283 results about "Variable load" patented technology

The invention provides an intelligent optimization control method and platform under variable load operation of a coal-fired power plant, and relates to the technical field of intelligent optimization control, and the method comprises the steps: calling historical operation data, carrying out the load trend change analysis, and completing the construction of a control analysis module; analyzing and outputting instantaneous PID control parameters according to the real-time load data; after the instantaneous PID control parameters are switched to, a flue gas emission acquisition module is activated; real-time flue gas emission parameters are obtained; performing denitration control optimization to obtain a real-time PID control parameter, and switching to the real-time PID control parameter; presetting a flue gas emission window, dynamically updating real-time flue gas emission parameters, dynamically updating real-time PID (Proportion Integration Differentiation) control parameters and performing seamless switching control on an SCR (Selective Catalytic Reduction) system. The control method solves the technical problem that when a control method in the prior art is used for dealing with an SCR system, efficient control is difficult to achieve under the dynamically-changing load condition, and then the denitration effect and the system stability are affected.

The invention relates to a mechanical arm tail end variable load dynamics self-diagnosis and compensation method in a quick change form. The mechanical arm tail end variable load dynamics self-diagnosis and compensation method is technically characterized in that a dynamics model is established based on iterative least square online identification; load parameter identification under variable working conditions is carried out based on Jacobian matrix mapping; establishing a hybrid dynamic model including connecting rod rigid body dynamics, connecting rod error compensation dynamics and load dynamics; establishing a variable load dynamical model; when the load at the tail end of the mechanical arm is changed, robot joints are controlled by updating parameters in the hybrid dynamic model; on-line identification and compensation are carried out by collecting sensor data in real time. The method can effectively improve the accuracy and robustness of dynamic representation of the robot when facing various uncertain factors such as connecting rod deformation, variable load and measurement noise, improves the safety and reliability of physical man-machine interaction of the robot, and can be widely applied to the fields of industrial automation, medical operation assistance and rescue robots.

The invention discloses a high-speed turntable variable load adaptive control method, which is based on a closed-loop control mode, realizes adaptive regulation and control of a microprocessor on the rotating speed and the position of a servo motor by combining a fuzzy PID (Proportion Integration Differentiation) control algorithm, reduces the regulation response time and errors of a high-speed turntable, and improves the operation stability of a turntable system. The rotation angle of the high-speed rotary table is fed back to a microprocessor by a displacement sensor to form a closed-loop control system, and an improved gravity center Lagrange interpolation-Fourier harmonic synthesis displacement sensor error compensation model is established, so that the high-speed rotary table can still obtain a high-precision displacement measurement result in a variable-load processing working environment; a software operating system is designed to control and realize multi-task operation such as start-stop, initialization, instruction import and the like of the turntable, and the real-time performance and the detectability of the high-speed turntable system are improved. The method can be used for self-adaptive control under the condition of a variable-load high-speed turntable, and has the characteristics of high precision, fast response and good robustness.

The invention discloses a load-variable ultra-large-capacity dry-type transformer, and relates to the technical field of dry-type transformers, the load-variable ultra-large-capacity dry-type transformer comprises three groups of main iron core columns and three groups of auxiliary iron core columns, the section of each main iron core column is in a stepped shape, and three layers of amorphous alloy belts are laminated in each main iron core column; the thickness of the middle layer of the three layers of amorphous alloy belts is set to be 1.2-1.5 times that of the two side layers, and independent lap joint pieces are arranged at the joints of the lamination sets in the auxiliary iron core column. The stepped sections of the three groups of main iron core columns are combined with the magnet yokes with thin tops and thick bottoms, so that the magnetic flux density is uniformly distributed, the capacity of a single column is improved, the problems that the capacity of a single traditional dry-type transformer is limited and the whole transformer needs to be replaced during capacity expansion are solved, the occupied area is reduced through modular splicing, the capacity of a single group of iron core columns is increased, and the no-load loss is reduced.

The invention provides a variable load adjusting coal pulverizing system and method, electronic equipment and a storage medium. The system comprises a monitoring module, a coal mill and a control module. The monitoring module is connected with the coal mill and the control module and used for monitoring running state data of the coal mill and sending the running state data to the control module. The control module is respectively connected with the coal mill and the monitoring module, and the control module is used for performing data analysis on the load related data and the operation state data of the generator set, determining the operation condition of the generator set and generating a control instruction of the coal mill according to the operation condition; the coal mill is connected with the monitoring module and the control module and used for adjusting the internal circulation rate of the coal mill according to the control instruction. Compared with the prior art, the internal circulation rate of the coal mill can be accurately adjusted according to different load change conditions; and the condition of large parameter fluctuation in the running process of the coal mill can be avoided.

The invention relates to the technical field of control regulation, in particular to a supercritical unit variable load rate dynamic compensation control method, which comprises the following steps: acquiring unit operation data, performing credibility restoration, and outputting a credible parameter set; a time sequence mapping table is constructed based on the credible data, and boiler heat storage lag time, steam turbine control valve delay and a steam temperature interstage coupling coefficient are quantified; correcting the boiler water supply feedforward instruction by using the heat storage lag time to generate a compensated water supply instruction; according to the time sequence mapping table and the main steam pressure change rate, a multi-genetic algorithm is adopted to optimize a control valve constraint rule, and a dynamically constrained control valve action instruction is generated; an inter-stage coupling coefficient is called to generate a swing angle compensation amount, and water spraying temperature reduction disturbance is blocked; safety locking parameters are monitored to trigger buffering intervention in a grading mode, and compensation instructions are integrated to implement cooperative correction. The problem of out-of-step response of multiple execution units under the variable load working condition is solved, and the unit adjusting rate and the control stability are remarkably optimized.

The invention belongs to the technical field of welding workstations, and discloses a welding workstation robot welding path and positioner action collaborative optimization method, which comprises the following steps: constructing a weld importance-real-time working condition dynamic priority system through an analytic hierarchy process, and collecting thermal stress and deformation data in real time in combination with multiple sensors; the high-priority weld joint cooperation level with the heat deformation exceeding the threshold value is automatically adjusted up; meanwhile, establishing a'priority-equipment resource 'matching matrix to identify conflicts in advance; according to the design, working condition changes in the welding process can be dynamically adapted, the deformation problem caused by fixed priorities in a multi-welding-seam intersection area is avoided, manual interruption and adjustment are not needed, it is ensured that the robot and the positioner act collaboratively without resource preemption, it is ensured that the welding process is continuous and stable, and the welding quality consistency of multi-welding-seam workpieces is improved; a variable load coupling dynamic model is established based on a Lagrange equation, a load compensation item is embedded, and a coefficient is corrected online in real time.

The invention belongs to the technical field of power systems, and discloses a thermal power generating unit coordinated variable load control method and system based on unit energy storage, and the method comprises the steps: constructing an energy storage quantification model and a steam turbine energy conversion model according to an energy storage unit and a conversion unit, the total energy storage capacity of the thermal power generating unit thermodynamic system is calculated in combination with a weighted summation method; calculating an energy storage regulation factor of the thermal power generating unit based on the real-time energy storage state, the regulation sensitivity and the efficiency factor, and determining the regulation priority of the thermal power generating unit according to the energy storage regulation factor; and solving a load distribution scheme satisfying collaborative optimization of coal consumption, equipment loss and tracking precision by using a multi-objective optimization algorithm, and executing load distribution through a hierarchical control architecture. According to the method, the load adjusting capacity of the thermal power generating unit can be effectively improved, coal consumption increase and equipment loss caused by load fluctuation are reduced, meanwhile, the economical efficiency and safety of unit operation are improved, and powerful support is provided for stable operation of a modern power grid.

The invention provides a method for calculating the air gap change of a single-rope winding type permanent magnet outer rotor elevator under a variable load effect. The method comprises the following steps: establishing a rotor roller mechanical model of the single-rope winding type permanent magnet outer rotor elevator under variable-speed and variable-load conditions; the resultant force borne by the roller is solved when the common influence of the external steel wire rope positive pressure and the internal radial electromagnetic force is considered; calculating the air gap change induced by the radial deformation of the rotor roller in the winding process of the steel wire rope; establishing a stator core mechanical model, and calculating the air gap change induced by the radial deformation of the stator; calculating an air gap comprehensive variable quantity caused by the common bearing load of the rotor roller and the stator iron core; according to the method, the real-time air gap comprehensive variable quantity of different types of single-rope winding type permanent magnet outer rotor hoists in the variable-speed working condition operation process can be accurately and rapidly calculated according to parameters such as the load size, the diameter and the width of a roller, the number of permanent magnet poles and the number of stator grooves.

The invention relates to a method and device for evaluating the rapid load changing capacity of a coal-fired unit, and the method comprises the steps: firstly, building a coal-fired unit dynamic model which comprises a coal pulverizing system, a boiler and a steam turbine through historical operation data, and determining model parameters based on the operation characteristics of an actual unit; secondly, main steam pressure and power instructions of different load sections are set according to the sliding pressure curve, a variable load capacity test is carried out by adopting a method of increasing the load increasing rate, and meanwhile, the coal feeding amount, the boiler water feeding amount and the adjusting range and the changing rate of a main steam valve are restrained; finally, dynamic changes of key parameters such as main steam pressure and steam-water separator outlet temperature in the variable load process are analyzed, and the actual average load rising rate of the unit is evaluated. According to the invention, the variable load capability of the unit in different load intervals can be accurately evaluated. Therefore, the problems that in the prior art, the load changing capacity of a unit in different load intervals is difficult to accurately evaluate, and the stabilization of new energy power generation fluctuation and the stability of power grid frequency are greatly influenced are solved.

The invention discloses a thermal power generating unit main reheating steam temperature wide-load self-adaptive adjusting method and system, relates to the technical field of electric power industry automation and control, and aims at solving the problems that an existing adjusting method is large in steam temperature fluctuation, high in thermal stress and poor in main reheating collaboration under the wide-load working condition. The method comprises the steps of calculating main steam phase saturation and mapping a target value; calculating the maximum change rate based on the thermal physical parameters of the material, and generating a reference track with the limited change rate; the steam phase saturation of the main steam is used as a phase reference, and the reheated steam is controlled to respond according to a preset phase difference; a combustion system, a flue gas temperature adjusting baffle and a temperature reducing water system are cooperatively controlled; the system comprises a vapor phase saturation processing module, a dynamic boundary generation module, a phase coordination control module, an execution mechanism coordination module, a steady state detection module and a mode switching module. Accurate steam temperature adjustment under the wide load is achieved, material thermal stress is reduced, unit operation safety and economical efficiency are improved, and the variable-load operation requirement of the unit is met.

The invention belongs to the field of new energy power generation systems, and discloses a forced circulation steam generation system variable load operation optimization method and related equipment.The method includes the steps that a tube shell type evaporator numerical calculation model and a forced circulation system hydrodynamic balance model are established, and high evaporation capacity, evaporator efficiency and minimum cost serve as optimization targets; a multi-objective optimization model is constructed by combining the change of the flow of the fused salt and the flow of the circulating water; the model is solved by adopting a Pareto dominating method, and a Pareto optimal solution set can be output, so that optimized operation schemes of the forced circulation system under different loads can be formulated according to the optimal solutions; by the adoption of the method, high evaporator efficiency and evaporation capacity can be achieved, meanwhile, pump work loss can be effectively reduced, the key target in operation of the photo-thermal power station is achieved, namely, balance of high efficiency and low loss is achieved, and powerful support is provided for stable operation and economic benefits of the photo-thermal power station.

This disclosure provides systems, methods and apparatuses for wireless power transmission and reception. A wireless power transmission apparatus may include a primary coil that transmits power to a corresponding secondary coil in a wireless power reception apparatus. The wireless power reception apparatus may include a variable load. The wireless power transmission apparatus may control the transmission of wireless power based on configuration data and feedback information from the wireless power reception apparatus. The configuration data and feedback information may enable dynamic control of wireless power and may enable the wireless power transmission apparatus to determine an appropriate operating control parameter for the transmission of wireless power to support a load state of the variable load at a particular time. In some implementations, the wireless power transmission apparatus may take into account an operating coupling factor (K-factor) or other information to estimate control parameters.

The invention relates to the technical field of coal-fired unit energy flow analysis and prediction, in particular to a coal-fired unit boiler energy flow analysis and prediction method under rapid variable load, which specifically comprises the following steps of: firstly, combining a thermodynamic physical framework with a recurrent neural network, and representing a function relationship between a time-varying parameter and a state variable in a mechanism model through a neural unit; rapid fluctuation of energy in the boiler is accurately captured; secondly, a multi-mode switching strategy based on an attention mechanism is introduced, flexible switching is carried out between a strong coupling state and a weak coupling state, and the prediction precision under high-speed load change is guaranteed; and finally, introducing an error compensation model, and dynamically correcting a hybrid model prediction residual error. According to the method, physical constraints of mechanism modeling, multi-mode switching of an attention mechanism and an error compensation model are integrated and fused, so that the problems that most of hybrid modeling studies in the prior art mainly focus on steady-state or finite transient prediction, and studies on energy flow dynamic characteristics under rapid load change are still relatively deficient are solved.

The invention discloses a hydraulic pump dynamic flow control method and system based on load feedback, and relates to the technical field related to hydraulic pumps, and the method comprises the steps that the load pressure of a hydraulic pump is monitored in real time, a first load pressure signal is generated, and a target flow parameter is set; a load pressure-flow mapping graph is constructed through dynamic mapping; dynamically responding to generate load compensation parameters to carry out load control on load pressure; and deviation calculation is carried out on the target flow parameter based on the second load pressure signal, a flow deviation signal is obtained to carry out dynamic flow control on the hydraulic pump, a flow displacement control result is fed back to carry out real-time correction on the load compensation parameter, and a flow closed-loop backtracking control channel is constructed. The technical problems that in the prior art, the flow control response of the hydraulic pump is lagged under the variable load working condition, the control precision is insufficient, and the energy efficiency is low are solved, and the technical effects that the dynamic response speed, the control precision, the stability and the energy efficiency of flow control of the hydraulic pump are improved are achieved.

The invention discloses a power plant unit load distribution system and method, and the method comprises the steps: monitoring and collecting a data set of key operation parameters of each unit in real time through a sensor monitoring system; a data processing and analysis algorithm based on artificial intelligence and deep learning is introduced at the rear end to carry out collaborative correlation analysis on the data sets of the key operation parameters of the different units, so that the operation state characteristics of the units are extracted; and carrying out priority ranking on the units based on the running state characteristics of the different units and the variable load direction of the thermal power plant. Therefore, the priority order of each unit can be dynamically adjusted based on the operation state and the variable load direction of each unit of the power plant, so that more flexible and intelligent power plant unit load distribution and scheduling are realized to cope with continuously changing power markets and user requirements; the rationality and reliability of load distribution can be ensured, and the operation efficiency and economy of a power plant are ensured.

A phase shifter that relies on a reflected wave from a load such as a varactor with a capacitance varied by an external bias voltage is provided. The phase shift does not depend on the wave propagation through an active medium. The input RF signal is sent to the variable loading and the reflected wave from the load is channeled to the output port via a network that takes the input signal without much reflection to the input terminal but passes most of the power from the variable load to the output terminal with a phase change depending on the variable bias input of the loading. Such network to steer the input to the variable loading and send the signal reflected from the loading to the output port without much reflection includes a quadrature hybrid or a circulator.

Some embodiments provide hydro-power generation systems for irrigation systems. In some embodiments, a system comprises a generator comprising a turbine at least partially inserted into a fluid flow path of a conduit of the irrigation system and to be activated by a fluid flow in the conduit, wherein the generator is to output an electrical power signal; a control circuit to: determine a characteristic of the electrical power signal; determine, based on the characteristic, a load impedance selected from a plurality of load impedances; and output a control signal to select the load impedance. The system also comprises a variable load circuit to: receive the control signal; and provide the load impedance, where an impedance of the variable load circuit is based on the characteristic to provide power generation over various flow rates of fluid in the fluid flow path.

The invention provides a unit variable load feed-forward control method and device, electronic equipment and a storage medium, and compared with the related technology, according to the embodiment of the invention, the state parameter of the target unit is acquired in real time, and the feed-forward quantity is calculated, so that the current operation condition of the unit can be accurately reflected, and a reliable basis is provided for making a control strategy; the feed-forward quantity is corrected based on the pressure deviation value of the target boiler, the change of the boiler pressure can be quickly responded, the control lag is reduced, and the real-time performance and the accuracy of control are improved; the corrected feed-forward quantity is optimized according to the change interval of the load instruction, so that the unit can be more stably transited when the load changes, and unstable operation and efficiency reduction caused by sudden change of the load are avoided; by cooperatively controlling the multiple subsystems such as the coal quantity system, the air supply system and the induced draft fan system, comprehensive optimization of the running state of the unit can be achieved, the overall running efficiency is improved, and energy consumption is reduced.

The invention relates to the technical field of robot control, and discloses a variable load balance control method, a balance control system and an experiment platform of a double-wheel-foot robot, and the method comprises the steps: building a simulation physical environment of the double-wheel-foot robot through a reinforcement learning experiment simulation platform; in a reinforcement learning experiment simulation platform, a reinforcement learning algorithm double-wheel-foot type robot variable load balance controller is used; a variable load balance controller is migrated and deployed to a real balance control system of the double-wheel-foot robot, and stable balance control in a real environment is realized in a double-wheel-foot robot experiment platform. By means of the method, the generation process of the control algorithm of the double-wheel-legged robot is simplified, the problem of real machine migration deployment is solved, and the reliability and maintainability of the system are improved. And meanwhile, the anti-interference capability and the stability of the double-wheel-foot type robot during variable load balance control are improved, and self-adaptive control of balance is achieved.

Devices, systems, and methods accelerated, variable load finite element analysis for vehicle design can provide a graphical representation of a finite element mesh and enter the graphical representation as an input to a recurrent neural network (RNN). Such solutions can develop a time series mesh (TSM) as an output from the RNN. Design of a component of the vehicle can be adapted based on the output.

The invention relates to the technical field of windlass load detection, and discloses a windlass load test device for windlass production, which comprises a base plate I, a base plate II, a test pit, an elevated seat, a test slope and a horizontal test channel, and is characterized in that the front end of the base plate I is fixedly connected with the base plate II; a rectangular test pit is formed in the position, close to the middle end, of the first base plate, a pit bottom protection base is connected to the bottom of the test pit in a pouring mode, the periphery of the inner wall of the pit bottom protection base is filled with multi-stage buffer pits, and a first supporting frame is arranged at the position, close to the left side, of the top of the pit bottom protection base and connected through rivets. The test device can provide three test effects of vertical lifting and horizontal and inclined load dragging, fully solves the problem of single function of the current test device, carries out limit load test through variable load weight in the loading process, and has a limit test protection function while carrying out complete limit test by deploying a plurality of protection components.

The invention provides a transient calculation method suitable for rapid variable load combustion of a boiler, and belongs to the technical field of combustion loads in the boiler. The method comprises the steps that firstly, a three-dimensional geometric model of the boiler is built, and boundary conditions and initial conditions are set; configuring a gas-solid two-phase flow model; configuring a combustion characteristic model; setting variable load operation conditions; initialization and operation simulation are carried out, and monitoring and adjustment are carried out through a NOx generation model; and finally, performing result analysis and verification. According to the method, a Realizable k-epsilon turbulence model, a DPM random orbit model, a P1 radiation model, a component transport model, UDF code control and other technologies are used for achieving calculation of the rapid negative change and the combustion transient state of the boiler; more efficient and environment-friendly boiler operation is achieved, meanwhile, a more accurate simulation and prediction tool is provided, and a scientific basis is provided for operation and optimization of the boiler.

The invention discloses a thermal power generating unit continuous variable load amplitude identification control method, system and device in an AGC mode and a storage medium, and the method comprises the following steps: obtaining unit operation parameters, and judging the variable load direction and variable load amplitude of a current unit according to the unit operation parameters; calculating the variable load equivalent amplitude of the current unit in real time according to the thermal inertia of the boiler system and the unit parameters in the AGC mode; according to the method, operating parameters in the unit load changing process are analyzed, working condition data influencing unit control are recorded, and a corresponding control strategy is added in an identification control method according to analysis and calculation of the working condition data. According to the method, accurate variable load amplitude and shape feedforward can be provided in the variable load process of the unit in the AGC mode, and the change trend of parameters such as the steam temperature and the steam pressure of the unit is estimated, so that the accuracy of steam temperature adjustment, steam pressure adjustment and load adjustment of the unit in a predictive control strategy is ensured.

The invention discloses a closed steam Rankine cycle power system configuration optimization and variable load control method based on heat storage feed-forward, and the closed steam Rankine cycle power system configuration optimization comprises the steps: adding a water supply bypass valve and a water storage tank in a system; an inlet water temperature sensor and an outlet steam temperature sensor are arranged at an inlet and an outlet of a boiler respectively, a fuel flow meter is arranged at an outlet of a fuel regulating valve, a water flow meter is arranged at an outlet of a main water supply valve, a power sensor is arranged at a rotating shaft of a turbine, and the water supply flow regulating capacity and the dynamic stability capacity of the system are improved through system configuration optimization. A system variable load control strategy after configuration optimization is further provided, a water supply bypass valve is adopted to control the system operation load, a fuel regulating valve is adopted to control the boiler outlet steam temperature, and the deviation between the steady-state heat storage capacity and the real-time heat storage capacity of the boiler is used as a fuel regulating valve auxiliary control signal. The system effectively solves the problems of overshoot of the steam temperature of the boiler outlet and low variable load rate of the system, and improves the safety and the rapid variable load capacity.

The invention belongs to the technical field of vibration control and isolation, and discloses a stepless self-adaptive large-range load quasi-zero stiffness vibration isolation platform and a use method.The use method comprises the steps that the load and motion state is monitored in real time through a stepless variable load vibration isolation supporting leg binding force sensor and an acceleration sensor, and after being processed by a signal conditioning module, the load and motion state is output; the passive grading quasi-zero stiffness system and the electromagnetic constant force module are regulated and controlled by the semi-active controller, so that stepless self-adaptive adjustment of a large-range load is realized; the passive grading system provides stepped load bearing, the electromagnetic constant-force module realizes stepless adjustment in a hierarchy, and the passive grading system and the electromagnetic constant-force module are combined to cover a wide-area load demand; the linear bearing reduces friction, viscous damping consumes vibration energy, the quasi-zero stiffness vibration isolation characteristic can be effectively exerted, the vibration isolation effect is improved, the application range is widened, and the vibration isolation device is suitable for vibration isolation in various load scenes.

The invention discloses an LCC-S compensation network parameter optimization method and system for a rotary ultrasonic machining system. The method comprises the following steps: S1, obtaining equivalent parameters LP, LS, MPS, RP and RS of a loose coupling transformer, and equivalent electromechanical parameters L1, C1, R1 and C0 of an ultrasonic vibrator under a variable load condition; s2, constructing a rotary ultrasonic machining RUM system equivalent circuit model comprising an LCC-S compensation network; s3, LCC-S compensation network parameters are configured; s4, taking the frequency deviation, the output power and the transmission efficiency of the RUM system under the variable load condition as objective functions of the multi-objective optimization model; s5, taking no-load resonant frequency matching, a design variable range and compensation element stress as constraint conditions of the multi-objective optimization model; and S6, determining an optimal design variable and compensation network parameter combination. The problem that the resonant frequency deviation of a traditional static compensation network is large under the variable load condition is effectively solved, and the load adaptability of the LCC-S compensation network is remarkably improved.

The invention discloses an energy storage system power adaptive compensation method and system oriented to a variable load scene, and relates to the technical field of power compensation. The method comprises the following steps: acquiring active power and reactive power information at a grid-connected point of an energy storage system as current operation data; calculating a power factor of the grid-connected point based on the current operation data; judging whether the power factor is lower than a preset threshold interval or not; when the power factor is lower than a preset threshold interval, activating a compensation module, determining a target reactive compensation amount according to the power factor, and setting an actual issuing compensation value in combination with the maximum reactive power of the energy storage system; and generating a compensation instruction according to the actually issued compensation value, sending the compensation instruction to the energy storage converter, and outputting corresponding reactive power by the energy storage converter for compensation. The technical problem of low utilization efficiency of compensation resources caused by difficulty in adaptive power compensation of an energy storage system according to an actual power factor in a variable load scene in the prior art is solved, and the technical effect of improving the reactive power compensation efficiency is achieved.

The invention relates to the technical field of engineering machinery control, and discloses a hydraulic control system under a variable load piling working condition, which comprises a multi-dimensional state acquisition module, a fluid parameter observation module, a signal reconstruction decoupling module, a virtual impedance mapping module and a fluid phase locking control module. The acquisition module acquires a basic physical state; the observation module solves the effective volume elastic modulus of the hydraulic oil based on a fluid continuity equation; the reconstruction module utilizes the modulus to correct signal lag, reconstructs external load force through an inverse dynamic model and decouples environmental acoustic impedance; the mapping module dynamically generates a target mechanical impedance parameter according to the environment impedance; and the control module calculates an ideal instruction based on the target parameter, corrects the gain by utilizing the fluid modulus and locks the rebound peak phase to adjust the action time sequence of the valve core. Control distortion caused by fluid parameter drift is solved, active flexible adaptation to variable load geology is achieved, energy hedging is avoided, and operation efficiency is improved.

The invention relates to the technical field of robot motion, in particular to a variable load working condition heavy-load mechanical arm kinematics parameter calibration method and system. The method comprises the steps that joint angle parameters and theoretical Standard D-H model parameters are determined; the theoretical position of the end effector in the ideal state is determined; the actual position is determined, and the position error of the end effector is determined; the deflection under the preset load condition is determined, and corrected D-H model parameters are obtained; determining a load effect based on the parameter structure characteristics; introducing the load effect as a correction item into a parameter updating formula of a preset LM algorithm, and designing an adaptive compensation coefficient to adjust the contribution degree of the load effect; and dynamically adjusting the adaptive compensation coefficient through a convergence index in an iteration process of the LM algorithm. According to the method, the calibration precision of the kinematics parameters of the mechanical arm can be improved under the variable load working condition.