649 results about "Cutoff frequency" patented technology

The invention discloses an electric energy meter fault detection method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps: obtaining the voltage data, current data and temperature and humidity data of an electric energy meter in a current sampling time period, obtaining the historical feedback layer gain of the electric energy meter in a previous sampling time period, and determining a final gain parameter; multiplying the final gain parameter by the current bandwidth and the current cut-off frequency of the anti-interference filter to obtain the updated bandwidth and cut-off frequency of the anti-interference filter; when the anti-interference filter works based on the updated bandwidth and cut-off frequency, acquiring a voltage fluctuation value and a current fluctuation value filtered by the anti-interference filter; and comparing the voltage fluctuation value with a voltage fluctuation threshold value, comparing the current fluctuation value with a current fluctuation threshold value, if the voltage fluctuation value is greater than the voltage fluctuation threshold value and the current fluctuation value is greater than the current fluctuation threshold value, judging that the electric energy meter has a high-interference fault, otherwise, judging that the electric energy meter does not have the high-interference fault.

The invention provides a real-time dynamic harmonic detection method and system for a traction power supply system, and relates to the technical field of harmonic detection, and the detection method comprises the following steps: collecting a voltage signal of the traction power supply system in real time, and dynamically tracking fundamental frequency fluctuation through a phase-locked loop technology; dynamically adjusting the data window length of FFT analysis; dynamically adjusting a frequency spectrum calculation kernel of the FFT; carrying out linear compensation on the detected harmonic phase; taking the preliminarily detected harmonic parameter as an initial value, and iteratively updating the harmonic parameter until convergence by minimizing a signal reconstruction error; dynamically adjusting a sampling interval according to the fundamental frequency fluctuation, and carrying out anti-aliasing processing by adopting a filter with a variable cut-off frequency; and constructing a matrix model containing a fundamental frequency fluctuation parameter, and calculating a real harmonic parameter through a least square method. According to the method, the detection defect of the fixed window FFT during frequency fluctuation can be systematically solved, and high-reliability real-time data support is provided for harmonic resonance suppression of the electrified railway.

The invention provides a power grid connection disturbance observer feedback control method, which belongs to the technical field of power grid connection, and comprises the following steps: detecting power grid impedance parameters by using a multi-frequency harmonic injection technology, designing a disturbance observer algorithm to establish a state equation set, and constructing a nominal inverter model by using a low-pass filter; the total disturbance amount is estimated in real time by comparing the difference value between the actual current output and the nominal model output, a feedback control strategy is constructed, the disturbance estimation value serves as a feedforward compensation signal to be superposed to the current controller output, and disturbance components in different frequency ranges are processed in a classified mode according to disturbance types. A disturbance observer bandwidth parameter and a filter cut-off frequency are set, a disturbance estimation value is compensated to a current control loop in real time through a feedforward compensation signal to suppress the influence of power grid disturbance on the grid-connected current, and the technical problem that it is difficult to accurately estimate and compensate the influence of power grid disturbance on the grid-connected inverter in real time is solved.

The invention discloses a method for improving the axial resolution of photoacoustic microscopic imaging obtained based on a single-pixel frequency domain. The method comprises the following steps: 1) creating a Fourier substrate pattern with the spatial frequency of k in the axial direction; 2) respectively irradiating four Fourier substrate patterns with the spatial frequency of k and the initial phases of # imgabs0 #, # imgabs1 #, # imgabs2 # and # imgabs3 # to an imaging object, carrying out photoacoustic microscopic imaging, and acquiring data by using an ultrasonic transducer to obtain a response value of the ultrasonic transducer; 3) according to the obtained response value of the ultrasonic transducer, adopting a four-step phase shift method to obtain a Fourier coefficient corresponding to the spatial frequency k; and 4) gradually increasing the spatial frequency of the Fourier substrate pattern to the cut-off frequency of the objective lens, further obtaining Fourier coefficients corresponding to all spatial frequencies, obtaining a complete Fourier spectrum, and performing inverse Fourier transform to obtain a photoacoustic microscopic image after the axial resolution is increased. The method disclosed by the invention is expected to promote wider application of photoacoustic microscopic imaging in living cell and tissue imaging.

The invention relates to the technical field of data center dynamic modeling, and discloses a twin model dynamic modeling method for a data center DCIM platform, which comprises the following steps: constructing a discrete state space model containing a thermal coupling matrix and a system matrix, collecting real-time power and temperature time sequence data, and calculating a cross-correlation function to lock hot air dynamic transmission lag time; calculating cut-off frequency based on physical attributes of the cabinet and decomposing data into high and low frequency components by using a complementary filter; according to the method, the model parameters are made to return to a physical source through a frequency domain decoupling mechanism, the problem of aliasing of airflow coupling and structural thermal inertia parameters in a traditional single-scale identification method is solved, and the method is suitable for large-scale identification. And the physical authenticity and prediction robustness of the twin model under a complex working condition are improved.

The invention relates to the technical field of optical fiber sensing, and discloses an anti-aliasing filtering method and device for a distributed optical fiber acoustic sensing system.The method comprises the steps that environmental noise frequency band characteristics are analyzed in real time, the cut-off frequency and type of an anti-aliasing filter are dynamically adjusted, an invalid sampling channel is closed in combination with frequency-band-division energy detection, and therefore the anti-aliasing filtering efficiency is improved; aliasing noise is significantly suppressed; and the data volume is reduced. And an equipment fault feature library matching mechanism is further introduced, and an emergency anti-aliasing mode is triggered when fault noise suddenly occurs, so that the fault detection accuracy is improved. The method can be widely applied to the fields of oil and gas pipeline monitoring, industrial equipment health diagnosis and the like, and the performance bottleneck of a traditional fixed filter under broadband dynamic noise is solved.

The invention discloses a method for improving the stability of a system for sending out deep and far sea wind through a dual-port light converter. The method comprises the following steps: introducing a voltage feed-forward path comprising a phase compensator and a low-pass filter into an MMC differential mode control loop in the dual-port light converter; and a compensator parameter feasible region is calculated based on the phase characteristics of the oscillation risk frequency band, and the cut-off frequency of the filter is set, so that targeted phase compensation and impedance remodeling are realized, and the damping of the dual-port light converter is effectively enhanced. According to the method, the impedance characteristic of the dual-port light-weight current converter in the oscillation risk frequency band is remarkably improved, and a reliable technical path is provided for improving the stability of the dual-port light-weight current converter.

The embodiment of the invention provides an excitation signal generation method and system and a digital eddy current sensor, and the method comprises the steps: outputting a square wave signal through a pulse width modulation assembly of a microcontroller unit, and enabling the frequency and resolution of the square wave signal to be adaptive to eddy current probes with different inductance values; inputting the square wave signal into a low-pass filter for filtering, and setting the cut-off frequency of the low-pass filter, the suppression times of higher harmonics and the attenuation slope so as to output a sine wave signal with a target total harmonic distortion range; the amplitude of the sine wave signal is collected in real time, and the pulse width modulation duty ratio and the passband gain of a low-pass filter are dynamically adjusted in combination with a digital control algorithm, so that the sine wave signal is subjected to self-adaptive adjustment and correction and is output; and taking the sine wave signal as an excitation source of an eddy current probe, and driving the eddy current probe to carry out nondestructive testing. According to the invention, the excitation signal which gives consideration to high-frequency signal generation, deep harmonic suppression and digital adaptive adjustment can be generated.

The invention discloses a fuel cell hybrid train energy dispatching method and system. The method comprises the steps that S1, a hydrogen fuel hybrid train power system model is constructed; s2, acquiring required power in a train running process, and decomposing the required power into a low-frequency component and a high-frequency component by using a low-pass filter with adjustable cut-off frequency; constructing a double-layer reinforcement learning agent, and performing real-time dynamic optimization adjustment by taking the cut-off frequency of the low-pass filter as an action variable of the reinforcement learning agent; s3, designing a multi-objective reward function and a system total cost function, and synchronously optimizing fuel cell efficiency, fuel cell power fluctuation, hydrogen consumption and lithium battery SOC to approach initial values; and updating double-layer reinforcement learning agent network parameters through a depth deterministic strategy gradient algorithm, and finally outputting a real-time power distribution instruction of the fuel cell and the lithium battery. The method has the advantages of reducing the fluctuation of the output power of the hydrogen fuel cell, reducing the hydrogen consumption and the like.

The invention discloses a method for determining the position of a liquid inlet point by using a hydraulic fracturing water hammer signal. The method comprises the following steps: analyzing a main peak of a frequency spectrum through fast Fourier transform, and adaptively determining upper and lower cut-off frequencies of a Gaussian band-pass filter; an alpha-trimmed filter is used for removing peak noise, and an alpha-trimmed filter is used for removing peak noise; extracting a period T of the water hammer signal by adopting an autocorrelation algorithm; carrying out mean value removal processing on the signal after time domain filtering; short-time Fourier transform related parameters are adaptively determined according to the water attack signal period T, and short-time Fourier transform operation is executed to obtain a frequency domain two-dimensional matrix; performing Gaussian band-pass filtering and cepstrum transformation on each column of the two-dimensional matrix to construct a cepstrum matrix; and distinguishing the bridge plug and the liquid inlet points based on the symbolic characteristics of the cepstrum value, determining the actual position of each liquid inlet point in combination with time-depth conversion, and drawing a cepstrum cloud picture. Compared with the prior art, the method is improved in the aspects of adaptive filtering, period extraction accuracy and cepstrum cloud picture artifact removal, and has higher positioning precision and better real-time performance.

A filter multiplexer for variable bandwidth annealing selection is described. The filter multiplexer has multiple pathways, where each pathway comprises a switch and a filter. Each filter has a different cutoff frequency from the other filters. Switches may be cryogenic switches. Each pathway may be communicatively coupled to an external annealing line. Upon receiving a problem, an annealing bandwidth can be selected, set or configured via the multiplexer to operate a quantum processor with a desired annealing schedule. The multiplexer may be used for calibration of a quantum processor by performing a calibration with a large annealing bandwidth, then calibrating the quantum processor by iterating through all available annealing bandwidths from the multiplexer.

The invention discloses a servo system control method based on frequency domain self-tuning and linear active disturbance rejection, and relates to the technical field of servo control and motor control. Comprising the following steps: based on a mathematical model of a permanent magnet synchronous motor, establishing a double-inertia model suitable for a large-inertia servo system, and constructing an equivalent mathematical expression of an electrical and mechanical transmission system; in a three-stage cascade control architecture composed of a current loop, a speed loop and a position loop, the current loop is used for current adjustment, the speed loop is used for dynamic response adjustment, and the position loop is used for displacement target tracking. Based on a frequency domain performance index and a rule method, PI controller parameters of a speed loop and a position loop are set respectively, and the frequency domain index comprises an open-loop cut-off frequency and a phase margin; and establishing a frequency domain equivalent mapping relation between the PI controller and the LADRC controller. The method has the advantages that the method does not depend on accurate modeling and manual interference, automatic parameter setting can be achieved, non-overshoot dynamic response is achieved, and the remarkable disturbance suppression capacity is shown.

The invention discloses an acoustic monitoring method, system, medium and equipment for the near stall condition of an aircraft compressor, and the method comprises the steps: carrying out the synchronous collection of sound pressure time domain signals of multiple channels of an aviation compression system; adding a rectangular window to the multi-channel sound pressure time-domain signal, and constructing an acoustic time-domain signal segment to monitor the current operation state of the aviation compression system; performing fast Fourier transform on the multichannel acoustic time domain signal segment in the current time domain window to form a plurality of sound pressure frequency spectrums, judging whether a plurality of single-tone characteristic frequencies which are non-integer multiples of the current rotation frequency exist in the sound pressure frequency spectrums or not, and constructing an orthogonal Fourier transfer matrix based on the installation position and the highest circumferential modal order, and judging whether the order difference of the characteristic acoustic mode under each characteristic frequency is the rotation frequency multiple difference of the corresponding characteristic frequency, calculating the acoustic mode amplitude corresponding to each broadband frequency component, drawing an acoustic mode spectrogram, and judging whether a mode bright band exists at the cut-off frequency boundary in the acoustic mode spectrogram.

The invention relates to the technical field of weak signal conditioning circuits, and discloses a multi-light-source spurious noise suppression circuit based on a laser sensor and a signal conditioning method, and the circuit comprises a photoelectric conversion module which is used for converting a received optical signal into a current signal; the transimpedance conversion module is connected with the photoelectric conversion module, converts the current signal into a first voltage signal and suppresses common-mode noise; the first-stage amplification module is used for carrying out linear amplification on the first voltage signal and outputting a second voltage signal; the programmable filtering module is used for carrying out high-frequency noise suppression on the second voltage signal; the reverse phase adjusting module is used for adjusting the phase and the amplitude of the filtered signal so as to adapt to a post-stage load; and the feedback control module analyzes the frequency spectrum of the output signal in real time and dynamically adjusts the cut-off frequency of the programmable filtering module. The invention aims to solve the problems that in the prior art, a laser sensor circuit is poor in anti-interference performance in a multi-light-source environment, and measurement is inaccurate due to spurious noise.

The invention provides a direct-current voltage synchronous control oscillation suppression method, system, equipment and medium based on transient dynamic energy dissipation, and belongs to the technical field of direct-current voltage synchronous control. A direct-current voltage synchronous control converter is equivalent to a synchronous machine model, a power angle dynamic equation based on a power grid angular velocity is established, and a damping coefficient is defined; adjusting a damping coefficient based on a differential relationship of the DC voltage deviation to control an energy dissipation rate; by adjusting the proportionality coefficient and the high-pass cut-off frequency, the voltage-angular velocity phase characteristic meets the oscillation suppression requirement, and angular velocity and voltage deviation reverse offset is achieved; a damping coefficient and compensation loop parameters are dynamically adjusted in real time according to DC voltage fluctuation and frequency deviation, an adaptive matching relation is established in combination with equivalent rotational inertia, and a phase compensation effect is maintained to suppress oscillation amplitude. According to the method, an oscillation mechanism is analyzed, and transient kinetic energy and transient potential energy are defined. Low-frequency oscillation is effectively suppressed, and the dynamic stability of the system is improved.

The invention belongs to the technical field of aviation flight training, particularly relates to a flight training trajectory generation method fusing an attention mechanism, and solves the problems that in the prior art, diversified, personalized and high-quality flight training trajectories are difficult to generate, and the high-quality training requirement cannot be met. According to the method, flight training multi-source data is obtained and subjected to preprocessing and dynamic weight fusion to generate fusion data, an encoder in a prediction model processes a single track fragment in the fusion data through a random feature attention mechanism, real-time aerodynamic parameters are fused into a key matrix, an attention score is adjusted through an aerodynamic consistency coefficient, and then submerged space representation is obtained; the decoder generates an initial prediction flight training trajectory sequence in combination with the submerged space representation and the noise vector; and finally, suppressing high-frequency noise by using speed self-adaptive cut-off frequency and weighted sinc filtering, and carrying out nonlinear filtering to obtain a final predicted flight training trajectory sequence. According to the method, diversified, personalized and high-quality flight training trajectories are generated, and the high-quality training requirement is met.

The invention relates to the technical field of converter analysis, in particular to a converter transient stability analysis method and system considering HPFR structure influence. The method comprises the steps that an HPFR structure is considered, and a transient response large disturbance dynamic model of a virtual synchronous generator under large disturbance is constructed; based on the constructed transient response large-disturbance dynamic model, analyzing the transient stability of the system by adopting an extended equal-area method to obtain a VSG dynamic response characteristic jointly influenced by a gain coefficient and a cut-off frequency in a speed regulation link; based on VSG dynamic response characteristics, a phase diagram analysis method is adopted to evaluate a gain coefficient and a cut-off frequency in a speed regulation link, and a value interval of the gain coefficient and the cut-off frequency in the speed regulation link is obtained; and optimizing a gain coefficient and a cut-off frequency in a speed regulation link of the virtual synchronous generator, so that a power angle value of the system is smaller than a power angle value of the system tending to be unstable under a fault condition. The method has the characteristics of high analysis precision, difficulty in conservative judgment result and the like.

The invention provides a low-frequency measurement amplifying circuit for suppressing direct-current bias voltage and noise. The low-frequency measurement amplifying circuit is mainly used for reducing the direct-current bias voltage and suppressing interference of low-frequency and high-frequency noise of the circuit. The scheme of the invention comprises a low-pass filtering module, a charge conversion module, a multi-gear gain adjustment module and an output signal protection module. High-frequency noise of weak charge signals generated by the piezoelectric sensor is filtered out through the low-pass filtering module, then the charge signals are converted into voltage signals through the charge conversion module, the voltage signals are amplified according to different proportions through the multi-gear gain adjusting module, and finally the converted and amplified voltage signals are output through the output signal protection module. Compared with the prior art, the low lower limit cut-off frequency is achieved, meanwhile, the direct current bias voltage and noise generated by the circuit are reduced, a band elimination filter is formed through circuit design, the influence of low-frequency and high-frequency interference signals is restrained, and the quality of output signals is improved.

The invention provides an analog correlation circuit of a synthetic aperture radiometer receiver, and relates to the technical field of weak signal detection and processing. The circuit comprises a high-stability power supply reference unit, a high-performance broadband multiplication unit, a low-noise amplification unit and a high-linearity differential active filtering unit, wherein a second-order differential active filter in the high-linearity differential active filtering unit is used for carrying out noise filtering and low-noise amplification on a low-noise amplifier output signal in a differential form, and a differential signal of which the bandwidth is matched with the variation range of the amplitude of a target radiation brightness temperature signal and the amplitude meets the subsequent analog-to-digital conversion requirement is output. The high-linearity differential active filtering unit designed by the invention is realized by a second-order differential active filter formed by connecting two differential active filters in series, a low-pass filter with the cut-off frequency as low as possible filters noise in a link to the maximum extent, only the bandwidth matched with signal change is reserved, the amplitude which is two times of that of a single-ended signal can be provided, and the filtering efficiency is improved. And the linearity and the signal-to-noise ratio performance are better.

The invention provides an eddy current sensor signal noise reduction method based on frequency division detection low-pass filtering and a monitoring system, belongs to the technical field of sensor signal processing, and can at least partially solve the problems of unstable signals and inaccurate measurement in the prior art. The signal noise reduction method for the eddy current sensor comprises the following steps: processing an original output signal of the eddy current sensor by adopting a synchronous detection module, demodulating a dynamic vibration alternating current component of the original output signal into a direct current voltage signal by utilizing a reference signal, and separating a static displacement direct current component signal; an independent dynamic signal channel and an independent static signal channel are formed; filtering high-frequency noise in the dynamic signal channel through a dynamic channel low-pass filter with a first preset cut-off frequency, and filtering power frequency interference in the static signal channel through a static channel low-pass filter with a second cut-off frequency; and reversely injecting compensation voltage at the output end of the static channel low-pass filter so as to eliminate the direct-current offset error of the static displacement component signal.

The invention relates to a carrier frequency control method and system based on a direct current brushless motor, and the method comprises the steps: receiving a starting signal, and obtaining an actual rotating speed value of the direct current brushless motor through a rotating speed sensor; presetting a rotating speed threshold value, comparing the actual rotating speed value with the preset rotating speed threshold value, and adjusting the carrier frequency to be a first frequency value or a second frequency value according to a comparison result; a rising hysteresis threshold value and a falling hysteresis threshold value are preset, and the carrier frequency is prevented from being switched back and forth between the first frequency value and the second frequency value; when the carrier frequency is a second frequency value, acquiring a temperature value of the motor driving chip, and when the temperature value is higher than a temperature early warning value, further dynamically adjusting the carrier frequency; and obtaining the current carrier frequency, and adjusting the cut-off frequency and the common-mode inductance parameter of the LC filter according to the current carrier frequency, thereby optimizing the electromagnetic compatibility. According to the invention, the carrier frequency is dynamically adjusted in a grading manner, thermal management and electromagnetic compatibility design are optimized, and the balance of efficiency, noise and reliability is realized.

The invention discloses a stop-band residual compensation method and device of a digital filter, a storage medium and a computer program product, and relates to the technical field of audio signal processing, and the method comprises the steps: collecting an original audio signal and a digital filtering signal; the digital filtering signal and the original audio signal are synchronously input into a pre-constructed stop-band residual noise dynamic compensation model to be processed, a smooth transition signal is obtained, and the stop-band residual noise dynamic compensation model takes a hardware filtering signal output by a hardware simulation filter as a target label; and superposing the smooth transition signal and the digital filtering signal according to a preset superposition proportion to obtain a calibration signal. The stop-band residual noise dynamic compensation model learns smooth transition characteristics when the hardware simulation filter reproduces parameter adjustment, and the flexibility of the digital filter is considered, so that the response speed when the digital filter adjusts the cut-off frequency in real time at high frequency is improved, and the stop-band residual energy at the moment of cut-off frequency adjustment is inhibited.

The invention belongs to the technical field of motors, and discloses anti-electromagnetic interference magnetic suspension controller equipment and a filtering method. The method comprises the following steps: preparing a quantum confinement magnetic permeability unit, acquiring magnetic flux and temperature data in a magnetic core in real time through an embedded sensor array, and building a corresponding magnetic permeability regulation and control model; the output of the magnetic conductivity regulation and control model is obtained, and real-time inductance is obtained through analysis; on the basis of the real-time inductance, in combination with a preset target inductance, compensating the real-time inductance through a grid voltage regulation and inductance compensation cooperation strategy; according to the compensated real-time inductance, a PID controller is adopted for filtering; under the strong magnetic field and high temperature coupling environment, the nonlinear decrease amplitude of the magnetic conductivity can be effectively reduced, the drift amount of the inductance value, the cut-off frequency offset of the filter and the current ripple can be reduced, the rotor suspension precision can be improved, and the filtering stability and the control reliability of a magnetic suspension system under the extreme environment can be remarkably improved.

The invention discloses an underwater image restoration method based on polarization imaging and low-frequency filtering, and the method comprises the steps: S1, collecting polarization images of different turbid water bodies at three angles through an underwater polarization imaging experiment platform, and calculating a Stokes vector of an underwater target scene; s2, calculating a polarization degree and a polarization angle image of an underwater target scene according to the Stokes vector, and establishing a target light model according to a relation of polarization information; s3, based on the low-frequency characteristics of the background light, extracting low-frequency background light components of the turbid polarization image at each angle, and calculating a corresponding background light Stokes vector according to the low-frequency background light components; and S4, the processed parameters are substituted into the imaging model, and the optimal cut-off frequency of the filter is adaptively determined in combination with enhanced measurement evaluation indexes, so that high-quality underwater image restoration is realized. According to the method, texture features and edge details of more target areas can be effectively restored.

The invention provides a process weak correlation frequency adjustable anti-aliasing filter circuit which is characterized by comprising a current generation module, a current mirror module, a control voltage generation module and an MOSFET-C anti-aliasing filter module. The anti-aliasing filter circuit with the adjustable frequency has the remarkable advantages that the anti-aliasing filter circuit with the adjustable frequency can generate cut-off frequency linearly related to the frequency of an input clock signal, and the anti-aliasing filtering function with the adjustable frequency is achieved. In addition, the circuit can effectively reduce the influence of technological parameters on the cut-off frequency, has good circuit performance, and meanwhile, compared with a cut-off frequency adjusting method of an existing on-chip filter circuit integrated control loop, the circuit is simple in structure, small in introduction power consumption and low in cost. And the anti-aliasing filtering requirement of the ADC acquisition front end within the input clock signal frequency range of 10 kHz to 100 kHz can be met.

To provide a partial discharge measurement device that can measure a partial discharge without an affection of noise caused by an inverter even when the fundamental frequency is a high frequency.SOLUTION: One end of a capacitor VC is connected to a measurement target. The capacitor VC has a capacitance of 40 pF or less, and a cutoff frequency of 80 MHz or more. One end of a detection impedance Z is connected to the other end of the capacitor VC, and the other end of the impedance is connected to a ground. One end of a low-pass filter LPF is connected to a connection point between the capacitor VC and the detection impedance Z. Each one end of high-pass filters HPF1 and HPF2 is connected to the connection point between the capacitor VC and the detection impedance Z. A measurement unit (oscilloscope 4; PC5 for waveform processing) is connected to the other end of the low-pass filter LPF and the other ends of the high-pass filters HPF1 and HPF2 to measure a partial discharge.SELECTED DRAWING: Figure 2

An articulated robot control method and system and an articulated robot. The control method comprises: establishing a single-articulated impedance control model on the basis of a dynamics model of a robot; determining a stiffness range of a single articulation on the basis of the single-articulated impedance control model, the cut-off frequency of a robot control system, and a critical damping condition; using the stiffness range to determine the maximum stiffness value of the single articulation and a corresponding damping value; establishing a multi-articulated impedance control model and a Cartesian impedance model on the basis of the dynamics model; obtaining an articulation control law on the basis of the multi-articulated impedance control model and the Cartesian impedance model; and on the basis of the articulation control law, using the maximum stiffness value of the single articulation and the corresponding damping value to perform optimal impedance control. Thus, the technical problem in the prior art that the accuracy is low when dynamic performance control is performed on a robot by using an impedance control method is solved, and the technical effect of improving the accuracy of controlling the robot is achieved.

The invention discloses an electric meter sampling filter chip and system integrated with a programmable anti-aliasing filter, and relates to the field of electric energy metering chips, the electric meter sampling filter chip comprises a programmable anti-aliasing filter module, a digital control and interface module and a cooperative control unit, through binary weighted control of a switched capacitor array, the cut-off frequency can be dynamically adjusted within the range of 1 kHz to 100 kHz, and the cut-off frequency can be adjusted within the range of 1 kHz to 100 kHz. Switching of a Bessel mode, a Butterworth mode and a Chebyshev mode is physically achieved by reconstructing a feedback network, a programmable AAF, an ADC, control logic and a digital interface are integrated into a single chip, and the number of external elements such as an RC network and an operational amplifier is reduced; aDC sampling data is analyzed through FFT, the signal-to-noise ratio is calculated in real time, the filter mode is automatically switched, a hardware interrupt pin triggers notification after configuration is completed, MCU polling is replaced, and frequency response is ensured to be accurate and controllable through laser trimming of a switched capacitor array.

The invention discloses a rotary table angle data filtering method based on an adaptive cut-off frequency filter, relates to the technical field of signal data filtering, and aims to solve the problem of numerical value jumping caused by high-frequency noise interference on rotary table angle data. The method comprises the following steps: firstly, setting a minimum cut-off frequency and a speed coefficient for an adaptive cut-off frequency filter, obtaining rotary table angle data, calculating the change speed of filtered standard data, and dynamically adjusting the cut-off frequency of the filter; filtering the data for multiple times by using an exponential smoothing formula; and finally, updating the dynamic cut-off frequency according to a filtering result to obtain filter parameters. The filter is a low-pass filter, has the advantages of being easy and convenient to adjust parameters, high in adaptability and high in calculation efficiency, can effectively suppress noise, and meanwhile keeps sensitivity to fast change data. Experiments prove that the method has good performance in different speed data processing, and is suitable for an inertial navigation equipment turntable system.

The invention discloses a lumped disturbance parameter observation and permanent magnet synchronous motor control method and system, and the method comprises the steps: collecting the phase current of a motor in each control period, designing a two-degree-of-freedom filter to filter DC bias and high-frequency noise signals, i.e., setting two low-pass filters which are connected in parallel for subtraction, independent suppression of a high-frequency noise signal and direct-current bias is realized by adjusting cut-off frequencies of the two, and decoupling of a filtering effect is realized; then, according to the filtered current signal, a super-spiral sliding-mode observer containing an equivalent feedback gain and an exponential term is constructed to observe a lumped disturbance parameter, the equivalent feedback gain is in an integral form, high-frequency noise can be effectively suppressed, the dynamic convergence process of the observer is smoother due to the additionally designed exponential term, and the lumped disturbance parameter is obtained. And the lumped disturbance parameter observation value is used for model-free current prediction of the motor. According to the invention, direct-current bias and high-frequency noise in the current sampling signal can be effectively filtered out, and the observation precision and control precision of the super-spiral sliding-mode observer are improved.