be expressed as:

[0246]

[0247] Similarly, the change in weight M can be expressed as:

[0248]

[0249] The weight adjustment expression can be obtained as follows:

[0250] L(k)=L(k-1)+ΔL(k)

[0251] M(k)=M(k-1)+ΔM(k)

[0252] In order to learn quickly, a larger learning rate should be selected, but this may cause oscillation of the ANN output. To avoid this, a momentum term can be introduced to adjust the influence of the (k-1)th weight change on the current kth weight calculation, so as to ensure the accelerated convergence of the iterative calculation. The improved weight adjustment expression is:

[0253] L(k)=L(k-1)+ΔL(k)+αΔL(k-1)

[0254] M(k)=M(k-1)+ΔM(k)+αΔM(k-1)

[0255] In an embodiment, the motion state information determination module 5 is used to perform fitting processing based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter using finite element analysis to obtain the relative distance between the first electromagnetic coil and the second electromagnetic coil.

[0256] Specifically, the finite element analysis and experimental calibration are combined to finally obtain the fitting processing result to ensure the accuracy of the fitting result.

[0257] In addition, the size, material and other factors of the two electromagnetic coil devices can also be considered in the finite element analysis to finally obtain the fitting processing result and ensure the accuracy of the fitting result. How to fit the input parameters based on the finite element analysis to obtain the relative distance between the two is a mature technology in this field, so it will not be repeated here.

[0258] The motion state information determination module 5 is further used to differentiate the relative distance at the same sampling time to determine the relative speed between the first electromagnetic coil and the second electromagnetic coil.

[0259] According to the above formula, we can construct Figure 6 The state observer of the MRAS shown in the figure obtains the target weight parameters of the double-layer neural network ANN that meet the requirements through simulation calculation and experimental calibration of the inherent characteristics of the electromagnetic coil, and can obtain the functions of the self-inductance and mutual inductance of the two coils with respect to the relative distance. The relative distance between the first electromagnetic coil and the second electromagnetic coil is estimated based on the functions of the self-inductance and mutual inductance with respect to the relative distance by using finite element analysis; and then the observed value of the relative distance is differentiated at the same sampling time to obtain the observed value of the relative speed.

[0260] In this embodiment, without using position sensors such as laser sensors, the relative distance and relative speed between the two electromagnetic coils are observed in real time based only on the inherent characteristics of the electromagnetic coils in the device and the voltage signals and current signals in the electromagnetic coils of the two devices, thereby making full use of the electromagnetic coupling characteristics between the electromagnetic coils, that is, the ability to transmit voltage and current signals between the electromagnetic coils, and using the electromagnetic coils themselves as position sensors, thereby making full use of the function of the electromagnetic coils and reducing the resource occupation of a position sensor on the satellite, that is, effectively improving the resource utilization rate on the device (such as a satellite) without occupying extra space.

[0261] Example 8

[0262] The electromagnetic docking control system of this embodiment is in the first device, and the electromagnetic docking control system is implemented based on the motion state determination system in embodiment 6 or 7.

[0263] like Fig.14 As shown, the electromagnetic docking control system of this embodiment includes:

[0264] A first adjustment module 10, used for adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information;

[0265] The first voltage applying module 11 is used to apply the adjusted first control voltage to the first electromagnetic coil to achieve docking between the first device and the second device.

[0266] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0267] Example 9

[0268] The electromagnetic docking control system of this embodiment is a further improvement on the embodiment 8, specifically:

[0269] When the motion state information includes the relative distance between the first device and the second device, the first adjustment module 10 includes:

[0270] A first difference determination unit, used to determine a first difference between the relative distance and the target docking distance;

[0271] a second difference determination unit, configured to obtain a first current parameter in the first electromagnetic coil and determine a second difference between the first current parameter and a target current parameter;

[0272] The first voltage regulating unit is used to regulate the first control voltage according to the first difference and the second difference.

[0273] When the motion state information includes the relative distance and relative speed between the first device and the second device, the first adjustment module 10 includes:

[0274] A first difference determination unit, used to determine a first difference between the relative distance and the target docking distance;

[0275] a second difference determination unit, configured to obtain a first current parameter in the first electromagnetic coil and determine a second difference between the first current parameter and a target current parameter;

[0276] a third difference determination unit, used to determine a third difference between the relative speed and the target docking speed;

[0277] The second voltage regulating unit is used to regulate the first control voltage according to the second difference and the third difference, or the first difference, the second difference and the third difference.

[0278] Based on PI controller (proportional integral controller), three closed-loop control of position, speed and current is realized. Fig.10As shown, specifically, the relative distance between the first electromagnetic coil and the second electromagnetic coil in the two desired devices, i.e., the target docking distance, is used as the given input signal of the position controller, and the observed relative distance is used as the feedback signal of the position controller, and the position controller outputs the desired relative speed, i.e., the target relative speed; the target relative speed is used as the given input signal of the speed controller, and the observed relative speed is used as the feedback signal of the speed controller, and the speed controller outputs the desired current, i.e., the target current parameter; the target current parameter is used as the given input signal of the current controller, and the first current parameter detected by the current sensor in the first device is used as the feedback signal of the current controller, and the output signal of the current controller is the desired coil terminal voltage, i.e., the adjusted first control voltage; the pulse generation module is triggered according to the first control voltage to generate a corresponding pulse signal, and is output to the driver to drive the first electromagnetic coil in the first device, and at this time, the first electromagnetic coil can also become a tracking electromagnetic coil.

[0279] Under the action of closed-loop control, the two electromagnetic coils generate currents of corresponding magnitudes and directions through control voltages of different magnitudes and directions, thereby generating controllable electromagnetic attraction or electromagnetic repulsion to effectively control the electromagnetic docking between the two devices.

[0280] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0281] Example 10

[0282] The electromagnetic docking control system of this embodiment is applied to the second device, and the electromagnetic docking control system is implemented based on the motion state determination system in embodiment 6 or 7.

[0283] like Fig.15 As shown, the electromagnetic docking control system of this embodiment includes:

[0284] A current parameter acquisition module 12, used to acquire a second current parameter in the second electromagnetic coil;

[0285] A difference determination module 13, used to determine a fourth difference between the second current parameter and the target parameter;

[0286] The second voltage regulating module 14 is used to adjust the second control voltage used to achieve the connection between the first device and the second device according to the fourth difference, or according to the motion state information determined by the motion state determination system and the fourth difference;

[0287] The second voltage applying module 15 is used to apply the adjusted second control voltage to the second electromagnetic coil to achieve docking between the first device and the second device.

[0288] When the first device is a tracking electromagnetic device, the second device is a corresponding target electromagnetic device. The first electromagnetic coil is a tracking electromagnetic coil, and the second electromagnetic coil is a target electromagnetic coil.

[0289] like Fig.10 As shown, the set target current parameter is used as the given input signal of the current controller, and the second current parameter in the second electromagnetic coil detected by the current sensor in the second device is used as the feedback signal of the current controller. The output signal of the current controller is the desired coil end voltage, that is, the adjusted second control voltage; the pulse generating module is triggered according to the second control voltage to generate a corresponding pulse signal, and output it to the driver to drive the second electromagnetic coil in the second device.

[0290] In addition, three closed-loop controls of position, speed and current can be implemented in the second device based on the PI controller to ultimately obtain an adjusted second control voltage. The specific adjustment control process is similar to the process of obtaining the adjusted first control voltage in Example 5, so it will not be repeated here.

[0291] Under the action of closed-loop control, the two electromagnetic coils generate currents of corresponding magnitudes and directions through control voltages of different magnitudes and directions, thereby generating controllable electromagnetic attraction or electromagnetic repulsion to effectively control the electromagnetic docking between the two devices.

[0292] In this embodiment, the relative distance and relative speed observed in real time are used as feedback quantities for closed-loop control in the first device to adjust the control voltage, thereby generating controllable electromagnetic attraction or electromagnetic repulsion, thereby effectively improving the docking accuracy and efficiency between the two electromagnetic devices.

[0293] Embodiment 11

[0294] Fig.16 This is a schematic diagram of the structure of an electronic device provided in Embodiment 11 of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method provided in any of the above embodiments when executing the program. Fig.16 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0295] like Fig.16As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0296] The bus 33 includes a data bus, an address bus, and a control bus.

[0297] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0298] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0299] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the method provided in any of the above embodiments.

[0300] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model generating device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. Fig.16 As shown, the network adapter 36 communicates with other modules of the model-generated device via the bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0301] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0302] Example 12

[0303] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method provided in any of the above embodiments are implemented.

[0304] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0305] In a possible implementation manner, the present invention may also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps in the method provided in any of the above embodiments.

[0306] Among them, the program code for executing the present invention can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0307] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A method for determining a motion state, characterized in that: The determination method is applied to a first device and / or a second device, wherein the first device is provided with a first electromagnetic coil, and the second device that moves relative to the first device is provided with a second electromagnetic coil; The determination method comprises: Acquire first electrical signal information in the first electromagnetic coil and second electrical signal information in the second electromagnetic coil; Building a target model based on the first electrical signal information and the second electrical signal information; Calculate a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween according to the target model; The motion state information between the first electromagnetic coil and the second electromagnetic coil is determined based on the first self-inductance parameter, the second self-inductance parameter, and the mutual inductance parameter.

2. The method for determining the motion state according to claim 1, characterized in that: The first electrical signal information includes a first voltage parameter and a first current parameter, and the second electrical signal information includes a second voltage parameter and a second current parameter; The step of constructing a target model based on the first electrical signal information and the second electrical signal information comprises: constructing a flux linkage reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter; constructing a first flux linkage model based on the first current parameter and the second current parameter; The step of calculating the first self-inductance parameter in the first electromagnetic coil, the second self-inductance parameter in the second electromagnetic coil, and the mutual inductance parameter therebetween according to the target model comprises: Calculating a first flux error corresponding to the first electromagnetic coil and a second flux error corresponding to the second electromagnetic coil according to the flux output by the first flux model and the flux output by the flux reference model; adjusting initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain target weight parameters; The target weight parameter corresponds to the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

3. The method for determining the motion state according to claim 2, characterized in that: The step of constructing a first flux linkage model based on the first current parameter and the second current parameter comprises: A double-layer neural network ANN is used to construct the first flux linkage model based on the first current parameter and the second current parameter; wherein the model parameters of the first flux linkage model correspond to self-inductance parameters and mutual inductance parameters.

4. The method for determining the motion state according to claim 2, characterized in that: The step of adjusting the initial weight parameters of the first flux linkage model according to the first flux linkage error and the second flux linkage error to obtain target weight parameters includes: The error back propagation algorithm is used to design the weight adjustment network; The initial weight parameters of the first flux linkage model are adjusted according to the weight adjustment network, and the weight parameters when both the first flux linkage error and the second flux linkage error satisfy a preset range are used as the target weight parameters.

5. The method for determining the motion state according to claim 3, characterized in that: The formula corresponding to the step of constructing the flux reference model based on the first voltage parameter, the first current parameter, the second voltage parameter, and the second current parameter is as follows: Among them, T is the first magnetic flux in the first electromagnetic coil, U T For the first voltage parameter, R T is the resistance of the first electromagnetic coil, i T is the first current parameter, Ψ C is the second magnetic flux in the second electromagnetic coil, U C For the second current parameter, R C is the resistance of the second electromagnetic coil, i C is the second current parameter; The formula corresponding to the step of using a double-layer neural network ANN to construct the first flux linkage model based on the first current parameter and the second current parameter is as follows: Ψ T =L T i T +M CT i C Ψ C =L C i C +M TC i T Among them, L T , L C 、M CT and M TC are the weight parameters of the model, L T Corresponding to the self-inductance parameter in the first electromagnetic coil, L C Corresponding to the self-inductance parameter in the second electromagnetic coil, M CT represents the mutual inductance parameter between the first electromagnetic coil and the second electromagnetic coil, M TC represents the mutual inductance parameter between the second electromagnetic coil and the first electromagnetic coil, and M CT With M TC Both are equal in size.

6. The method for determining the motion state according to any one of claims 1 to 5, characterized in that: The step of determining the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter comprises: Finite element analysis is used to perform fitting processing based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter to obtain the relative distance between the first electromagnetic coil and the second electromagnetic coil.

7. The method for determining the motion state according to claim 6, characterized in that: After the step of obtaining the relative distance between the first electromagnetic coil and the second electromagnetic coil, the following step further comprises: At the same sampling time, the relative distance is differentiated to determine the relative speed between the first electromagnetic coil and the second electromagnetic coil.

8. An electromagnetic docking control method, characterized in that: Applied to the first device, the electromagnetic docking control method is implemented based on the method for determining the motion state according to any one of claims 1 to 7, and the electromagnetic docking control method includes: adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information; The adjusted first control voltage is applied to the first electromagnetic coil to achieve docking of the first device with the second device.

9. The electromagnetic docking control method according to claim 8, characterized in that: When the motion state information includes a relative distance between the first device and the second device, the step of adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information includes: Determining a first difference between the relative distance and the target docking distance; Acquire a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter; The first control voltage is adjusted according to the first difference and the second difference.

10. The electromagnetic docking control method according to claim 8, characterized in that: When the motion state information includes a relative distance and a relative speed between the first device and the second device, the step of adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information includes: Determining a first difference between the relative distance and the target docking distance; Acquire a first current parameter in the first electromagnetic coil, and determine a second difference between the first current parameter and a target current parameter; determining a third difference between the relative speed and the target docking speed; The first control voltage is adjusted according to the second difference and the third difference, or the first difference, the second difference and the third difference.

11. An electromagnetic docking control method, characterized in that: Applied to a second device, the second device is provided with a second electromagnetic coil, and the electromagnetic docking control method includes: acquiring a second current parameter in the second electromagnetic coil; determining a fourth difference between the second current parameter and a target parameter; According to the fourth difference, or the motion state information determined by the method for determining the motion state according to any one of claims 1 to 7 and the fourth difference, adjusting a second control voltage for achieving docking between the first device and the second device; The adjusted second control voltage is applied to the second electromagnetic coil to achieve docking of the first device and the second device.

12. A system for determining a motion state, characterized in that: The determination system is applied to a first device and / or a second device, wherein the first device is provided with a first electromagnetic coil, and the second device which moves relative to the first device is provided with a second electromagnetic coil; The determination system comprises: A first electrical signal acquisition module, used to acquire first electrical signal information in the first electromagnetic coil; A second electrical signal acquisition module, used to acquire second electrical signal information in the second electromagnetic coil; A target model building module, used to build a target model based on the first electrical signal information and the second electrical signal information; a parameter calculation module, configured to calculate, according to the target model, a first self-inductance parameter in the first electromagnetic coil, a second self-inductance parameter in the second electromagnetic coil, and a mutual inductance parameter therebetween; A motion state information determination module is used to determine the motion state information between the first electromagnetic coil and the second electromagnetic coil based on the first self-inductance parameter, the second self-inductance parameter and the mutual inductance parameter.

13. An electromagnetic docking control system, characterized in that: Applied to the first device, the electromagnetic docking control system is implemented based on the motion state determination system according to claim 12, and the electromagnetic docking control system includes: A first adjustment module, used for adjusting a first control voltage for achieving docking between the first device and the second device according to the motion state information; The first voltage applying module is used to apply the adjusted first control voltage to the first electromagnetic coil to achieve docking between the first device and the second device.

14. An electromagnetic docking control system, characterized in that: Applied to the second device, the second device is provided with a second electromagnetic coil, and the electromagnetic docking control system includes: A current parameter acquisition module, used to acquire a second current parameter in the second electromagnetic coil; a difference determination module, configured to determine a fourth difference between the second current parameter and a target parameter; A second voltage regulating module, configured to regulate a second control voltage for achieving docking between the first device and the second device according to the fourth difference, or the motion state information determined by the motion state determination system according to claim 12 and the fourth difference; The second voltage applying module is used to apply the adjusted second control voltage to the second electromagnetic coil to achieve docking between the first device and the second device.

15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for determining the motion state described in any one of claims 1 to 7 is implemented, or the electromagnetic docking control method described in any one of claims 8 to 10 is implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for determining the motion state described in any one of claims 1 to 7 is implemented, or the electromagnetic docking control method described in any one of claims 8 to 10 is implemented.

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