50 results about "Phase domain" patented technology

The invention relates to the technical field of precise geometric quantity measurement, and discloses an electronic component size and contour automatic metering method, which comprises the following steps: calculating a nominal truncation phase distribution diagram of a to-be-measured electronic component by using a virtual projection imaging model, controlling a projection unit to project a single-frequency sine stripe grating to the electronic component and collecting a deformed stripe image, calculating the gradient of the modulation degree distribution map and extracting edge contour features to solve the actual pose of the assembly; performing modulo 2pi differential operation on the nominal and actually measured truncated phase distribution maps, and eliminating high-gradient artifacts by using an edge mask to generate a phase residual map; and converting the phase residual image into a height deviation distribution diagram according to the phase height mapping relation, and by constructing a phase domain differential metering channel, the phase unwrapping ambiguity in discontinuous surface measurement is avoided.

The invention discloses a method for switching between a first communication mode and a second communication mode, and the method comprises the steps: determining a dual-mode phase difference between a first mode baseband signal and a second mode parameter based on the first mode baseband signal and the second mode parameter; generating an interleaved phase coding sequence in response to the dual-mode phase difference; pre-modulating the first mode signal in parallel before switching by using the coding sequence, and generating a pre-activated second mode virtual signal; switching from the first mode to the second mode is executed based on a parallel fusion phase track generated after the phases of the two preprocessed signals are subjected to time-varying weighted fusion. According to the method, a smooth switching track is constructed through parallel phase preview and phase domain fusion, phase continuity and frequency stability in the switching process are ensured, switching time delay and the data error rate are remarkably reduced, and the communication service quality of the heterogeneous network is improved.

The invention provides an AIS signal constrained least square angle estimation method, device and equipment and a storage medium, and the method comprises the steps: collecting time domain, frequency domain and phase domain TDOA observation data, and evaluating the observation precision of each path based on a signal-to-noise ratio, goodness of fit and phase stability; then, mapping multi-source observation values into a unified nonlinear observation equation, and constructing a weighting matrix according to each observation precision, so that a high-precision channel obtains a larger weight; thirdly, forming an equation and inequality constraint set by combining the physical incidence angle range constraint of the double / three-antenna array, the arrival time difference range constraint determined by the baseline length and the propagation speed and the three-antenna closed TDOA geometric constraint; and finally, constructing an optimization target in a constrained least square form, carrying out iterative solution through a sequential quadratic programming (SQP) algorithm, outputting an optimal angle estimation value on the premise of meeting all physical and geometric constraints, and realizing high-precision estimation of the AIS signal arrival angle in a complex electromagnetic environment.

The invention relates to the technical field of vital sign anomaly detection, in particular to a vital sign anomaly feature extraction method based on a sign signal, which comprises the following steps: firstly, dynamically adjusting the size of a time cabin through variational optimization, taking both transient and steady feature capture into account, and avoiding feature loss caused by a fixed window length; in combination with principal component analysis, Lyapunov exponential chaos quantization and a high-order differential operator, nonlinear features are decoupled from multiple dimensions of a time domain, a frequency domain and a phase domain, the feature interpretability is improved, further, through phase-speed mapping and attention weighted fusion, self-adaptive enhancement and decoupling of spatial-temporal features are achieved, noise interference is suppressed, and the spatial-temporal features are enhanced. The finally generated multi-dimensional feature cube integrates time resolution, frequency precision and phase differential information, the anomaly detection robustness of complex vital signs is remarkably improved, and the defects that a traditional method is single in dimension and insufficient in adaptability in dynamic signal processing are overcome.

Mechanism on reporting procedure information for simultaneous multi-panel uplink (UL) transmission is provided. According to embodiments of the present disclosure, a first device transmits first capability information to a second device. The first capability information comprises a list of UE capability value sets. Each UE capability value set in the list defines an antenna arrangement of the first device and is characterized by a first number of transmission antenna ports. The first device transmits second capability information to the second device. The second capability information comprises a group of UE capability value sets, wherein the group of UE capability value sets defines a plurality of antenna arrangements of the first device, and coherence information in phase domain between transmission antenna ports of the plurality of antenna arrangements or between the plurality of antenna arrangements. In this way, it enables simultaneous multi-antenna panel codebook based UL transmission with different antenna panels having difference capabilities.

The invention relates to the technical field of vibration monitoring, and discloses a steam turbine cold end fault diagnosis method and system based on a fusion time sequence convolutional network, and the method comprises the steps: eliminating the frequency spectrum drift caused by the rotation speed fluctuation through band-limited filtering and order domain resampling, and automatically extracting the specific low-frequency modulation component of a cold end through the envelope square and a periodogram, and finally, the asymmetric dynamic response characteristics of the rotor system are quantified by third-order spectrum phase bias, and the phase change rule is adaptively learned by the pre-trained convolutional network. According to the method, the problem that traditional amplitude spectrum analysis is high in misjudgment rate under the strong noise, variable speed and unsteady environment is effectively solved, the fault features show higher stability and distinguishability in the phase domain, and therefore high-robustness and high-precision automatic diagnosis of the turbine cold end rotor faults is achieved.

The invention discloses a titanium-aluminum alloy defect detection device and method.According to the titanium-aluminum alloy defect detection device, a micro-texture film is attached to the surface of a detected workpiece in the defect detection process, so that a known interference source is introduced, and the defect detection accuracy is improved by combining a forward and reverse constant-speed scanning strategy; signal processing is carried out after the forward phase domain response signal and the reverse phase domain response signal are obtained, and a real defect signal can be accurately extracted, so that a surface roughness interference signal can be effectively eliminated on the premise that the surface of a workpiece is not damaged, the detection rate of titanium-aluminum alloy surface and near-surface defects is improved, the false detection rate is reduced, and the detection efficiency is improved. And high resolution and high signal-to-noise ratio are maintained.

The invention provides a DDR wafer test anomaly detection method and device based on machine learning, and the method comprises the steps: obtaining a time sequence eye pattern synchronously collected in a DDR wafer test process and time sequence waveform data related to total jitter, deterministic jitter and random jitter, and carrying out the clock edge phase segmentation alignment of differential time sequence sampling points in the time sequence waveform data, phase domain dense sampling data is constructed, adaptive sparse coding is completed in combination with DDR jitter physical priori, noise and normal process fluctuation related components are removed, defect sensitive sparse components are obtained, variational mode decomposition is performed, components related to process drift, normal process fluctuation and abrupt change abnormity are obtained, and the defect sensitive sparse components are subjected to sparse coding; and the abrupt change anomaly correlation component is extracted as target detection data, a preset machine learning model is input, an anomaly mode correlation result is generated, a DDR wafer test anomaly detection result is output based on the result, and a corresponding test setting item adjustment instruction is generated. According to the invention, the overall efficiency and the result reliability of the DDR wafer test can be improved.

The invention discloses a laser powder bed sheet pattern distortion real-time correction system and method based on a phase type light valve, and relates to the technical field of metal additive manufacturing. The system comprises a polarization laser, a beam expanding and collimating unit, a reflecting mirror, a phase-type spatial light modulator, a reflecting mirror, a relay optical system, a galvanometer / field lens system, a movable spectroscope, a reference plane mirror and a forming cylinder. A double-loop correction system with a position sensitive detector as an absolute reference and a wavefront sensor as direct feedback is constructed, information of the position sensitive detector and the wavefront sensor is unified in a phase domain through a frequency domain fusion algorithm, and a comprehensive compensation phase diagram capable of completing pattern generation and distortion correction at the same time is generated. And loading to a phase type light valve to carry out high-power laser patterning modulation, and melting metal powder of a powder bed.

The invention discloses an optical time delay calibration method of a broadband phased array. According to the method, the defect that a traditional optical time delay measurement method is only limited to a single measurement domain such as a time domain, a frequency domain or a phase domain is overcome, resources of multiple dimensions such as the time domain, the frequency domain and the polarization domain are reused, and the optical time delay measurement accuracy is improved based on the constructed optical domain vernier effect. By solving an indefinite equation formed by two optical pulse sequences in different polarization states, the measurable range of the optical time delay in a high-speed measurement scene is extended. The invention also discloses an optical time delay calibration device of the broadband phased array. Compared with the prior art, large-range, high-precision, multi-channel and rapid time delay measurement and calibration can be realized.

The application provides a multi-satellite signal acquisition method based on a graphics processor. Through the asynchronous pipeline architecture of CPU-GPU cooperation, after completing parameter configuration and data asynchronous uploading at the central processor end, the graphics processor end divides multiple CUDA streams based on the parallel subtasks of the CUDA stream based on the Doppler dimension, combines the pre-bound Fourier transform plan, accelerates the down-conversion through the frequency lookup table, performs frequency domain correlation and non-coherent accumulation in the code phase domain on multiple CUDA streams in parallel, and finally extracts the local peak value through one-level reduction and returns it asynchronously. The central processor end summarizes the results and judges the effectiveness based on the carrier-to-noise ratio. The design realizes the deep integration of the Doppler task-level pipeline and the code phase thread-level parallelism, avoids non-merged access of the GPU device memory, significantly improves the efficiency of multi-constellation signal acquisition, and supports multi-frequency point signal processing of GPS, Beidou and the like through a unified pre-configuration interface, thereby enhancing the architecture universality.

This invention discloses a method and system for analyzing circuit breaker breaking parameters based on phase domain trajectory analysis. The method includes: first, constructing a time-domain waveform expression for the short-circuit current; after acquiring the fault waveform, mapping the time-domain sampling points to the polar coordinate plane by defining reference points and sampling windows to form a phase domain trajectory and drawing it; then, performing waveform reproduction and similarity analysis, adjusting the initial phase of the sinusoidal AC component and the attenuated DC component to reproduce a high-precision time-domain waveform and improve the short-circuit current time-domain waveform expression; next, using vectorized matching technology based on digital channel names and kurtosis algorithms to screen out associated circuit breakers with displacement in the fault recording; then, calculating key parameters such as the DC time constant, fault current duration, and RMS value of the total current, and comparing and verifying them with the rated parameters of the circuit breaker. This improves the accuracy and real-time performance of circuit breaker breaking capacity assessment, providing an efficient and automated method for circuit breaker performance evaluation and anomaly diagnosis after power grid faults.

The application provides a multi-satellite signal acquisition method based on a graphics processor. Through the asynchronous pipeline architecture of CPU-GPU cooperation, after completing parameter configuration and data asynchronous uploading at the central processor end, the graphics processor end divides multiple CUDA streams based on the parallel subtasks of the CUDA stream based on the Doppler dimension, combines the pre-bound Fourier transform plan, accelerates the down-conversion through the frequency lookup table, performs frequency domain correlation and non-coherent accumulation in the code phase domain on multiple CUDA streams in parallel, and finally extracts the local peak value through one-level reduction and returns it asynchronously. The central processor end summarizes the results and judges the effectiveness based on the carrier-to-noise ratio. The design realizes the deep integration of the Doppler task-level pipeline and the code phase thread-level parallelism, avoids non-merged access of the GPU device memory, significantly improves the efficiency of multi-constellation signal acquisition, and supports multi-frequency point signal processing of GPS, Beidou and the like through a unified pre-configuration interface, thereby enhancing the architecture universality.

The present invention discloses a high-performance, broadband, electrically adjustable phase shifter with low phase error across the entire phase domain. This device belongs to the field of radio frequency microwave technology. The electrically adjustable phase shifter comprises an upper phase shifter structure, a middle microwave dielectric substrate, and a lower grounded metal plate. The phase shifter structure includes an input port feeder with a first capacitor, a routing microstrip line with second and third DC-blocking capacitors and first and second PIN diodes, a transmission microstrip line connected at one end to a fourth DC-blocking capacitor and at the other end to a coupler, a coupler, a reflective load, and an output feeder. The reflective load employs a novel structure, specifically comprising two varactors, an inductor, and an M-shaped transmission line. The reflective load is connected to the through-port and coupled-port of the coupler via a fifth DC-blocking capacitor, respectively, and the load terminal is grounded via a metal via. While maintaining a simple overall structure and a large phase shift range, the present invention addresses the issues of conventional reflective phase shifters, such as their inability to achieve broadband and small phase error.

The present invention discloses an absolute phase unwrapping method based on geometric constraints and photometric information. This method can measure objects with a large depth range without the need for additional image acquisition or other cameras. The method sets a virtual reference plane behind the object to be measured and uses the absolute phase of the reference plane as a reference to obtain the object's initial absolute phase. Phase discontinuities in the initial absolute phase are detected and connected as boundaries, thereby dividing the object into independent regions. Using a projector as a point light source, according to Lambert's cosine law, simulated images of different 2π phase domain intervals in space are generated for each region in turn. The phase domain 2π interval corresponding to the region is determined by comparing the similarity between these simulated images and the modulated image, ultimately obtaining the entire absolute phase map of the object.

The invention discloses a power distribution network fault diagnosis method and system based on improved empirical mode decomposition and a hybrid neural network, and the method comprises the following steps: obtaining high-frequency fault disturbance waveform data, and dividing a fault disturbance waveform into a plurality of data segments through a moving time window; obtaining an intrinsic mode component set for each data segment by using an improved empirical mode decomposition method; a random component in the intrinsic mode component is screened and removed by using an improved run detection method containing an adaptive factor; mapping the processed three-phase voltage transient waveform to a complex field plane by using phase domain transformation; and constructing a power distribution network fault diagnosis model by using the multi-branch hybrid neural network, the input signal being the fault data converted to the complex field plane, and the output data being the fault type.

The application discloses a phase-locked loop, a signal processing device and a signal processing method, and the phase-locked loop comprises a reference clock unit, a feedback unit, a phase discrimination unit and a weighting unit. The reference clock unit outputs two or more than two frequency-adjustable synchronous reference clock signals to the phase discrimination unit. The feedback unit performs frequency division processing on an output voltage signal output by the phase-locked loop in a first period to obtain a feedback signal. The phase discrimination unit determines a corresponding error signal according to a phase difference between each reference clock signal and the feedback signal. The weighting unit performs weighting calculation on the determined error signal to obtain a weighted error signal. The correction unit is configured to correct an output voltage signal output by the phase-locked loop in a second period according to the weighted error signal. In the embodiment of the application, a plurality of error signals are determined through two or more than two reference clock signals, and the phase domain average of reference clock noise of the phase-locked loop is realized through weighting of the error signals, so that the influence of in-band phase noise of the reference clock on the power consumption of the phase-locked loop is avoided, and the power consumption of the phase-locked loop is reduced.

The invention provides a visual positioning measurement method and system based on a micro-coding target. The method comprises the following steps: acquiring a target image through a module camera matched with a miniature microscope lens, and firstly, realizing automatic estimation of a distortion center through minimizing a phase nonlinear residual by using global linear structure characteristics of an orthogonal dot matrix in a frequency domain and a phase domain; on the basis, low-order radial and tangential distortion parameters are solved by adopting closed weighted least squares, so that single-image lens distortion correction is realized; then, a plurality of target images at different local positions are shot from different positions, each image is decoded to obtain global position information of the photoetching plate corresponding to the feature points, self-calibration of the camera is achieved, and internal parameters of the camera are obtained; and finally, performing two-dimensional Fourier transform on the acquired target image, performing unwrapping by using phase information of a complex field, and fusing and outputting the absolute position of the camera in combination with decoding information of the image.

A single-ended wired transmitter based on adaptive amplitude-phase cross-domain equalization comprises a data unit and a clock unit, and the clock unit provides multi-frequency and multi-phase clock signals for a serialization and driving circuit of the data unit through frequency division, duty cycle calibration and quadrature phase calibration according to an external differential input clock; the data unit performs amplitude pre-emphasis processing according to the hopping information to generate an equalization control signal, and performs phase control on the four-phase clock according to the length of the continuous same code element to obtain a clock signal for phase domain equalization; through the adaptive amplitude-phase cross-domain equalization technology, the mixed-mode driver technology, the current multiplexing technology of the phase modulator and the power gating technology of the serializer, the power consumption and the power noise can be remarkably reduced and the equalization capability can be improved in the memory interface and core particle interconnection application scene.

The invention relates to the technical field of rotor misalignment fault identification, in particular to a wind turbine generator fault online monitoring method, device and equipment and a computer readable storage medium, and the method comprises the steps: installing a strain sensor measuring point on a diaphragm of a high-speed shaft coupling of a wind turbine generator, and constructing a strain measurement chain; acquiring a strain signal by using the strain measurement chain, and converting the strain signal into a digital signal; performing frequency domain and phase domain feature extraction on the digital signal to obtain a feature extraction result; and identifying a rotating shaft misalignment fault type based on a feature extraction result to obtain a fault monitoring result. The non-centering state is represented by directly measuring the strain of the coupler diaphragm, direct evidence reflecting the centering state of the rotating shaft is obtained, and the signal-to-noise ratio and the monitoring accuracy are remarkably improved; the frequency domain amplitude features and the phase domain phase features are combined, the accuracy and reliability of fault type recognition are greatly improved, and the method has significant significance in guaranteeing safe and stable operation of the wind turbine generator and reducing the operation and maintenance cost.

The invention discloses an AC / DC power transmission line broadband equivalent analysis modeling method and system, and belongs to the technical field of power system AC / DC power transmission, and the method comprises the steps: obtaining the self-impedance and mutual impedance frequency change parameters of each phase based on a phase domain frequency change model, and converting the self-impedance and mutual impedance into differential mode impedance and common mode impedance; vector fitting is carried out on the impedance data to construct an RL branch parameter solving equation, the cascade number is determined, and an RLC circuit equivalent model corresponding to differential mode impedance and common mode impedance is obtained; a topological form of a differential mode RLC equivalent circuit corresponding to differential mode impedance and a compensation current source is adopted to construct a power transmission line equivalent circuit considering mutual inductance. According to the long-distance AC / DC submarine cable RLC equivalent modeling method, an AC / DC cable port voltage and current relation considering mutual inductance characteristics is deduced based on phase-mode transformation, a cable mutual inductance equivalent circuit based on a differential / common mode RLC circuit and a compensation current source is constructed, and the long-distance AC / DC submarine cable RLC equivalent modeling method capable of accurately reflecting frequency change, time delay, distribution characteristics and mutual inductance effects is provided.

This application discloses a digital predistortion calculation method, apparatus, storage medium, and electronic device. The digital predistortion calculation method includes: acquiring the input signal and corresponding output signal of a power amplifier; determining the nonlinear distortion characteristics of the power amplifier in the amplitude and phase domains based on the input and output signals to identify symmetry breaking modes characterizing the nonlinear distortion characteristics; mapping the symmetry breaking modes to a Lie algebra space, and analyzing the distortion mechanism constituting the symmetry breaking modes based on the Lie algebra space to obtain Lie algebra elements; performing exponential mapping operations on the Lie algebra elements to generate the corresponding symmetry recovery transform function; constructing a performance manifold based on the physical constraints and linearization performance indicators of the power amplifier, and geometrically optimizing the parameters of the symmetry recovery transform function on the performance manifold to generate the target predistortion signal.

The application provides a detection system and an automatic focusing method and a storage medium thereof. The system comprises a light source assembly, an optical assembly, an imaging assembly and a processor. A surface of a to-be-detected object is provided with a feature structure for focus surface positioning. The processor is configured to coarsely adjust a relative position of the imaging assembly and the to-be-detected object, collect interference images at multiple positions, determine an initial focus surface position according to the collected interference images, then change the relative position of the imaging assembly and the to-be-detected object multiple times near the initial focus surface position and collect interference images at corresponding positions respectively, construct a sharpness index by using phase information corresponding to the feature structure, and compare index values at the positions to accurately position a best focus surface position. The application improves the focus adjustment basis from traditional image intensity analysis to phase domain analysis, utilizes high sensitivity of the phase to defocusing, realizes automatic focus adjustment with nanometer-level precision without increasing hardware, and provides reliable focus surface guarantee for high-precision semiconductor detection.

This invention relates to the field of precision geometric measurement technology and discloses an automated measurement method for the dimensions and contours of electronic components. The method includes: calculating the nominal truncated phase distribution map of the electronic component under test using a virtual projection imaging model; controlling a projection unit to project a single-frequency sinusoidal fringe grating onto the electronic component and acquiring deformed fringe images; calculating the modulation distribution map gradient and extracting edge contour features to solve the actual pose of the component; performing modulo-2π differential operations on the nominal and measured truncated phase distribution maps and using an edge mask to remove high-gradient artifacts to generate a phase residual map; and converting the phase residual map into a height deviation distribution map based on the phase height mapping relationship. This invention avoids the ambiguity of phase unwrapping in the measurement of discontinuous surfaces by constructing a phase domain differential measurement channel.

The application discloses a short offset transient electromagnetic method super-deep detection system and a signal analysis method, relates to the technical field of geological detection, and comprises a signal receiving and collecting adaptive module, an original signal preprocessing module, a geometric effect correction and deep gain reconstruction module, a layered response separation module, an inversion imaging and prior constraint module and an analysis result output and visualization module. The near-field coupling, amplitude and phase distortion and deep energy attenuation caused by the short offset are systematically compensated through the quantitative geometric effect correction and the depth self-adaptive gain reconstruction. The mechanism not only synchronously recovers the late and weak amplitude signal in the time domain and the phase domain, but also maintains the amplitude and phase consistency, ensures the use of the homologous and comparable data input for the subsequent layered separation and inversion, and fundamentally expands the applicability of the short offset transient electromagnetic method to the super-deep target. Compared with the method of increasing the transmission or expanding the array, the scheme can stably extract the deep response when the equipment and the field layout are limited, and fundamentally expands the applicability of the short offset transient electromagnetic method to the super-deep target.

The invention provides a same-tower four-circuit non-transposition parallel line zero-sequence parameter live line measurement method, and relates to the technical field of intelligent power grids, and the method comprises the steps: obtaining the power parameters of a multi-circuit line in a target connection mode; establishing a port equivalence equation according to the electric power parameters, and solving a pilot frequency phase domain impedance parameter matrix by adopting a least square method; and according to the pilot frequency phase domain impedance parameter matrix, converting to a power frequency and carrying out sequence domain transformation, and calculating to obtain a power frequency zero sequence parameter of each power transmission line. According to the invention, the complex electromagnetic characteristics of an untransposed line can be accurately matched, and the accuracy of zero-sequence parameter measurement is improved.

The invention discloses a system and a method for testing broadband damping characteristics of a network construction type energy storage converter, and relates to the technical field of power electronic equipment testing, the system comprises the following components: a physical layer, a data acquisition layer, a data processing layer and an application layer; according to the method, the sweep frequency disturbance signal is optimized through a dynamic amplitude adjustment strategy, the problems that traditional fixed amplitude disturbance is weak in signal in a high-impedance frequency band and prone to overload in a low-impedance frequency band are solved, tests show that after dynamic amplitude adjustment is adopted, the signal-to-noise ratio of data collected in each frequency band is averagely increased by 28%, the signal-to-noise ratio of the low-frequency band of 1-45 Hz is increased most remarkably, and meanwhile, the signal-to-noise ratio of the low-frequency band of 1-45 Hz is increased more remarkably. And the data acquisition layer adopts a method of combining timestamp calibration and phase compensation, the synchronization precision is improved to a phase domain less than or equal to 0.5 degree, and the phase deviation near a 50Hz rated frequency is controlled within 0.2 degree, so that an impedance calculation error caused by the phase deviation is effectively avoided, and the accuracy of the Bode diagram phase-frequency characteristic is ensured.

This invention provides a machine learning-based method and device for anomaly detection in DDR wafer testing. It acquires timing eye diagrams and timing waveform data related to total jitter, deterministic jitter, and random jitter synchronously during DDR wafer testing. The method performs clock edge phase segmentation alignment on the differential timing sampling points in the timing waveform data to construct dense sampling data in the phase domain. Combined with DDR jitter physical priors, adaptive sparse coding is performed to remove noise and components related to normal process fluctuations, obtaining defect-sensitive sparse components. Variational mode decomposition is then performed to obtain components related to process drift, normal process fluctuations, and abrupt anomalies. The components related to abrupt anomalies are extracted as target detection data, input into a preset machine learning model, and anomaly pattern association results are generated. Based on these, DDR wafer testing anomaly detection results are output, and corresponding test setting adjustment instructions are generated. This invention can improve the overall efficiency and reliability of DDR wafer testing results.

The present invention proposes a real-time motion control method for a reptile robot based on phase domain synthesis. First, the corresponding relationship between the local phase representing the segment extension and contraction rhythm of the reptile robot and time is established, and the relationship between the reference joint position and phase of the reptile robot in different motion modes is calculated. Fast Fourier transform is performed, and compression and feature extraction are performed in the frequency domain to obtain the characteristics of different motion modes. After obtaining the operation instruction, the instruction phase and motion mode characteristics are generated. The characteristics corresponding to the operation instruction are used to align and superimpose with the linear motion mode characteristics in the phase domain to synthesize a new motion mode. By establishing a local phase, the present invention transfers the motion mode synthesis work from the time domain to the phase domain, effectively reducing the characteristic dimension of the motion mode and achieving efficient synthesis of motion modes of different time scales with constant time consumption. This allows users to correct the motion path in real time according to the terrain and motion conditions, thereby improving the maneuverability of the reptile robot in complex terrain.

The invention relates to the field of power transmission of a power system, and provides a phase domain frequency change modeling method and device for a direct current transmission line, and the method comprises the steps: building a phase domain frequency change mathematical model based on the physical characteristics of the direct current transmission line; when the propagation time delay of the electromagnetic wave on the direct-current power transmission line and the simulation step length are in a non-integer multiple relationship, adaptively adjusting interpolation table parameters through the trained deep learning model, and performing interpolation reconstruction on the reflection current based on the interpolation table parameters; the deep learning model is used for representing a nonlinear mapping relation between interpolation table parameters and system dynamic response; and based on the reflection current after interpolation reconstruction and the phase domain frequency change mathematical model, adopting a recursive convolution algorithm to carry out time domain simulation under a non-linear sudden change working condition. According to the DC power transmission line phase domain frequency change modeling method and device provided by the invention, the modeling precision of the DC power transmission line in a high-frequency transient process is remarkably improved, and waveform distortion and simulation errors are reduced.