摘要：【中文】本发明实施例涉及机器人控制技术领域，公开了一种六轴机器人末端负载辨识方法及模块。本发明中六轴机器人末端负载辨识方法包括:建立关节轴的动力学模型；获取六轴机器人的初始位姿，根据初始位姿生成辨识轨迹；根据辨识轨迹，控制关节轴沿辨识轨迹运动，采集关节轴的参数运行值；根据动力学模型和参数运行值，计算关节轴的重力矩、转动惯量以及耦合转动惯量；根据重力矩、转动惯量以及耦合转动惯量，计算末端负载动力学参数。本发明实施例还提供了一种六轴机器人末端负载辨识模块，相对于现有技术可以使得六轴机器人末端负载辨识的过程中所需空间小、对六轴机器人本体动力学参数需求极少、且末端负载动力学参数辨识精度较高。 【EN】The embodiment of the invention relates to the technical field of robot control, and discloses a six-axis robot tail end load identification method and module. The six-axis robot tail end load identification method comprises the steps of establishing a dynamic model of a joint axis; acquiring initial poses of the six-axis robot, and generating an identification track according to the initial poses; controlling the joint shaft to move along the identification track according to the identification track, and collecting a parameter operation value of the joint shaft; calculating the gravity moment, the rotational inertia and the coupling rotational inertia of the joint shaft according to the dynamic model and the parameter operation value; and calculating the dynamic parameters of the terminal load according to the gravity moment, the rotational inertia and the coupling rotational inertia. Compared with the prior art, the six-axis robot tail end load identification module has the advantages that the required space in the six-axis robot tail end load identification process is small, the six-axis robot body dynamic parameter requirements are few, and the tail end load dynamic parameter identification precision is high.

摘要：【中文】一种法兰朝下四轴机器人的工具标定方法，包括：a、操作机器人，使待标定的机器人工具末端点在机器人处于至少两种不同的位姿状态下分别运动到同一空间位置点，并记录机器人的法兰坐标系在每一位姿状态下的位姿数据；b、根据步骤a获得的位姿数据求出工具坐标系的Z轴到法兰坐标系的X轴的距离x以及到法兰坐标系的Y轴的距离y。本发明能够对法兰朝下的四轴机器人的工具进行标定，且标定过程简单，标定效率高。 【EN】A tool calibration method of a four-axis robot with a downward flange comprises the following steps: a. operating the robot to enable the tail end point of the robot tool to be calibrated to move to the same spatial position point respectively when the robot is in at least two different pose states, and recording pose data of a flange coordinate system of the robot in each pose state; b. and c, calculating the distance X from the Z axis of the tool coordinate system to the X axis of the flange coordinate system and the distance Y from the Z axis of the tool coordinate system to the Y axis of the flange coordinate system according to the pose data obtained in the step a. The tool calibration device can calibrate the tool of the four-axis robot with the flange facing downwards, and is simple in calibration process and high in calibration efficiency.

摘要：【中文】本发明提供了一种屋顶光伏发电并网控制系统，包括光伏阵列、光伏逆变器、功率控制模块和功率调频模块，所述光伏阵列包括设置在相邻建筑顶部的微型光伏发电机组所构成的阵列，每个光伏阵列对应一个光伏逆变器，所述光伏逆变器用于将光伏阵列所产生的直流电转换为交流电；所述功率调频模块与光伏逆变器连接，根据一次调频指令调整对应的光伏逆变器输出的有功功率，所述功率控制模块用于检测和控制发电机组的输出功率。该屋顶光伏发电并网控制系统具有快速响应、适应多种情况、减小系统频率波动的优点。 【EN】The invention provides a roof photovoltaic power generation grid-connected control system which comprises photovoltaic arrays, photovoltaic inverters, a power control module and a power frequency modulation module, wherein each photovoltaic array comprises an array formed by miniature photovoltaic generator sets arranged at the tops of adjacent buildings, each photovoltaic array corresponds to one photovoltaic inverter, and the photovoltaic inverters are used for converting direct current generated by the photovoltaic arrays into alternating current; the power frequency modulation module is connected with the photovoltaic inverter and used for adjusting active power output by the corresponding photovoltaic inverter according to the primary frequency modulation instruction, and the power control module is used for detecting and controlling output power of the generator set. The roof photovoltaic power generation grid-connected control system has the advantages of being fast in response, adaptive to various conditions and capable of reducing system frequency fluctuation.

摘要：【中文】本发明实施例公开了一种机器人柔性参数获取方法、装置、计算机设备及存储介质，包括下述步骤：获取机器人目标关节按照预设轨迹运动时的运动信息，其中，所述目标关节运动时与所述目标关节连接的辅助关节在预设位置保持固定；根据所述位置信息计算所述目标关节的惯量数据；根据所述惯量数据和所述电机数据在预设的柔性动力学状态表达式辨识所述目标关节的柔性参数。上述机器人柔性参数的获取方法在固定辅助关节的条件下测量目标关节的运动信息，并通过预设的柔性动力学状态表达式将电机数据和惯量数据作为中间变量，该方法不需要传感器设备就可以辨识出机器人的柔性参数，不仅方法简单，适用范围广，还节省了成本。 【EN】The embodiment of the invention discloses a method and a device for acquiring flexible parameters of a robot, computer equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining motion information of a target joint of the robot when the target joint moves according to a preset track, wherein an auxiliary joint connected with the target joint is kept fixed at a preset position when the target joint moves; calculating inertia data of the target joint according to the position information; and identifying the flexibility parameters of the target joint according to the inertia data and the motor data in a preset flexible dynamic state expression. According to the method for acquiring the flexible parameters of the robot, the motion information of the target joint is measured under the condition that the auxiliary joint is fixed, the motor data and the inertia data are used as intermediate variables through the preset flexible dynamic state expression, the flexible parameters of the robot can be identified without sensor equipment, the method is simple, the application range is wide, and the cost is saved.

摘要：【中文】本发明涉及一种孤岛型微电网分布式协同控制方法。根据孤岛型微电网的分布式电源与BESSs的分布情况，建立分布式协同通信网络，实现两者间的协同控制，以满足孤岛型微电网的功率平衡；搭建孤岛型微电网分布式电源的经济调度数学模型，采用一致性算法，使得分布式电源满足等微增率准则；采用一致性算法，将各电池储能系统荷电状态视为一致性变量，计算BESSs的荷电状态平均值；采用基于荷电状态的p‑f下垂控制方法，调节BESSs的输出功率，使得BESSs的荷电状态保持平衡。本发明方法基于分布式控制，弥补了集中控制存在的不足，使得微电网具有更高的稳定性和灵活性；同时，能够实现分布式电源的发电成本最低、输出功率满足调度命令要求以及BESSs保持荷电状态平衡。 【EN】The invention relates to an island type micro-grid distributed cooperative control method. According to the distribution conditions of the distributed power supply and BESSs of the island-type microgrid, a distributed cooperative communication network is established, and cooperative control between the distributed power supply and the BESSs is realized so as to meet the power balance of the island-type microgrid; building an economic dispatching mathematical model of an island-type micro-grid distributed power supply, and adopting a consistency algorithm to enable the distributed power supply to meet an equal micro-increment rate criterion; adopting a consistency algorithm, taking the charge state of each battery energy storage system as a consistency variable, and calculating the charge state average value of BESSs; and adjusting the output power of the BESSs by adopting a p-f droop control method based on the charge state, so that the charge state of the BESSs is kept balanced. The method disclosed by the invention is based on distributed control, and overcomes the defects of centralized control, so that the micro-grid has higher stability and flexibility; meanwhile, the lowest power generation cost of the distributed power supply can be realized, the output power meets the requirement of a scheduling command, and the BESSs keeps the state of charge balance.

摘要：【中文】本发明涉及一种预测光学元件表面激光损伤性能的方法和系统，通过选取标准光学元件；获取所述标准光学元件的吸收性缺陷分布特性，得到不同吸收水平的缺陷密度；获取损伤性能；损伤性能包括损伤阈值和损伤密度；采用Spearman相关性分析法，确定标准光学元件的不同吸收水平的缺陷密度中与损伤性能相关性最高的缺陷密度，得到各所述损伤性能对应的缺陷密度，并建立损伤性能与其对应的缺陷密度之间的关联曲线，作为标准曲线；获取待检测光学元件的缺陷密度，根据所述标准曲线，确定所述待检测光学元件的损伤性能。本发明提供的预测光学元件表面激光损伤性能的方法和系统，能够在不损坏光学元件的基础上，提高光学元件损伤性能的评估准确性。 【EN】The invention relates to a method and a system for predicting laser damage performance of the surface of an optical element, wherein a standard optical element is selected; acquiring the distribution characteristics of the absorption defects of the standard optical element to obtain defect densities with different absorption levels; obtaining damage performance; the damage performance includes a damage threshold and a damage density; determining the defect density with the highest correlation with the damage performance in the defect densities of different absorption levels of the standard optical element by adopting a Spearman correlation analysis method to obtain the defect density corresponding to each damage performance, and establishing a correlation curve between the damage performance and the corresponding defect density as a standard curve; and acquiring the defect density of the optical element to be detected, and determining the damage performance of the optical element to be detected according to the standard curve. The method and the system for predicting the laser damage performance of the surface of the optical element can improve the evaluation accuracy of the damage performance of the optical element on the basis of not damaging the optical element.