404 results about "Impedance parameters" patented technology

The invention relates to the technical field of energy storage battery diagnosis, and discloses an energy storage battery fault diagnosis method and system based on a data fusion algorithm. The method comprises the following steps: acquiring historical operation data and real-time operation data of an energy storage battery in a preset operation period, and generating a historical fault data set according to the historical operation data; performing multi-source feature fusion processing on the historical fault data set to generate a fusion feature parameter set integrating voltage, current, temperature and impedance parameter joint change features; a multi-dimensional fault space is constructed based on the parameter set, coordinate axes of the multi-dimensional fault space correspond to different parameter dimensions, and spatial position coordinates represent parameter change characteristic values; calculating the fault correlation degree of the historical fault event in the multi-dimensional fault space, and determining a fault early warning index set; and extracting real-time characteristic parameters based on the real-time operation data to form a state vector, carrying out space mapping correlation calculation on the state vector and the fault early warning index set in a multi-dimensional fault space, and outputting a real-time fault correlation factor.

The invention discloses a line loss treatment method based on low-voltage power grid multi-source data fusion, and belongs to the technical field of information, and the method comprises the steps: reconstructing a power supply path based on a power grid topological structure and a changed power access point; extracting reverse power flow characteristics of the frequency points for correcting a node impedance matrix of the current power supply path to obtain a power supply access point impedance parameter set; updating a power transmission path through the reverse power flow characteristic to obtain a power distribution characteristic; and a power grid topological structure, a current power supply path, a power supply access point impedance parameter set and power distribution characteristics are fused to construct a line loss distribution prediction model and identify a line loss abnormal region, and the line loss abnormal region is treated. Through implementation of the method and the device, the problem that the line loss treatment effect is poor due to the fact that the influence of factors such as transformer area topological structure change, power access point change and load fluctuation on the line loss is not considered in the prior art, and the predicted line loss distribution has a large error compared with the actual situation can be solved.

The present disclosure discloses a seismic inversion method based on joint constraint of a physical model and priori information. The method includes: extracting seismic wavelets based on seismic data, and determining an amplitude scaling factor of the wavelets; counting priori information of impedance parameters; establishing an initial impedance parameter model by using seismic structural interpretation information and logging data; obtaining a simplified approximate equation based on an interface weak elasticity difference hypothesis, forward modeling a seismic gather by using the simplified equation, and calculating an inversion residual; rewriting an objective function into a function related to the impedance parameters by using a generalized linear inversion idea, solving the impedance parameters by using an iterative reweighted least squares algorithm, and updating the impedance parameters; and repeating the above steps until the inversion residual reaches the requirements or reaches the maximum number of iterations, and outputting a final processing result.

The invention relates to a robot dynamic grabbing control method based on visual sense and tactile sense depth fusion. The method comprises the following steps that firstly, based on visual information, surface geometric features of a target object are extracted, grabbing adaptability scores are calculated, an optimal grabbing point is selected, and a collision-free approaching track is planned; secondly, in a contact establishment stage, detecting a contact event through a touch sensor, fusing vision and touch data to unify a coordinate system, calculating a vision-touch consistency score, and applying an initial grabbing force; and thirdly, in the stable holding stage, slip detection is conducted through wavelet packet energy entropy and pressure gradient, and the grabbing force and impedance parameters are dynamically adjusted in combination with self-adaptive impedance control. According to the method, intelligent control over the whole process from approaching to contact to stable holding is achieved, and the adaptability, stability and safety of robot grabbing in the dynamic environment are improved.

The invention discloses a communication fault diagnosis method and device based on a power system, equipment and a medium. The method comprises the following steps: S1, collecting and outputting multi-source data; s2, preprocessing the multi-source data; s3, performing topological constraint attention mechanism weighting processing on the data matrix; s4, performing dynamic threshold calculation on the fusion feature matrix; s5, positioning the abnormal node list; s6, calculating to obtain a posterior probability; s7, matching the rule base to obtain a standardized disposal instruction; according to the method, the communication traffic is collected through the compressed sensing collection algorithm, the line impedance parameters are integrated into the observation matrix in combination with the topological parameters, key node data are collected preferentially, and the effective data acquisition rate is increased; the accuracy of switch false alarm identification is improved by outputting a time-space unified fusion feature matrix; the computing resources are focused to the abnormal nodes and neighborhoods thereof through the abnormal node mask matrix, so that the positioning precision of the aged equipment is improved, and the judgment omission rate caused by switch aging is prevented from being improved.

The invention discloses an insulation resistance and capacitance measuring circuit and method based on monopulse double-edge analysis, and relates to the related field of the electrical insulation online monitoring technology, and the circuit comprises a detected object and an insulation detection circuit. The insulation detection circuit comprises a controlled pulse voltage source, a coupling resistance network, a current sensor, a switch control module, a signal modulation circuit and a processor. The measurement method implemented based on the circuit comprises the following steps: injecting a common-mode voltage pulse into a transmission line of the power transmission system by adopting a pulse transmitter; pulse current response is collected in real time, a current oscillogram is drawn, and a three-point sampling method is introduced to record a current value for insulation impedance parameter calculation; according to a load condition, a double-edge verification method is applied based on a pulse current attenuation characteristic, and insulation impedance parameters including a resistive component and a capacitive component are independently calculated by analyzing a pulse current rising edge and a pulse current falling edge. According to the invention, non-intrusive synchronous monitoring of resistive and capacitive components of line-to-ground impedance is realized, and the detection precision is improved.

The invention discloses a boundary-preserving seismic wave impedance inversion method, device, equipment and medium, and relates to the technical field of geological prospecting. Historical seismic data of a target area and logging curve data including logging impedance parameters are acquired, and seismic wavelet data are extracted from the historical seismic data; carrying out data processing on the seismic wavelet data to obtain target seismic wavelet data, constructing an initial impedance parameter model according to the logging curve data, carrying out forward modeling on the initial impedance parameter model, constructing a composite objective function comprising a boundary preserving constraint term and a prior information constraint term, and carrying out the forward modeling on the initial impedance parameter model based on the composite objective function. And the initial impedance parameter model is updated to obtain the target impedance parameter model, and the output impedance parameter inversion curve is obtained through the target impedance parameter model, so that the inversion precision and efficiency are improved, and the inversion stability and the geological reduction capability are improved.

The invention relates to the technical field of industrial control, in particular to an industrial stacker intelligent control system based on machine vision, and the system comprises a state resolving module which is used for carrying out the feature region decoupling of original observation data, and resolving a position deviation matrix and a deformation state variable for a rigid subspace and a flexible subspace respectively; the dynamic modeling module is used for identifying the first-order inherent frequency and the damping ratio of the mechanical structure on line and establishing a second-order impedance contact model; the impedance control module is used for generating an expected speed based on the position deviation and adaptively adjusting an impedance parameter according to a deformation state so as to carry out compliant modulation on a speed vector; and the estimation shaping module is used for correcting system time lag by using a Kalman observer and inhibiting residual vibration in combination with a zero-vibration input shaper. Through multi-dimensional physical field fusion and dynamic modeling, the problem that a rigid control model is mismatched with a flexible operation object is solved, and self-adaptive compliant control and vibration-free accurate operation of the stacking machine in the unstructured environment are achieved.

The invention relates to the field of lithium battery intelligent monitoring, in particular to a low-temperature-resistant lithium battery BMS monitoring method and system based on cooperative sensing. The method comprises the following steps: acquiring surface temperature distribution, environment temperature and electrochemical parameters of the low-temperature tolerant lithium battery, and constructing a multi-source state characteristic matrix through space-time alignment and data fusion; applying a composite current excitation signal, and combining impedance analysis and spectrum analysis to extract impedance parameters, nonlinear distortion components and electrochemical stress factors to form a multi-dimensional feature vector; obtaining a state monitoring result by utilizing decision level fusion; through multi-sensor fusion and multi-dimensional feature fusion, the special internal state of the low-temperature tolerant lithium battery is comprehensively represented, early risk identification and early warning are carried out aiming at unique electrochemical behavior features of the low-temperature tolerant lithium battery, and compared with a common lithium battery monitoring method, the method has the advantages that the safety is high; and the accuracy, the robustness and the real-time performance of monitoring the state of the low-temperature tolerant lithium battery in the low-temperature environment are remarkably improved.

The invention relates to the technical field of community new energy control, and discloses an orderly and rapid charging new energy control method, which comprises the following steps: collecting photovoltaic output data, power grid voltage / current data, user charging behavior data and battery state parameters in real time; generating a dynamic charging strategy based on the power grid load data, the time-of-use electricity price information, the photovoltaic output fluctuation range and the battery health state evaluation result; generating a corresponding local optimization strategy based on the operation state data of each charging pile; an economic index and a technical index are calculated, and when any index exceeds a preset threshold value, a strategy adjustment instruction is triggered, and a charging mode switching threshold value is updated; an equipment health index is generated by combining inverter temperature, coil coupling efficiency and insulation impedance parameters with historical fault data, and maintenance early warning is triggered when the health index is lower than a safety threshold value. According to the invention, the electricity cost of the user can be reduced on the basis of improving the multi-energy collaborative optimization capability of the charging facility in the residential area.

The invention discloses a distribution-micro collaborative operation simulation optimization method, which belongs to the technical field of simulation optimization, and comprises the steps of preprocessing grid-connected point voltage data, tie line power data and communication time delay data, constructing a power distribution network power flow physical network following a Kirchhoff's law, outputting a source load power prediction curve by using a long short-term memory network algorithm, and calculating the distribution-micro collaborative operation according to the source load power prediction curve. And a distribution-micro collaborative simulation optimization model is obtained based on residual error rolling correction tie line impedance parameters, a delay penalty term is set in a target function in combination with the preprocessed communication delay data, a power regulation instruction is obtained by using a particle swarm optimization algorithm, and a dynamic simulation video stream is generated. According to the invention, through rolling correction of the tie line impedance parameters and setting of the delay penalty term positively correlated with the time delay, the problem of control failure caused by physical deviation caused by model parameter solidification and communication time delay accumulation is solved, and the defects of voltage deviation calculation distortion and inaccurate network loss evaluation are eliminated. And the simulation precision and the operation stability of distribution-micro cooperation are improved.

The invention relates to the technical field of robots and intelligent control, and discloses a robot trajectory control method, device and equipment based on multiple modalities and a medium, and the method comprises the steps: obtaining a natural language instruction, environment visual information and current state information of a robot, carrying out the fusion of visual and language features, and generating a fusion feature, generating a track sequence through a track generation model according to the fusion features and the robot state information, collecting a contact force signal of the tail end of the robot in contact with the target surface, adaptively adjusting impedance parameters by using the contact force signal, and generating a control instruction; and based on the contact force signal, feedback correction is carried out on the track generation model to drive the tail end of the robot to move, and multi-mode sensing and force control feedback cooperative control is achieved. According to the invention, track and force control cooperation is realized through multi-modal fusion and contact force feedback, so that the robot keeps stable fitting and adaptive motion in a complex contact scene, and the track generation precision and the imaging quality are improved.

The invention relates to the field of power grid simulation, and particularly discloses a control method of an alternating-current power grid broadband oscillation simulation device based on a component physical model, which realizes broadband domain oscillation simulation of an alternating-current power grid based on the component physical model and a notch filter. Specifically, according to the control method of the alternating-current power grid broadband oscillation simulation device based on the element physical model, an adjustable element physical model type and a corresponding impedance parameter serve as input conditions, and a dynamic voltage compensation component excited by power grid impedance is calculated in combination with an adjustable notch filter; and a power grid simulation reference signal is constructed in real time through superposition of an original input reference voltage value and a dynamic voltage compensation component excited by power grid impedance, so that oscillation simulation in a wide frequency domain of the alternating-current power grid is realized.

The invention provides a grid-connected inverter impedance detection method based on an L-shaped filter, and belongs to the technical field of grid-connected inverter impedance detection. A multi-frequency-point disturbance signal is injected into a preset grid-connected inverter working point, time domain data of inverter side current and common coupling point voltage are collected, fast Fourier transform analysis is carried out on the collected data, amplitude and phase information corresponding to each injection frequency point is extracted, and a frequency domain feature vector matrix is established; and establishing a frequency compensation matrix model to compensate and correct high-frequency band measurement data based on a frequency characteristic attenuation vector, calculating to obtain optimal estimated values of power grid impedance and grid-connected inverter output impedance, performing error analysis and precision verification on an impedance detection result, and outputting a verified impedance parameter value. The technical problem of insufficient power grid impedance detection precision caused by high-frequency band attenuation of the L-shaped filter is solved.

The invention relates to the technical field of electric energy quality management of an electric power system, and discloses an industrial power grid voltage fluctuation suppression method and system, and the method comprises the steps: firstly building a system-level voltage and current forward transmission model composed of a power unit, a filter circuit and power grid impedance which are cascaded; reversely constructing a feedforward controller based on a voltage and current forward transfer model, and generating a main compensation voltage instruction according to the power grid disturbance quantity detected in real time; state parameters of each power unit are obtained, a differential equation is constructed, and a comprehensive real-time health degree index is obtained through fuzzy reasoning; dynamically correcting an equivalent impedance parameter in the forward transfer model by using the index, and calculating a voltage distribution weight of each unit; and decomposing the total compensation voltage instruction into each unit modulation signal according to the weight. Through systematic modeling, intelligent state evaluation and dynamic fault-tolerant distribution, high-speed, accurate and high-reliability suppression of the voltage fluctuation of the industrial power grid is realized.

The invention belongs to the field of power transmission line parameter measurement, and discloses a live-line testing device and method for mutual inductance line parameters and zero-sequence impedance parameters. The device comprises a double-circuit line simulation module, a pilot frequency excitation module, a power frequency simulation module, a synchronous acquisition module and a signal processing module. The isolation transformer simulates a double-circuit line, the pilot-frequency power supply provides pilot-frequency excitation signals, the measurement unit realizes synchronous acquisition, and the signal processing module performs anti-interference and amplification processing. The method comprises the steps of line simulation wiring, synchronous time synchronization, pilot frequency signal acquisition, parameter calculation and error verification, and pilot frequency parameters are converted into power frequency parameters by using a frequency conversion formula. According to the invention, power frequency interference can be effectively suppressed in a charged environment, high-precision measurement of zero-sequence impedance and mutual inductance parameters of a mutual inductance line is realized by using pilot frequency excitation and Beidou synchronization technologies, the measurement error is remarkably reduced, the safety and reliability are remarkably improved, and powerful technical support is provided for safe and stable operation of a power system.

The invention discloses a 10kV distribution transformer on-load voltage regulation control method and system, and relates to the technical field of transformer on-load voltage regulation, and the method comprises the steps: collecting the three-phase voltage and current of a low-voltage side of a distribution transformer and a tap switch gear signal, and loading a preset voltage regulation control mode and an oscillation region parameter; based on the acquired three-phase voltage and current of the low-voltage side of the distribution transformer and the tap switch gear signal, calculating a feeder comprehensive impedance parameter and a load reactive power parameter, and outputting a transformer operation state index; according to the transformer operation state index, the voltage regulation control mode and the oscillation area rule, current voltage out-of-limit and reactive power deviation are judged, and a voltage regulation strategy triggering instruction is generated according to the judgment result; and calculating upper and lower limit values of feed line correction voltage based on the voltage regulation strategy trigger instruction, and controlling the tap switch to execute voltage regulation action. According to the method, a combined calculation scheme of feeder comprehensive impedance and load reactive power is fused, and dynamic optimization of the triggering condition of the voltage regulation strategy is achieved.

The invention provides a field emission thruster extraction electrode indium deposition cleaning temperature control method and system, and relates to the technical field of space electric propulsion, and the method comprises the steps: obtaining multi-source temperature data and electric field intensity data of a target region, and carrying out the time-space fusion processing of the two data, and generating target feature information reflecting the deposition state of an indium material; based on the feature information, a fuzzy PID control algorithm is adopted to generate a power control signal, and then the embedded heating unit is adjusted; monitoring electrothermal characteristics to obtain thermal impedance parameters, and further generating heat flow distribution data; analyzing heat flow data by using a state observer to predict an indium deposition growth trend to obtain deposition rate information, finally determining a cleaning control strategy according to the growth rate, and controlling temperature change in a non-uniform heating mode to enable the indium material to reach a phase change state. According to the invention, the reliability and maintenance efficiency of on-orbit long-term operation of the field emission propeller are improved.

The invention discloses a distribution network multi-source roof photovoltaic cluster collaborative aggregation regulation and control method, and belongs to the technical field of distribution network large-scale roof photovoltaic aggregation upgrading consumption, and the method comprises the following steps: collecting a power distribution network topological structure and line impedance parameters in real time, calculating the electrical distance modularity between nodes, and calculating the electrical distance modularity between the nodes; taking the reactive voltage sensitivity as a clustering core index, dividing the power distribution network into a plurality of photovoltaic clusters, selecting a node with the highest comprehensive sensitivity as a dominant node for each cluster, and establishing an inter-cluster reactive voltage sensitivity relation matrix; multi-stage collaborative optimization regulation and control are carried out, day-ahead, intra-day and real-time three-stage optimization models are constructed, and a cluster-stage optimization model is established by taking the minimum voltage deviation as a target; and carrying out multi-agent cooperative voltage regulation and strategy verification and updating. According to the method, the power grid topology is collected, node impedance is calculated, clustering is carried out through reactive sensitivity, a target function is solved through day-ahead optimization, intra-day voltage out-of-limit correction is carried out, margins are distributed in real time, and the technical problem of slow voltage regulation response is solved.

The invention provides a dynamic impedance matching charger based on battery aging, a method, electronic equipment and a medium. The charger comprises a master control unit, and a battery state monitoring module, an aging grade evaluation module, a dynamic charging control module, a battery cell balancing module, an optimization control module and an anti-interference module which are connected with the master control unit to cooperatively realize charging closed-loop control. The battery state monitoring module injects a preset frequency alternating current signal and outputs an impedance parameter, a charge state and a temperature parameter; the aging grade evaluation module outputs a battery aging grade in combination with a preset model; the dynamic charging control module is matched with an adaptive charging mode instruction; the battery cell balancing module calculates the battery cell impedance difference, and balancing operation is executed if the battery cell impedance difference reaches the standard; the optimization control module generates an optimized current instruction through a preset algorithm according to the related parameters, and superposes the optimized current instruction to the reference current; the anti-interference module improves the signal-to-noise ratio of collected signals to a preset standard through isolation and shielding design.

The invention relates to the technical field of automobile electronics and intelligent control, and discloses an intelligent cabin mechanical arm system which comprises a folding mechanical arm body, a tail end sensing interaction module, a driver state monitoring subsystem and a central control unit which are installed in a cabin. The central control unit controls the storage or working mode of the mechanical arm according to the comprehensive fatigue index of the driver; in the working mode, visual gazing information is used as a gating signal to activate electroencephalogram analysis, the operation intention is confirmed in combination with the visual prior probability and electroencephalogram signals, and the mechanical arm impedance parameters are adjusted in real time based on the fatigue state. According to the method, through Bayesian fusion of vision and electroencephalogram signals, the problem that single-mode control is unstable is solved; by means of variable impedance control and collision detection of the momentum observer, active safety protection based on the physiological state of the driver is achieved, and non-sensitive and high-safety intelligent auxiliary experience is provided in a limited cabin space.

The invention belongs to the technical field of electromechanical transient modeling, and particularly discloses a PSASP-based electromechanical transient modeling method for a network-building converter, and the method comprises the steps: setting the voltage of a grid-connected point and an equivalent impedance parameter of a converter transformer; the method comprises the following steps: in a PSASP custom modeling platform, establishing a network construction type converter control model, and obtaining a reference voltage signal through the control model; performing voltage-current conversion to obtain a real part and an imaginary part of current injected into the bus; setting a virtual impedance link in a control model of the network-forming converter, calculating virtual voltage drop by combining a current real part and an imaginary part with a virtual impedance parameter, correcting a reference voltage signal, and performing voltage-current conversion to obtain the corrected current real part and imaginary part; and injecting the corrected real part and imaginary part of the current into a PSASP bus in a current source form, and establishing an electromechanical transient model of the grid-forming converter.

The invention discloses a mode switching method, device and equipment of an energy storage converter and a storage medium, and relates to the technical field of power grid control, and the method comprises the steps: obtaining a multi-mode control grid-connected model of the energy storage converter, and the grid-connected model comprises a grid-following type control model and a grid-constructing type control model; based on the grid-connected model, injecting a high-frequency small signal into a power grid through an energy storage converter, and processing the high-frequency small signal by adopting a discrete Fourier transform algorithm to obtain grid-connected point voltage and current response; obtaining a power grid impedance parameter according to the grid-connected point voltage and current response; calculating an operation short-circuit ratio according to the power grid impedance parameter in combination with the actual output power of the energy storage converter and the power grid voltage amplitude; according to the operation short-circuit ratio and the short-circuit ratio threshold value, mode switching is carried out on the following network type control and the construction network type control, and the method can improve the accuracy of mode switching of the energy storage converter.

The invention discloses a rapid early warning method and system for thermal runaway of a lithium ion battery, and belongs to the technical field of battery safety monitoring, and the method comprises the steps: establishing a database offline, analyzing and determining a specific characteristic frequency with the strongest correlation with the internal temperature by testing the wide-frequency-band electrochemical impedance spectroscopy of the battery at different temperatures, and calculating the thermal runaway of the lithium ion battery according to the specific characteristic frequency; fitting to obtain a corresponding function model of the impedance parameter and the temperature under the frequency; during online application, only a micro-amplitude alternating current signal with the specific frequency is applied to the battery, an impedance value is calculated by measuring a response signal, the impedance value is substituted into the function model to estimate the internal temperature of the battery in real time, the temperature is compared with a preset failure threshold value, and a graded early warning signal is sent out before the threshold value is reached. The system realizes rapid detection, has the advantages of fast response, high precision, strong anti-interference performance and low cost, can be integrated in a vehicle-mounted or energy storage power station BMS system, and effectively guarantees the use safety of the lithium ion battery.

The invention relates to the technical field of power distribution network dispatching, in particular to a power distribution network dispatching optimization method and device. Constructing a dynamic digital twin of the power distribution network to be dispatched, and reversely correcting a line impedance parameter and an equipment efficiency coefficient in combination with a twin simulation result; multiple scheduling strategies are rehearsed in parallel, and the optimal scheduling strategy is selected through weighted scoring; generating a multi-energy flow collaborative scheduling instruction set according to the optimal scheduling strategy; dynamically distributing a control task by utilizing an edge node; and performing differentiated load response in combination with the power consumption behavior classification of the user. Space-time synchronous acquisition of electricity-heat-gas data is realized by deploying a multi-energy-flow sensor group, a multi-energy-flow collaborative scheduling instruction is generated by combining reverse parameter correction and scene rehearsal optimization of a dynamic digital twin, and dynamic resource allocation is realized based on an edge node dynamic allocation control task and load classification response. The new energy consumption rate capability is obviously improved, and the carbon emission intensity is reduced.

The invention relates to a mechanical arm self-adaption compliance control method and system based on model reference self-adaption and impedance parameter online identification, and belongs to the field of robots. The method comprises the steps that a mechanical arm task space dynamics model is established; designing a reference model; a recursive least square method is adopted, and an equivalent stiffness matrix and a damping matrix of the interaction environment are identified online; designing a composite adaptive law; the expected rigidity of the reference model is dynamically adjusted according to the environment rigidity obtained through identification; and according to sensor data collected in real time, the mechanical arm task space dynamics model, the robot parameter self-adaption law, the environment rigidity, the environment damping and the environment parameter identification robust item, control force is generated, and the mechanical arm is driven through the control force. According to the method and the system, the environment characteristics can be sensed online, and the compliant behaviors can be adaptively adjusted, so that safe, efficient and high-robustness interaction of the mechanical arm in a complex and unknown environment is realized.

The embodiment of the invention discloses a power distribution network intelligent grounding inrush current suppression method and device, and the method comprises the steps: collecting the state data of a power distribution network, and generating a line state data set, the state data comprising real-time load characteristics and impedance parameters; analyzing the line state data set based on an edge calculation model, and predicting an inrush current peak value and a waveform characteristic of the inrush current peak value at the grounding moment in combination with a nonlinear load fluctuation characteristic caused by the access of a distributed power supply; a particle swarm optimization model is constructed according to the predicted inrush current peak value, waveform characteristics and load characteristics, a search space is constrained through a local heuristic rule, capacitance and resistance parameters of an RC damping loop are dynamically adjusted, and an optimal damping scheme is generated; on the basis of inter-phase cooperative control logic of a three-phase system, dynamically determining grounding trigger time sequences of all phases in combination with the predicted inrush current waveform characteristics; and a grounding instruction is sent to the three-station integrated mechanism, and the three-station integrated mechanism executes an inrush current suppression operation. According to the invention, efficient inrush current suppression is realized.

The invention relates to the technical field of radio frequency measurement, and discloses a method for measuring the high-frequency characteristic of a radio frequency coaxial probe. The method comprises the following steps: acquiring high-frequency response data of a radio frequency coaxial probe, segmenting a full frequency band based on a predefined frequency band division strategy, and identifying a key frequency band region; according to the response amplitude and phase distribution of the key frequency band region, screening a reference frequency band and extracting an impedance reference value, optimizing impedance matching parameters of a non-reference frequency band based on the reference value, and generating a frequency band impedance optimization parameter set; recombining a full-band impedance distribution sequence according to the parameter set to generate an initial impedance matching scheme; and finally, monitoring the high-frequency transmission deviation under the initial scheme in real time, counting the impedance fluctuation quantity and the phase offset, and generating an impedance correction instruction. The method effectively improves the stability and reliability of the measurement of the high-frequency characteristic of the radio frequency coaxial probe by accurately identifying the key frequency band in a segmented manner, guiding the impedance parameter optimization by the reference value and combining a dynamic correction mechanism.

A robot constant-force grinding optimization method and apparatus, and an electronic device. The method comprises: determining an active compliance control model for robot constant-force grinding (101); constructing an optimization objective of the active compliance control model, and performing optimization solution on the active compliance control model by means of a whale algorithm to obtain an optimal parameter value of an impedance parameter of the active compliance control model (102); and controlling a robot to perform constant-force grinding on a workpiece on the basis of the optimal parameter value and the active compliance control model (103). In the robot constant-force grinding optimization method, adaptive optimization solution is performed on the active compliance control model by combining the whale algorithm, to obtain the optimal parameter value of the impedance parameter of the active compliance control model, thereby achieving constant-force grinding of the workpiece by the robot and achieving the optimal grinding effect.

The invention discloses a power grid impedance identification method based on model reference self-adaption, and belongs to the technical field of electrical engineering. The method comprises the steps of establishing a reference model, and adopting integral control to iterate the reference model. A three-phase grid-connected current estimation value is obtained by establishing a reference model, the three-phase grid-connected current estimation value tracks the sampled three-phase grid-connected current through integral control, and power grid impedance parameters in the reference model are iterated. And when the three-phase grid-connected current estimation value is consistent with the sampled three-phase grid-connected current, the iterative power grid impedance parameter in the reference model is the final power grid impedance identification value. According to the method, active injection harmonic disturbance is not needed, a complex signal processing method is not needed, grid-connected current control is not affected on the basis, and the power grid impedance identification result is accurate.