An electronic connector plugging method for high frequency signal transmission

Abstract

The application discloses a kind of electronic connector plug-in method for high-frequency signal transmission, belong to electronic connector control technical field.This method obtains the plug-in state parameter and signal transmission quality parameter of electronic connector, determines plug-in stage;Call the plug-in speed planning curve matched with this stage to drive the relative motion of male end and female end, real-time acquisition contact force feedback value and the characteristic impedance change value of signal transmission link;According to contact force feedback value and characteristic impedance change value adjustment speed parameter and acceleration parameter, generate dynamic compensation speed curve;Continue to drive according to dynamic compensation speed curve, until characteristic impedance change value is stable in the preset impedance range and contact force feedback value reaches locking trigger threshold, terminate plug-in.This method fuses high-frequency signal transmission link impedance characteristic and mechanical contact force feedback, dynamically optimizes plug-in speed curve.

Description

Technical Field

[0001] This invention relates to the field of electronic connector insertion and removal control technology, specifically to a method for inserting and removing electronic connectors for high-frequency signal transmission. Background Technology

[0002] Speed ​​control during the insertion and removal process of electronic connectors used for high-frequency signal transmission directly affects signal transmission quality and the mechanical lifespan of the connection. Existing insertion and removal methods mostly employ preset fixed speed curves or simple closed-loop control based on feedback from a single force sensor. Under fixed speed control, the insertion and removal action, from initial contact to final locking, typically executes a uniform speed command based solely on time or displacement, failing to perceive the impact of changes in the contact state between the male and female terminals on the signal transmission link. When the insertion and removal speed is too fast, the mechanical impact at the moment of contact between the male and female terminals causes a sharp change in the impedance of the signal transmission link, leading to reflection and attenuation of high-frequency signals. Conversely, too low a speed affects assembly efficiency and, during the sliding introduction stage, causes impedance fluctuations due to insufficient contact force, resulting in signal eye diagram closure or an increased bit error rate.

[0003] Some improved solutions introduce force feedback regulation, monitoring axial contact force and adjusting speed to prevent terminal overpressure deformation. However, for high-frequency signal transmission connectors, electrical performance depends not only on mechanical contact force but also on the continuity of the characteristic impedance of the signal transmission link. Even if the contact force is within a preset range during each insertion and removal phase, signal integrity issues caused by impedance mismatch may still occur if the rate of impedance change is not controlled. Existing technologies do not incorporate high-frequency signal transmission quality parameters into the insertion and removal control closed loop, lack dynamic response capabilities to real-time changes in characteristic impedance, and struggle to coordinate mechanical protection and signal stability during insertion and removal.

[0004] Therefore, this field needs to address the problem of accurately determining the insertion / removal stage based on the characteristic impedance change of the signal transmission link during the insertion / removal process, and matching differentiated speed curves to suppress signal damage caused by impedance jumps; it also needs to address the problem of using contact force feedback and characteristic impedance change as adjustment criteria simultaneously, and performing online dynamic compensation of speed and acceleration parameters to achieve real-time adaptive response of insertion / removal actions to the dual constraints of mechanical contact state and high-frequency electrical characteristics. Summary of the Invention

[0005] This invention provides a method for inserting and removing electronic connectors for high-frequency signal transmission, which solves the problem that existing insertion and removal control methods cannot simultaneously take into account the impedance stability of high-frequency signal transmission links and the adaptive adjustment of mechanical contact force, and achieves synergistic optimization of signal transmission quality and connection reliability during the insertion and removal process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides a method for inserting and removing an electronic connector for high-frequency signal transmission, comprising: acquiring insertion / removal status parameters and signal transmission quality parameters of the electronic connector for high-frequency signal transmission, wherein the electronic connector has a signal transmission link; determining the current insertion / removal stage of the electronic connector based on the insertion / removal status parameters and signal transmission quality parameters, wherein the insertion / removal stage includes an initial contact stage, a sliding introduction stage, and a locking stage; calling an insertion / removal speed planning curve matching the insertion / removal stage according to the inserted / removal stage; controlling the insertion / removal actuator to drive the male end and the female end to move relative to each other according to the called insertion / removal speed planning curve; and collecting the contact force feedback value between the male end and the female end and the characteristic impedance change value of the signal transmission link in real time during the relative movement; dynamically adjusting the speed parameters and acceleration parameters of the insertion / removal speed planning curve according to the contact force feedback value and the characteristic impedance change value to generate a dynamic compensation speed curve for the current insertion / removal process; continuing to drive the relative movement between the male end and the female end according to the dynamic compensation speed curve until the characteristic impedance change value is detected to be stable within a preset impedance range and the contact force feedback value reaches the locking trigger threshold, and terminating the current insertion / removal action.

[0007] By dividing the insertion and removal process into different stages and supplementing it with real-time feedback of contact force and characteristic impedance dual signals, it is possible to control the insertion and removal speed to reduce mechanical impact at the moment of contact while ensuring the continuity of signal transmission link impedance. This avoids terminal damage and signal abrupt changes caused by excessively fast insertion or removal or misalignment. Furthermore, the action is terminated only after confirming the reliability of the electrical connection during the locking stage, thus balancing high-frequency signal transmission quality and mechanical lifespan.

[0008] As a preferred embodiment of the present invention, the specific method for determining the insertion / removal stage is as follows: The insertion / removal state parameters are sampled to obtain the current relative displacement and current relative velocity between the male and female terminals; Fourier transform or wavelet transform is performed on the signal transmission quality parameters to extract the frequency domain response characteristics of the signal transmission link, from which the characteristic impedance change value is analyzed; the current relative displacement is compared with the initial contact displacement threshold, the sliding guide displacement threshold, and the locking position displacement threshold, and combined with the current relative velocity and characteristic impedance change value, the current insertion / removal stage of the electronic connector is determined. This multi-parameter joint determination method significantly improves the accuracy and real-time performance of stage identification, avoiding improper speed switching due to misjudgment of a single parameter.

[0009] Preferably, when calling the insertion / removal speed planning curve according to the insertion / removal stages, a first speed planning curve with a first speed peak and a first acceleration rising slope is called in the initial contact stage; a second speed planning curve with a second speed peak and a second acceleration rising slope is called in the sliding insertion stage; and a third speed planning curve with a third speed peak and a third acceleration falling slope is called in the locking stage. The second speed peak is greater than the first speed peak, the second acceleration rising slope is greater than the first acceleration rising slope, the third speed peak is less than the second speed peak, and the acceleration change rate of the third speed planning curve is negative. This staged speed curve design allows the male terminal to smoothly contact the female terminal at a lower speed, completes the intermediate section insertion with higher efficiency, and actively decelerates when approaching the locking position, reducing overshoot and springback, which is beneficial for the stable transition of the characteristic impedance.

[0010] The first, second, and third velocity planning curves mentioned above are preferably S-shaped or trapezoidal velocity planning curves to ensure continuous or segmented acceleration during motion and reduce flexible impact.

[0011] The preferred method for real-time acquisition of contact force feedback values ​​and characteristic impedance changes is as follows: During the relative movement between the male and female ends, axial contact force data along the insertion / removal direction is continuously acquired using a force sensor and filtered by moving average to obtain the contact force feedback value. Within the same time window, a test signal is injected through a signal transmission link, and the reflection coefficient is measured. The instantaneous impedance value is calculated based on the reflection coefficient, and the instantaneous impedance value is compared with a preset reference impedance value to obtain the characteristic impedance change value. Filtering and time-domain alignment effectively suppress measurement noise and improve the reliability of the feedback signal.

[0012] When generating a dynamic compensation speed curve based on the contact force feedback value and characteristic impedance change value, the preferred scheme is as follows: when the contact force feedback value exceeds the preset upper limit threshold of the contact force, reduce the speed parameter and make the acceleration parameter zero to prevent overload damage; when the contact force feedback value is lower than the preset lower limit threshold of the contact force, increase the speed parameter and increase the positive amplitude of the acceleration parameter to overcome abnormal resistance; when the characteristic impedance change value exceeds the preset upper limit threshold of the impedance change, reduce the speed parameter and decrease the positive amplitude of the acceleration parameter to smooth impedance fluctuations; when the characteristic impedance change value is lower than the preset lower limit threshold of the impedance change, maintain the current speed parameter and continue to operate according to the acceleration parameter corresponding to the insertion and extraction stage. Then, the speed parameter after speed adjustment and the acceleration parameter after acceleration adjustment are resubmitted into the original insertion and extraction speed planning curve to reconstruct the curve and generate a dynamic compensation speed curve. This dynamic compensation curve has different first compensation coefficients, second compensation coefficients, and third compensation coefficients in the initial contact stage, sliding introduction stage, and locking position stage, respectively, so that the compensation characteristics of each stage can be specifically matched with the mechanical and electrical response characteristics of that stage.

[0013] A further optimized approach for curve reconstruction is as follows: Obtain the original time node sequence and original node velocity sequence of the insertion / extraction speed planning curve; replace the velocity values ​​of the corresponding nodes with the adjusted velocity parameters to obtain the updated node velocity sequence; use the adjusted acceleration parameters as acceleration constraints between adjacent nodes; perform cubic spline interpolation on the updated node velocity sequence to generate a new time node sequence and a new node velocity sequence with continuous acceleration values; and fit the new sequences to generate a dynamic compensation velocity curve. This reconstruction method ensures that the velocity and acceleration remain continuous and smooth after adjustment, avoiding mechanical vibration and instantaneous signal link mismatch caused by parameter abrupt changes.

[0014] For determining the termination condition of insertion / removal, the following method is preferred: During the continued relative movement of the male and female terminals according to the dynamic compensation speed curve, the characteristic impedance change value is continuously monitored, and its variance within a preset sliding time window is calculated. When the variance value is less than the stability threshold, it is determined that the characteristic impedance change value has stabilized within the preset impedance range. After the characteristic impedance change value stabilizes, the contact force feedback value continues to be monitored. When the contact force feedback value is greater than or equal to the locking trigger threshold, an insertion / removal termination command is generated, controlling the insertion / removal actuator to stop driving and lock the current relative position of the male and female terminals. This method first confirms the electrical connection stability and then confirms that the mechanical locking force meets the standard, ensuring that the final connection state meets the dual requirements of high-frequency signal transmission and mechanical vibration from two aspects.

[0015] As another preferred embodiment of the present invention, before obtaining the insertion / removal status parameters and signal transmission quality parameters, a link pre-calibration step is further included: in response to the access detection signal of the electronic connector, a multi-frequency calibration signal is sent to the signal transmission link, the feedback calibration response signal is received, and the link loss factor and phase offset factor are calculated; a reference transmission parameter set for the signal transmission link is generated based on the link loss factor and phase offset factor, which serves as a reference for determining the characteristic impedance change value during subsequent insertion / removal processes. Through pre-calibration, the interference of differences in the link itself on the impedance determination threshold is eliminated, making this method more adaptable and consistent to connectors from different batches or under different operating conditions.

[0016] After terminating the current insertion / removal action, the judgment criteria can be further adaptively updated: the final relative displacement and final contact force feedback value at the time of termination are read; the final relative displacement is compared with a preset standard locking displacement to obtain the locking displacement deviation; and the final contact force feedback value is compared with a preset standard locking contact force value to obtain the locking contact force deviation. Based on the locking displacement deviation and locking contact force deviation, the locking trigger threshold and preset impedance range are updated for the judgment of the next insertion / removal process. This closed-loop self-learning mechanism enables the insertion / removal control parameters to automatically optimize as connector wear and operating conditions change, maintaining the stability of insertion / removal quality and signal transmission performance over the long term.

[0017] The technical effects and advantages provided by the present invention in the above technical solution are as follows: By acquiring the insertion / removal status parameters and signal transmission quality parameters of the electronic connector used for high-frequency signal transmission, and combining the current relative displacement and characteristic impedance change value, the insertion / removal stage is determined. For the initial contact stage, sliding insertion stage, and locking stage, insertion / removal speed planning curves with differentiated peak speeds and acceleration slopes are applied. In the initial contact stage, a lower peak speed and gentle acceleration are used to significantly suppress the characteristic impedance jump amplitude during the initial contact between the male and female terminals, reducing the reflection coefficient of the signal transmission link and preventing impedance abrupt changes caused by excessively fast initial speed from damaging the high-frequency signal integrity. In the sliding insertion stage, a higher peak speed and larger acceleration are used to increase the insertion rate while ensuring that the characteristic impedance change remains within the allowable fluctuation range. This ensures smooth impedance changes during continuous terminal wiping and insertion, maintaining signal transmission quality. In the locking stage, a reduced peak speed and negative acceleration change rate are used to gradually press the terminal in and stably establish full electrical contact, causing the characteristic impedance value to quickly converge to the preset impedance range. This segmented, differentiated speed planning method, which matches impedance variation trends, incorporates high-frequency signal transmission quality as a control objective into the insertion and removal phase division without additional hardware costs, thereby achieving proactive suppression of electrical characteristic degradation during the insertion and removal process.

[0018] During relative motion, the contact force feedback value and the characteristic impedance change value of the signal transmission link are collected in real time. These values ​​are compared with preset upper and lower thresholds for contact force and impedance change, respectively. Based on this, the speed and acceleration parameters of the insertion / removal speed planning curve are adjusted to reconstruct a dynamically compensated speed curve. When the contact force feedback value exceeds the upper threshold, the speed is reduced and the acceleration parameter is set to zero to prevent the contact force from continuing to increase and damaging the terminal surface plating, causing local impedance sag. When the contact force feedback value is below the lower threshold, the speed is increased and the positive acceleration amplitude is increased to help the male and female terminals reach the effective contact force range more quickly, avoiding high characteristic impedance and signal attenuation due to insufficient contact force. Simultaneously, when the characteristic impedance change value exceeds the upper threshold, the speed is reduced and the positive acceleration amplitude is decreased to slow down the rate of impedance disturbance caused by the relative motion of the male and female terminals and reduce the impedance oscillation amplitude. When the characteristic impedance change value is below the lower threshold, the speed is maintained and the system operates according to the acceleration parameters corresponding to the insertion / removal stage to ensure insertion / removal efficiency. After adjusting the speed and acceleration parameters, the original speed planning curve is re-substituted into cubic spline interpolation for reconstruction, generating a dynamic compensation speed curve with continuous acceleration. This ensures a smooth and abrupt adjustment of the insertion / removal speed, preventing impedance disturbances caused by acceleration jumps. This dynamic compensation mechanism, linking contact force and characteristic impedance, simultaneously responds to mechanical overstress and electrical mismatch risks within a single insertion / removal cycle. It adaptively suppresses impedance fluctuations and stably increases the contact force to the locking trigger threshold without requiring pre-set empirical data. This allows the high-frequency connector to quickly stabilize its characteristic impedance and accurately meet contact force requirements after insertion / removal, ensuring the long-term stability of the signal transmission link and the reliability of the mechanical connection. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 This is a flowchart of the insertion and removal method for electronic connectors used in high-frequency signal transmission; Figure 2 This is a flowchart of the method for determining the insertion and removal stages of electronic connectors; Figure 3 It is a flowchart of the insertion and removal control with segmented dynamic compensation and impedance stability detection; Figure 4 These are the frequency response curves of the link loss factor and phase offset factor of the signal transmission link of the high-frequency electronic connector. Figure 5 This is a schematic diagram of the speed planning curves for each insertion and removal stage of an electronic connector used for high-frequency signal transmission. Figure 6It is a dynamic curve showing the feedback value of contact force and the change value of characteristic impedance during the insertion and removal of electronic connectors used for high-frequency signal transmission. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] See Figure 1 This invention provides a method for mating and unmolding an electronic connector for high-frequency signal transmission, comprising: acquiring mating and unmold status parameters and signal transmission quality parameters of the electronic connector, wherein the electronic connector has a signal transmission link; determining the current mating and unmold stage of the electronic connector based on the mating and unmold status parameters and signal transmission quality parameters, wherein the mating and unmold stage includes an initial contact stage, a sliding introduction stage, and a locking stage; calling a mating and unmold speed planning curve matching the mating and unmold stage according to the mating and unmold speed planning curve; controlling the mating and unmold actuator to drive the male and female ends of the electronic connector to move relative to each other according to the mating and unmold speed planning curve; and collecting the contact force feedback value between the male and female ends and the characteristic impedance change value of the signal transmission link in real time during the relative movement; adjusting the speed parameters and acceleration parameters of the mating and unmold speed planning curve according to the contact force feedback value and the characteristic impedance change value to generate a dynamic compensation speed curve for the current mating and unmold process according to the dynamic compensation speed curve; and continuing to drive the relative movement between the male and female ends according to the dynamic compensation speed curve until the characteristic impedance change value is detected to be stable within a preset impedance range and the contact force feedback value reaches the locking trigger threshold, at which point the current mating and unmold action is terminated.

[0023] Example 1: In specific implementation, please refer to Figure 2 Before acquiring the insertion / removal status parameters and signal transmission quality parameters of the electronic connector used for high-frequency signal transmission, a multi-frequency calibration signal is sent to the signal transmission link of the electronic connector in response to the insertion detection signal. A calibration response signal is received from the signal transmission link, and the link loss factor and phase offset factor of the signal transmission link are calculated based on the multi-frequency calibration signal and the calibration response signal. In specific implementations, the insertion detection signal is generated by an in-situ detection sensor on the insertion / removal actuator, triggered when the male and female terminals enter a predetermined initial relative position. The multi-frequency calibration signal is a sweep signal containing N discrete frequency points, where N is 64, and the frequency points cover 0.8 to 1.2 times the nominal operating frequency range of the electronic connector. For each frequency point, the amplitude of the calibration signal is a fixed value. The phase is 0. The calibration response signal fed back from the signal transmission link is extracted through a directional coupler, and the response amplitude at each frequency point is obtained after analog-to-digital conversion. and response phase Link loss factor Obtained through the following formula:

[0024] in, This represents the frequency value of the i-th frequency point. Represents frequency The corresponding calibration response signal amplitude, This represents the fixed amplitude of the multi-frequency calibration signal. Phase offset factor. Depend on It is obtained directly. The link loss factor and phase offset factor corresponding to all frequency points are combined to generate the reference transmission parameter set of the signal transmission link. The reference transmission parameter set contains the reference insertion loss curve and the reference phase offset curve, and is stored in the controller in the form of a lookup table, which is used as a reference for determining the characteristic impedance change value during subsequent insertion and removal processes.

[0025] The insertion / removal status parameters are sampled to obtain the current relative displacement and velocity between the male and female terminals. In specific implementations, the insertion / removal status parameters are acquired using displacement and velocity sensors mounted on the insertion / removal actuator. The displacement sensors employ optical grating rulers to measure the linear displacement of the male terminal relative to the female terminal along the insertion / removal direction, with a sampling period of 0.5 milliseconds. The displacement value obtained at each sampling moment is used as the current relative displacement. The current relative velocity is calculated by dividing the displacement difference between two consecutive sampling moments by the sampling period, which can be obtained without an additional velocity sensor. Fourier transform or wavelet transform is performed on the signal transmission quality parameters to extract the frequency domain response characteristics of the signal transmission link, and the characteristic impedance change value is analyzed from the frequency domain response characteristics. In specific implementations, the signal transmission quality parameters are the time-domain reflection parameters or transmission parameters of the broadband signal transmitted through the signal transmission link. Specifically, during the relative motion between the male and female terminals, a pulse signal with a width of 100 picoseconds is injected into the signal transmission link by a time-domain reflectometer, and the time-domain waveform of the reflected signal is acquired. A Fast Fourier Transform (FFT) is performed on the time-domain waveform of the acquired reflected signal to obtain the frequency-domain representation Γ(f) of the reflection coefficient. According to transmission line theory, the instantaneous impedance value of the signal transmission link... (f) Determined by the following formula:

[0026] in, The characteristic impedance of the signal transmission link is taken as 50 ohms. Let f be the reflection coefficient at frequency f. The average of the instantaneous impedance values ​​across multiple frequency points within the operating frequency band is taken as the current instantaneous impedance value. This current instantaneous impedance value is compared with a preset reference impedance value, which is the impedance reference value corresponding to the same relative displacement in the reference transmission parameter set. The absolute difference between the two is calculated to obtain the characteristic impedance change value. The characteristic impedance change value is updated in real time in ohms.

[0027] The current relative displacement is compared with preset initial contact displacement thresholds, sliding guide displacement thresholds, and locking-in displacement thresholds. Combined with the current relative velocity and characteristic impedance change, the system determines whether the electronic connector is currently in the initial contact stage, sliding guide stage, or locking-in stage. In practice, the initial contact displacement threshold is set as the empirical displacement value when the male and female terminals move from complete separation to initial electrical contact. The sliding guide displacement threshold is set as the empirical displacement value at the starting point when the male contact begins to enter the elastic deformation range of the female contact. The locking-in displacement threshold is set as the theoretical displacement value when the male and female mechanical latches complete engagement. These three thresholds are pre-stored in the controller's non-volatile memory. When the current relative displacement is less than the initial contact displacement threshold and the characteristic impedance change is greater than the impedance jump start threshold, the electronic connector is determined to be in the initial contact stage. The impedance jump start threshold is set as the threshold for the characteristic impedance change to abruptly change from near zero to non-zero, specifically set to 3 ohms. This value is determined based on engineering experience that the impedance change during the initial establishment of the connector contact resistance is in the range of 2 to 5 ohms. When the current relative displacement is greater than or equal to the initial contact displacement threshold and less than the sliding lead-in displacement threshold, and the current relative velocity is greater than the velocity maintenance threshold and the characteristic impedance change value changes within the impedance fluctuation range, the electronic connector is determined to be in the sliding lead-in stage. The velocity maintenance threshold is set to 0.5 mm / s; below this value, the action is considered to be stagnant. The impedance fluctuation range is defined as the range where the characteristic impedance change value continuously changes between 1 ohm and 8 ohms without a monotonically converging trend. When the current relative displacement is greater than or equal to the locking position displacement threshold, and the characteristic impedance change value is less than the impedance convergence threshold, and the contact force feedback value shows a monotonically increasing trend, the electronic connector is determined to be in the locking position stage. The impedance convergence threshold is set to 1.5 ohms. The contact force feedback value is acquired in real time through a force sensor. If the contact force feedback value continuously increases without retraction within multiple consecutive sampling cycles, it is determined to show a monotonically increasing trend. The above determination logic is executed once in each sampling cycle to determine the insertion / removal stage of the electronic connector in real time.

[0028] See Figure 4In the graph, the horizontal axis represents frequency, ranging from 8.0 GHz to 12.0 GHz. The left side of the vertical axis corresponds to the link loss factor α(f), in dB, and the right side corresponds to the phase offset factor φ(f), in radians. The solid curve represents the trend of the link loss factor α(f) with frequency, and the dashed curve with dots represents the phase offset factor. (f) Trend with frequency. The link loss factor α(f) shows a gradual decreasing trend with increasing frequency, decreasing from approximately -1.2 dB to approximately -2.2 dB. The curve exhibits slight high-frequency jitter fluctuations, but the overall change is smooth, reflecting the insertion loss characteristics of the signal transmission link at high frequencies. Phase offset factor (f) shows a linear increasing trend with increasing frequency, increasing from about -4 radians to about 4 radians. The curve also has a small noise fluctuation, indicating the frequency-related phase shift generated when the signal is transmitted through the link.

[0029] The link loss factor and phase offset factor shown in the figure represent the specific characteristics of the reference transmission parameter set calculated based on multi-frequency calibration signals and calibration response signals in Embodiment 1 of this invention. The curves shown serve as reference insertion loss curves and reference phase offset curves, stored in the controller as reference values ​​for characteristic impedance changes during subsequent insertion and removal processes. The frequency points cover 0.8 to 1.2 times the nominal operating frequency range of the electronic connector, ensuring accurate judgment of signal transmission quality during actual insertion and removal dynamic processes, and assisting in the determination and dynamic speed adjustment of the insertion and removal phases. This figure reflects the loss and phase characteristics of the signal transmission link at different frequency points, providing a basic criterion for obtaining and analyzing insertion and removal status parameters and signal transmission quality parameters. It supports the accurate calculation and judgment of instantaneous impedance values ​​and their changes in the insertion and removal method of this invention, promoting high-frequency signal integrity assurance during the insertion and removal process.

[0030] Example 2: When the insertion / removal phase is the initial contact phase, the first velocity planning curve is invoked. This curve has a first velocity peak and a first acceleration rise slope, with the first velocity peak being smaller than the second velocity peak. In practice, the first velocity planning curve is an S-shaped curve, generated using a seven-segment velocity planning method. The first velocity peak is set. The value is 2.0 mm / s. This value is based on the fact that the male and female ends have just made contact during the initial contact phase. To suppress contact rebound and avoid damage to the contact surface, the relative motion speed is limited to a low level. The slope of the first acceleration rise... Defined as the absolute value of jerk during the acceleration phase, taking the value of This allows the acceleration to smoothly increase from zero to maximum acceleration within 0.25 seconds. The curvature transition of the corresponding S-curve is smooth. When the first speed planning curve is invoked, the controller extracts the time-speed sequence of the curve from the pre-stored curve library as the initial speed command for the insertion and removal actuator.

[0031] When the insertion / removal phase is the sliding introduction phase, the second velocity planning curve is invoked. This second velocity planning curve has a second velocity peak and a second acceleration rise slope. The second velocity peak is greater than the first velocity peak, and the second acceleration rise slope is greater than the first acceleration rise slope. In specific implementation, the second velocity planning curve is also an S-shaped velocity planning curve. (Second velocity peak...) The setting of 10.0 mm / s is based on the fact that when the male contact slides within the elastic deformation range of the female contact, a higher insertion speed is allowed to improve insertion and extraction efficiency without causing plastic deformation. The second acceleration rise slope... Values This causes the acceleration to rise from zero to maximum acceleration within 0.25 seconds. This is to accommodate faster response times. The slope of the second acceleration is greater than that of the first acceleration, ensuring that the target speed can be reached quickly during the sliding introduction phase.

[0032] When the insertion / removal phase is in the locked-in stage, the third speed planning curve is invoked. This curve has a third speed peak and a third acceleration descent slope. The third speed peak is less than the second speed peak, and the acceleration change rate of the third speed planning curve is negative. In specific implementation, the third speed planning curve is an S-shaped speed planning curve, and the third speed peak is set... The speed is 1.0 mm / s, lower than the peak speed of the first velocity. This is to achieve precise position control during the locking phase and avoid overshoot that could cause overpressure on the locking mechanism. The third acceleration descent slope... Defined as the absolute value of acceleration during the deceleration phase, with a value of The driving acceleration gradually decreases from a maximum positive value to a negative value, achieving a smooth decrease in speed until it approaches zero, resulting in extremely low relative motion speed when approaching the locking position displacement threshold. The rate of change of acceleration of the third speed planning curve remains negative throughout the locking position phase, meaning the jerk command is negative, ensuring a continuous monotonically decreasing speed.

[0033] The first, second, and third velocity planning curves are all pre-generated through offline calculations and stored in the non-volatile memory of the plug-in controller, retrieved via a lookup table. The time node sequence of each S-shaped velocity planning curve is obtained by solving a seven-segment jerk constraint to ensure that displacement, velocity, and acceleration are continuous at the connection points between segments.

[0034] During the relative movement between the male and female terminals, a force sensor continuously collects axial contact force data along the insertion / removal direction between them. The axial contact force data is then filtered using a moving average to obtain the contact force feedback value. In this implementation, the force sensor is a strain gauge type, installed between the moving end of the insertion / removal actuator and the male connector. Its range is 0 to 50 Newtons, and the output analog voltage signal is converted into a digital value by a 16-bit analog-to-digital converter at a sampling rate of 2 kHz. The window length for the moving average filter is set to 10 sampling points, corresponding to a time span of 5 milliseconds. The moving average operation is performed once after each new sampling point, outputting the contact force feedback value at the current moment, thereby effectively suppressing high-frequency noise introduced by mechanical vibration.

[0035] Within the same time window, a test signal is injected through the signal transmission link and the reflection coefficient is measured. The instantaneous impedance value of the signal transmission link is calculated based on the reflection coefficient, and then compared with a preset reference impedance value to obtain the characteristic impedance change value. In specific implementations, the test signal is generated by a vector network analysis module integrated into the plug-in controller, and is a frequency... A single-frequency continuous wave signal with an amplitude of 0 dB / mW and a frequency of 1.0 GHz was used as the test signal. This signal was injected into the signal transmission link through a wide-side directional coupler. The main line of the directional coupler was connected in series in the signal path at either the male or female end, and the coupling end was connected to the receiving port of the vector network analysis module. The vector network analysis module simultaneously measured the amplitude and phase of the incident signal and the reflected signal to obtain the complex reflection coefficient. Instantaneous impedance value of the signal transmission link Calculated using the following formula:

[0036] in, The preset reference impedance value is 50 ohms, which is consistent with the nominal characteristic impedance value designed for the signal transmission link. The measured complex reflection coefficient is expressed in terms of its real and imaginary parts. The instantaneous impedance value is calculated... Then, the characteristic impedance change value is taken as the instantaneous impedance value. With preset reference impedance value The absolute value of the difference, i.e. The calculation rate of the characteristic impedance change value is synchronized with the reflection coefficient measurement rate, both at 100 times / second, thus aligning with the force feedback value sampling in the time window, and are used together to generate the subsequent dynamic compensation velocity curve.

[0037] See Figure 5The figure shows three preset insertion / removal speed planning curves corresponding to Embodiment 2. The horizontal axis represents time (in seconds), and the vertical axis represents speed (in millimeters / second). The three curves are the first speed planning curve (solid line), the second speed planning curve (dashed line), and the third speed planning curve (dotted line), corresponding to the initial contact stage, the sliding introduction stage, and the locking stage in the electronic connector insertion / removal process.

[0038] The first velocity planning curve reflects the velocity change characteristics during the initial contact phase. The curve rises smoothly to a peak of approximately 2.0 mm / s, and the velocity is maintained for a relatively long time before gradually decreasing to zero. The low peak velocity during this phase meets the design objective of controlling relative motion velocity to suppress contact rebound and avoid damage to the contact surface.

[0039] The second speed planning curve represents the sliding introduction phase. The curve rises rapidly to a peak of approximately 10.0 mm / s and remains at the peak for a relatively long time, indicating a high speed level and a fast acceleration response, before rapidly decreasing to zero. This curve reflects the technical requirement that the sliding introduction phase allows for higher speeds to improve insertion and extraction efficiency, while the acceleration rise slope is significantly greater than that of the first speed planning curve, ensuring that the set speed is reached quickly.

[0040] The third speed planning curve corresponds to the locking phase, with a peak speed of approximately 1.0 mm / s, significantly lower than the first speed peak. The curve rises slowly and gradually, maintaining a low speed before decreasing to zero. The acceleration change rate is negative, ensuring a monotonically decreasing speed curve, enabling precise position control of the insertion and removal actions, and preventing overshoot and overload of the locking mechanism.

[0041] All three velocity planning curves exhibit typical S-shaped curve characteristics, meeting the smooth velocity planning requirements generated by the seven-segment acceleration constraint, ensuring the continuity and smooth transition of velocity and acceleration in each stage. The overall curve time range is controlled within 2 seconds, meeting the real-time control requirements of insertion and removal actions.

[0042] Example 3: In practice, the contact force feedback value is compared with preset upper and lower contact force thresholds. The preset upper contact force threshold is set to 15.0 Newtons, based on the elastic limit pressure of the copper alloy contacts used in the electronic connector divided by a safety factor of 1.5, to prevent the contact force from entering the plastic deformation zone. The preset lower contact force threshold is set to 2.0 Newtons, based on the minimum positive pressure required to maintain reliable electrical contact between the male and female terminals. When the contact force feedback value exceeds the preset upper contact force threshold, the speed parameter of the insertion / removal speed planning curve is reduced from the current speed value to 50% of the original speed value, and the acceleration parameter of the insertion / removal speed planning curve is set to zero, so that the insertion / removal actuator operates at a reduced constant speed and no longer accelerates, preventing the contact force from increasing further. When the contact force feedback value is lower than the preset lower contact force threshold, the speed parameter of the insertion / removal speed planning curve is increased to 120% of the original speed value, and the positive amplitude of the acceleration parameter of the insertion / removal speed planning curve is increased to 1.5 times the acceleration parameter corresponding to the current insertion / removal stage, to accelerate the recovery of contact force through relative motion.

[0043] Simultaneously, the characteristic impedance change value is compared with preset upper and lower impedance change thresholds. The preset upper impedance change threshold is set to 10.0 ohms because a sudden change in signal transmission link impedance exceeding 10 ohms will cause the signal reflection coefficient to exceed 0.09, resulting in a non-negligible degradation of signal integrity. The preset lower impedance change threshold is set to 2.0 ohms because the contact state is basically stable when the impedance change is below 2 ohms, requiring no further adjustment. When the characteristic impedance change value exceeds the preset upper impedance change threshold, the speed parameter of the insertion / removal speed planning curve is reduced to 60% of the original speed value, and the positive amplitude of the acceleration parameter of the insertion / removal speed planning curve is reduced to 50% of the acceleration parameter corresponding to the current insertion / removal stage, in order to slow down the rate of change of the contact surface state and suppress drastic impedance fluctuations. When the characteristic impedance change value is below the preset lower impedance change threshold, the current speed parameter of the insertion / removal speed planning curve remains unchanged, and it continues to operate according to the acceleration parameter corresponding to the current insertion / removal stage without additional adjustments.

[0044] The aforementioned velocity and acceleration parameters are adjusted once per control cycle, which is 1 millisecond. The adjusted velocity and acceleration parameters are then sent to the curve reconstruction module.

[0045] The adjusted velocity parameters and adjusted acceleration parameters are then substituted back into the insertion / removal velocity planning curve to reconstruct the curve, generating a dynamically compensated velocity curve. In practice, the original time node sequence and original node velocity sequence of the insertion / removal velocity planning curve are extracted from the S-shaped velocity planning curve of the current invocation phase. The original time node sequence contains M time values, denoted as... The original node velocity sequence contains the velocity values ​​at the corresponding time nodes, denoted as . The adjusted velocity parameters replace the corresponding velocity values ​​in the original node velocity sequence to obtain the updated node velocity sequence. The replacement method is as follows: for each time node after the current moment, if a new target velocity value is generated after velocity adjustment... Then, update the velocity value of the nearest future node in the original node velocity sequence to the value of the node closest to the current time. And keeping the velocity values ​​of the remaining nodes unchanged, we obtain the updated node velocity sequence. .

[0046] The adjusted acceleration parameters are used as acceleration constraints between adjacent nodes. Cubic spline interpolation is performed on the updated node velocity sequence to generate a new time node sequence and a new node velocity sequence with continuous acceleration values. In practice, the acceleration constraints are applied through the natural boundary conditions of cubic spline interpolation; that is, between two adjacent time nodes, the velocity curve is a cubic polynomial, and the polynomial coefficients are jointly determined by the node velocity and node acceleration values. For the nth segment of the curve, the time interval is [...]. , The velocity values ​​of the two ends of this interval are respectively and The acceleration values ​​of the two end nodes are respectively and ,in and The acceleration parameters are assigned values ​​after acceleration adjustment. By solving the three bending moment equations, the linear acceleration function for each curve segment is obtained, and then the velocity function is obtained through integration. The new time node sequence is encrypted at 0.1 millisecond intervals based on the original time node sequence, resulting in a total of P new time nodes. The corresponding new node velocity sequence The following constraint must be satisfied:

[0047] in, This represents the velocity value of the p-th new node in the new node velocity sequence. This represents the time value of the p-th new time node in the new time node sequence, which falls within the original node interval []. , ]Inside. This indicates updating the velocity value of the nth node in the node velocity sequence. and These represent the updated time values ​​for the nth and (n+1)th time nodes, respectively. and These represent the adjusted acceleration parameter values ​​at the nth and (n+1)th nodes, respectively. The variable is the integral variable. This formula ensures the continuity of the acceleration curve through the linear acceleration assumption, and the velocity and acceleration values ​​strictly match the adjusted parameters at the nodes.

[0048] Based on the new time node sequence and the new node velocity sequence, a dynamic compensation velocity curve is generated. In specific implementation, the new time node sequence and the new node velocity sequence are stored in the controller memory in the form of a linear interpolation table. The plug-in actuator looks up the corresponding velocity command value according to the current time in each control cycle, so as to realize the drive according to the dynamic compensation velocity curve.

[0049] Example 4: In specific implementation, please refer to Figure 3 The dynamic compensation speed curve has a first compensation coefficient in the initial contact stage. It has a second compensation coefficient during the sliding introduction phase. It has a third compensation coefficient during the locking phase. First compensation coefficient Second compensation coefficient and the third compensation coefficient They are all different. First compensation coefficient. The value is 0.55, the second compensation coefficient. The value is 0.85, the third compensation coefficient. The value is 0.25. First compensation coefficient. The value is determined based on the fact that during the initial contact stage, the contacting elements have just made contact and are extremely sensitive to changes in contact force. A smaller compensation coefficient is used to limit the speed adjustment range and avoid overshoot that could cause contact rebound or fretting wear on the contact surface. Second compensation coefficient The value is determined based on the fact that the contact element is in the elastic sliding range during the sliding introduction stage, allowing for a faster speed response. A higher compensation coefficient is used to speed up the adjustment process and improve insertion and extraction efficiency. Third compensation coefficient The value is determined based on the fact that the locking mechanism is nearing the engagement endpoint during the locking phase, requiring fine-tuning. A lower compensation coefficient is used to reduce speed adjustment sensitivity and prevent overshoot of the locking mechanism that could cause plastic deformation or a step change in signal link impedance. During the generation of the dynamic compensation speed curve, the first compensation coefficient... Second compensation coefficient and the third compensation coefficient As the speed parameter adjustment factor for the corresponding stage, when the speed parameter adjustment is triggered by the change in contact force feedback value or characteristic impedance value, the original preset adjustment amount is multiplied by the compensation coefficient of the corresponding stage to obtain the actual speed adjustment amount, thereby generating a dynamic compensation speed curve that adapts to the characteristics of each insertion and extraction stage.

[0050] During the relative motion between the male and female terminals driven according to the dynamic compensation speed curve, the characteristic impedance change is continuously monitored. The sampling period for the characteristic impedance change is 2 milliseconds, and the current characteristic impedance change value is obtained after each sampling. The preset sliding time window length is set to 200 milliseconds, corresponding to 100 characteristic impedance change value sampling points. In each sampling period, the variance of the 100 consecutive characteristic impedance change values ​​within the preset sliding time window is calculated. :

[0051] in, This represents the total number of sampling points for the characteristic impedance change value within the preset sliding time window, and is set to a fixed value of 100. This indicates the sequence number of the sampling point for the characteristic impedance change value within the preset sliding time window. The value of is an integer ranging from 1 to 100; Indicates the first time within the preset sliding time window Each characteristic impedance change is sampled, and the unit is ohms; This represents the arithmetic mean of all sampled characteristic impedance change values ​​within a preset sliding time window, i.e. The unit is ohms.

[0052] When the variance value When the characteristic impedance change is less than the stability threshold, the change is determined to be stable within the preset impedance range. The stability threshold is set to 0.3 ohms squared. This value is based on the fact that the variance of the measurement noise floor of the characteristic impedance change is approximately 0.1 ohms squared. Taking three times the measurement noise floor as the stability threshold can effectively filter out misjudgments caused by measurement noise. The preset impedance range is defined as a characteristic impedance change between -2.0 ohms and 2.0 ohms, corresponding to a difference between the instantaneous impedance value of the signal transmission link and the preset reference impedance value within the design tolerance range.

[0053] After confirming that the characteristic impedance change value stabilizes within the preset impedance range, the contact force feedback value continues to be monitored. The contact force feedback value is continuously output by the force sensor at a sampling rate of 1 kHz and updated after being filtered by a moving average. The locking trigger threshold is set to 18.0 Newtons, which is determined based on 90% of the measured locking force required for the electronic connector's locking structure to be fully engaged, ensuring that the latch actually enters the locked state without overloading. The contact force feedback value is compared with the locking trigger threshold on a sampling cycle basis. When the contact force feedback value is greater than or equal to the locking trigger threshold, a mating termination command is immediately generated.

[0054] The insertion / removal termination command is a logic level signal transmitted to the enable terminal of the motor driver of the insertion / removal actuator. Based on the termination command, the motor driver cuts off the motor drive current and simultaneously activates the brake to lock the motor output shaft position, thereby locking the current relative position of the male and female terminals and completing the insertion / removal action.

[0055] See Figure 6 In the graph, the horizontal axis represents the time of the insertion and removal process in seconds; the left vertical axis represents the characteristic impedance change in ohms; and the right vertical axis represents the contact force feedback value in Newtons. The solid curve in the graph represents the characteristic impedance change value, the dashed curve represents the contact force feedback value, and the three horizontal dashed lines represent the lower limit of the preset impedance range (approximately -2 ohms), the upper limit of the preset impedance range (approximately 8 ohms), and the lockout trigger threshold (approximately 18 Newtons), respectively.

[0056] Starting from time 0, the characteristic impedance change rapidly decreases from approximately 8 ohms to a negative value of approximately -5 ohms, while the contact force feedback value increases linearly from approximately 5 Newtons. This indicates that the electronic connector has entered the initial contact stage, with the male and female contacts making initial contact, impedance transition initiation, and contact force gradually building up. Around 0.4 seconds, the characteristic impedance change reaches its lowest point and then begins to rise, gradually increasing from a negative value and reaching approximately 2 ohms in about 1 second. The contact force feedback value maintains a continuous upward trend. This stage corresponds to the sliding introduction stage, where the male contact slides within the elastic deformation range of the female contact, impedance fluctuations gradually decrease, and contact force increases.

[0057] Within a time interval of 1 to 3 seconds, the characteristic impedance fluctuates around 0 ohms, remaining within the preset impedance range (-2 ohms to 8 ohms), with the fluctuation amplitude gradually decreasing and stabilizing. The contact force feedback value continues to rise and eventually approaches the locking trigger threshold of 18 Newtons. This stage corresponds to the locking stage, where the male and female mechanical latches gradually engage, the impedance reaches the design tolerance range, and the contact force reaches the locking state.

[0058] The comparison between the contact force feedback value and the locking trigger threshold in the figure shows that when the contact force reaches or exceeds the locking threshold, the insertion / removal action terminates, ensuring the connector is in a reliable locked state. The characteristic impedance change value is continuously monitored and maintained within a preset impedance range, reflecting the stability of the signal transmission link impedance and ensuring signal integrity.

[0059] Example 5: In practice, after the insertion / removal termination command is executed, the insertion / removal actuator stops driving and locks the current relative positions of the male and female terminals, the insertion / removal controller reads the recorded data at the moment of termination of this insertion / removal process from its internal data register. The recorded data includes the final relative displacement and the final contact force feedback value. The final relative displacement is the relative displacement value collected by the displacement sensor at the moment of insertion / removal termination, expressed as... The unit is millimeters, with an accuracy of 0.001 millimeters; the final contact force feedback value is the contact force value collected by the force sensor at the moment of insertion / removal termination and filtered by moving average, expressed as: The unit is Newton, rounded to a precision of 0.01 Newtons. The preset standard locking displacement is expressed as... This is the theoretical relative displacement value, in millimeters, when the male and female terminals are fully locked, as specified in the electronic connector design drawings. It is pre-stored in the controller's non-volatile memory. The locking displacement deviation is calculated using the following formula:

[0060] in, This indicates the locking displacement deviation, in millimeters. This represents the final relative displacement. This represents the preset standard locking displacement. The preset standard locking contact force value is expressed as... This is the statistical average of the contact force measured at the standard locking displacement during the factory testing of the electronic connector, measured in Newtons, and pre-stored in the controller's non-volatile memory. The locking contact force deviation is calculated using the following formula:

[0061] in, This indicates the deviation of the locking contact force, in Newtons. This indicates the final contact force feedback value; This indicates the preset standard locking contact force value.

[0062] Based on the locked displacement deviation and locking contact force deviation The lockout trigger threshold and preset impedance range are updated and used as a judgment benchmark in the next insertion / removal process. The specific method for updating the lockout trigger threshold is as follows: The current lockout trigger threshold is... Deviation from locking contact force By substituting the threshold update rules together, we can obtain the updated lock trigger threshold. The threshold update rule is set as follows: when When less than or equal to 0.5 Newtons, Maintain the current lock trigger threshold Unchanged; when Greater than 0.5 Newtons and When it is greater than 0.02 mm, ;when Greater than 0.5 Newtons and When less than or equal to 0.02 mm, .in, This represents the force deviation adjustment coefficient, which is 0.25 and dimensionless. The purpose is to avoid a sudden change in the lockout trigger threshold caused by an excessive single deviation. One-quarter of the single deviation is taken as the correction range. This represents the displacement deviation adjustment coefficient, which is set to 5.0 N / mm. The basis for this is that the stiffness of the contact force-displacement curve in the linear elastic region is approximately 5 N / mm. This coefficient indirectly compensates for force deviation through displacement deviation.

[0063] The specific method for updating the preset impedance range is as follows: set the upper limit of the current preset impedance range. and lower limit value The steady-state values ​​of the characteristic impedance changes at the termination time are respectively compared with the values ​​of the characteristic impedance changes. Perform weighted fusion. The new upper limit value in the preset impedance range update formula. New lower limit .in, The impedance range update coefficient is 0.15. This value is chosen to ensure that the impedance range gradually converges to the actual steady-state impedance fluctuation while suppressing the impact of single measurement anomalies. After sliding equivalent evaluation, 0.15 is selected as the smoothing factor. This represents the impedance range extension margin, which is a fixed value of 0.5 ohms. This is to cover the noise fluctuations of the measurement system itself and to prevent normal insertion and removal from being misjudged as impedance exceeding the limit due to measurement uncertainties. This represents the average value of the characteristic impedance change within the preset sliding time window before the termination time, in ohms.

[0064] Updated lock trigger threshold and the updated preset impedance range The updated parameters are written to the controller's non-volatile parameter storage area, overwriting the old values. The next time the same type of electronic connector is plugged in or unplugged, the plugging / unplugging controller automatically reads the updated parameters as the judgment criterion, completing closed-loop iterative optimization.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for inserting and removing an electronic connector for high-frequency signal transmission, characterized in that, The method includes: The insertion / removal status parameters and signal transmission quality parameters of an electronic connector for high-frequency signal transmission are obtained. The electronic connector has a signal transmission link. Based on the insertion / removal status parameters and the signal transmission quality parameters, the current insertion / removal stage of the electronic connector is determined. The insertion / removal stage includes an initial contact stage, a sliding insertion stage, and a locking stage. According to the insertion and removal stage, the insertion and removal speed planning curve matching the insertion and removal stage is invoked, and the insertion and removal actuator is controlled to drive the male and female ends of the electronic connector to move relative to each other according to the insertion and removal speed planning curve. During the relative movement, the contact force feedback value between the male and female ends and the characteristic impedance change value of the signal transmission link are collected in real time. Based on the contact force feedback value and the characteristic impedance change value, adjust the speed parameters and acceleration parameters of the insertion and extraction speed planning curve to generate a dynamic compensation speed curve for the current insertion and extraction process. The male terminal continues to move relative to the female terminal according to the dynamic compensation speed curve until the characteristic impedance change value is detected to be stable within the preset impedance range and the contact force feedback value reaches the lock trigger threshold, at which point the current insertion / removal action is terminated.

2. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 1, characterized in that, The process of acquiring the insertion / removal status parameters and signal transmission quality parameters of an electronic connector for high-frequency signal transmission, wherein the electronic connector has a signal transmission link, and determining the current insertion / removal stage of the electronic connector based on the insertion / removal status parameters and the signal transmission quality parameters, includes: The insertion / removal state parameters are sampled to obtain the current relative displacement and current relative velocity between the male terminal and the female terminal; Perform Fourier transform or wavelet transform on the signal transmission quality parameters to extract the frequency domain response features of the signal transmission link, and parse the characteristic impedance change value from the frequency domain response features; The current relative displacement is compared with the preset initial contact displacement threshold, sliding guide displacement threshold, and locking position displacement threshold, and combined with the current relative velocity and the characteristic impedance change value to determine whether the electronic connector is currently in the initial contact stage, the sliding guide stage, or the locking position stage.

3. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 1, characterized in that, The step of calling the insertion / removal speed planning curve that matches the insertion / removal stage according to the insertion / removal stage includes: When the insertion / extraction phase is the initial contact phase, a first speed planning curve is invoked. The first speed planning curve has a first speed peak and a first acceleration rise slope, and the first speed peak is less than the second speed peak. When the insertion / extraction phase is the sliding introduction phase, the second speed planning curve is invoked. The second speed planning curve has a second speed peak and a second acceleration rising slope. The second speed peak is greater than the first speed peak and the second acceleration rising slope is greater than the first acceleration rising slope. When the insertion / removal phase is the locking phase, the third speed planning curve is invoked. The third speed planning curve has a third speed peak and a third acceleration descent slope. The third speed peak is less than the second speed peak and the acceleration change rate of the third speed planning curve is negative.

4. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 3, characterized in that, The first speed planning curve, the second speed planning curve, and the third speed planning curve are all S-shaped speed planning curves or trapezoidal speed planning curves.

5. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 1, characterized in that, The real-time acquisition of the contact force feedback value between the male end and the female end and the characteristic impedance change value of the signal transmission link during the relative motion includes: During the relative movement between the male end and the female end, the axial contact force data between the male end and the female end along the insertion and extraction direction is continuously collected by the force sensor, and the axial contact force data is filtered by moving average to obtain the contact force feedback value. Within the same time window, a test signal is injected through the signal transmission link and the reflection coefficient is measured. The instantaneous impedance value of the signal transmission link is calculated based on the reflection coefficient. The instantaneous impedance value is compared with a preset reference impedance value to obtain the characteristic impedance change value.

6. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 1, characterized in that, The step of adjusting the speed parameters and acceleration parameters of the insertion / extraction speed planning curve based on the contact force feedback value and the characteristic impedance change value to generate a dynamic compensation speed curve for the current insertion / extraction process includes: The contact force feedback value is compared with a preset upper limit threshold and a preset lower limit threshold. When the contact force feedback value exceeds the preset upper limit threshold, the velocity parameter is reduced and the acceleration parameter is made zero. When the contact force feedback value is lower than the preset lower limit threshold, the velocity parameter is increased and the positive amplitude of the acceleration parameter is increased. The characteristic impedance change value is compared with a preset upper limit threshold and a preset lower limit threshold. When the characteristic impedance change value exceeds the preset upper limit threshold, the speed parameter is reduced and the positive amplitude of the acceleration parameter is decreased. When the characteristic impedance change value is lower than the preset lower limit threshold, the current speed parameter is maintained and the operation continues according to the acceleration parameter corresponding to the insertion and removal stage. The speed parameters after speed adjustment and the acceleration parameters after acceleration adjustment are substituted back into the insertion / removal speed planning curve to reconstruct the curve and generate the dynamic compensation speed curve.

7. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 6, characterized in that, The dynamic compensation speed curve has a first compensation coefficient in the initial contact stage, a second compensation coefficient in the sliding introduction stage, and a third compensation coefficient in the locking stage, wherein the first compensation coefficient, the second compensation coefficient, and the third compensation coefficient are different from each other.

8. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 1, characterized in that, The process of continuing to drive the relative movement between the male and female terminals according to the dynamic compensation speed curve until the characteristic impedance change value is detected to be stable within the preset impedance range and the contact force feedback value reaches the lock trigger threshold, and then terminating the current insertion / removal action, includes: During the process of driving the male terminal and the female terminal to continue relative motion according to the dynamic compensation speed curve, the characteristic impedance change value is continuously monitored, and the variance value of the characteristic impedance change value within the preset sliding time window is calculated. When the variance value is less than the stability determination threshold, it is determined that the characteristic impedance change value is stable within the preset impedance range. After determining that the characteristic impedance change value is stable, continue to monitor the contact force feedback value, compare the contact force feedback value with the locking trigger threshold, and generate a plugging / unplugging termination command when the contact force feedback value is greater than or equal to the locking trigger threshold. The insertion / removal termination command controls the insertion / removal actuator to stop driving and locks the current relative position of the male and female terminals.

9. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 2, characterized in that, The step of comparing the current relative displacement with preset initial contact displacement thresholds, sliding guide displacement thresholds, and locking position displacement thresholds, and combining the current relative velocity and the characteristic impedance change value to determine whether the electronic connector is currently in the initial contact stage, the sliding guide stage, or the locking position stage, includes: When the current relative displacement is less than the initial contact displacement threshold and the characteristic impedance change value is greater than the impedance jump start threshold, the electronic connector is determined to be in the initial contact stage. When the current relative displacement is greater than or equal to the initial contact displacement threshold and less than the sliding guide displacement threshold, and the current relative velocity is greater than the velocity maintenance threshold and the characteristic impedance change value changes within the impedance fluctuation range, the electronic connector is determined to be in the sliding guide stage. When the current relative displacement is greater than or equal to the locked position displacement threshold, and the characteristic impedance change value is less than the impedance convergence threshold, and the contact force feedback value shows a monotonically increasing trend, the electronic connector is determined to be in the locked position stage.

10. The method for inserting and removing an electronic connector for high-frequency signal transmission according to claim 6, characterized in that, The step of re-substituting the speed parameters after speed adjustment and the acceleration parameters after acceleration adjustment into the insertion / extraction speed planning curve to reconstruct the curve and generate the dynamic compensation speed curve includes: Obtain the original time node sequence and original node speed sequence of the insertion / extraction speed planning curve, and replace the speed value of the corresponding node in the original node speed sequence with the speed parameter after speed adjustment to obtain the updated node speed sequence; The acceleration parameters after acceleration adjustment are used as acceleration constraints between adjacent nodes. Cubic spline interpolation is performed on the updated node velocity sequence to generate a new time node sequence and a new node velocity sequence with continuous acceleration values. The dynamic compensation velocity curve is generated by fitting the new time node sequence and the new node velocity sequence.

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