4 results about "Admittance parameters" patented technology

This invention discloses a dexterous hand slip adaptive control method based on variable admittance observation, comprising: constructing equivalent Jacobian coefficients and calculating the physical velocity of the fingertips at the dexterous hand's end; when the detected normal contact force exceeds the trigger threshold, switching to a force-position hybrid control architecture, which employs an outer-loop variable admittance control combined with an inner-loop PID position tracking; in the outer-loop variable admittance control, the virtual mass and virtual damping of the variable admittance controller are dynamically adjusted through a variable admittance-regulated control law; when slip occurs, the target normal contact force required to maintain stability is recalculated through an adaptive force adjustment algorithm, and the target normal contact force is input as a new target force into the variable admittance controller, and stable grasping is reconstructed by dynamically adjusting the variable admittance parameters. This invention can effectively balance energy absorption during the collision phase and force tracking agility during the steady-state phase, while reducing the computational burden and enabling high-frequency real-time observation.

The present application relates to the technical field of electric power metering, and provides a voltage transformer error prediction model construction method, an error evaluation method and a device, the construction method comprising: collecting voltage and current phasors of a monitoring node and obtaining three-phase admittance parameters; constructing a node feature matrix based on the voltage and current phasors, establishing a graph adjacency matrix based on the three-phase admittance parameters, and using the node feature matrix and the graph adjacency matrix to perform error prediction by using a graph neural network to obtain voltage and current prediction errors; obtaining voltage estimated true values based on the voltage phasors and the voltage prediction errors, obtaining current estimated true values based on the current phasors and the current prediction errors, and determining voltage drop and current balance constraint losses of a three-phase transmission line based on the voltage estimated true values and the current estimated true values; and performing parameter iteration on the graph neural network based on the voltage drop and the current balance constraint losses to obtain an error prediction model. The method and device provided by the present application can maintain stable performance under different operating conditions and network topologies.

This invention relates to the field of power systems and their automation technology. It provides a method for constructing a traction network simulation model based on current distribution characteristics. The method includes: establishing multi-conductor transmission line equations based on Maxwell's equations, including Gauss's law and Faraday's law; deriving a chain-like network model of the traction network based on the multi-conductor transmission line equations and a chain circuit model with multi-conductor transmission lines as the backbone and randomly connected transverse elements; simplifying the chain-like network model to obtain a simplified series impedance matrix equation and a parallel admittance parameter matrix after conductor merging; and calculating the series impedance and parallel admittance values ​​using the simplified series impedance matrix equation and the parallel admittance parameter matrix after conductor merging. This invention improves the accuracy and applicability of traction network electrical simulation and signal analysis.

The application relates to a power quality flexible compensation device port characteristic optimization method, device and equipment. The method comprises the following steps: synchronously collecting voltage parameters and current parameters of a power grid side and a load side, identifying a harmonic spectrum of a dynamic load, and calculating equivalent impedance or admittance parameters of a device port; calculating a harmonic distortion rate and a voltage fluctuation rate; taking port impedance matching degree, the harmonic distortion rate, the voltage fluctuation rate, power balance degree and system loss as optimization targets, taking capacity, response time and direct-current bus voltage stability maintenance as constraint conditions, constructing a multi-objective optimization model, and solving to obtain a port characteristic optimization method; and adjusting the equivalent impedance or admittance parameters of the device port in real time and setting control parameters. The method can make the port characteristics of the power quality flexible compensation device have dynamic adaptation capability and realize multi-objective adaptive optimization.