107results about How to "Improve steady state performance" patented technology

The invention discloses a high-precision position detection method for a permanent magnet motor system, and the method comprises the following steps: S1, building a harmonic counter electromotive force model of a permanent magnet motor, and analyzing the influence of the harmonic counter electromotive force on a position estimation error; s2, constructing an arcsine saturation function of which the boundary layer thickness is self-adjusted along with the error of the sliding mode surface as a switching function; s3, establishing a mathematical model of a sliding-mode observer based on an arcsine saturation function, and obtaining a parameter selection range by using a Lyapunov stability criterion; s4, carrying out Park conversion on the output value of the sliding-mode observer to obtain a direct current amount under a dq coordinate system; a first-order low-pass filter is used for filtering, fundamental wave counter electromotive force is reserved, and sine counter electromotive force is extracted from the fundamental wave counter electromotive force through Park inverse transformation; and S5, in combination with an orthogonal phase-locked loop, performing position estimation on the output sine counter electromotive force to obtain an estimated rotor position angle and an estimated rotor rotating speed. The precision and the dynamic performance of sensorless control of the permanent magnet motor can be improved.

The invention belongs to the related technical field of multi-agent control, and particularly discloses a predetermined performance consistency tracking control method and system for a nonlinear multi-agent system, and the method comprises the steps: constructing a Lyapunov function based on the consistency tracking error of the multi-agent system, and obtaining a control law; consistency tracking control of the multi-agent system is realized according to the control law; wherein the system state quantity in the control law is estimated through a distributed state observer; the distributed state observer is designed through the following method: according to a universal approximation principle, a nonlinear function in a multi-agent system dynamic model is approximated based on a fuzzy logic system, and then the distributed state observer is obtained by combining the multi-agent system dynamic model. According to the method, the precision and robustness of the consistency tracking process of the multi-agent system can be remarkably improved.

The invention discloses a sensorless model prediction speed control method for an induction motor, and the method comprises the steps: carrying out the modeling of a mathematical model of the induction motor based on a two-phase static coordinate system, and obtaining a mathematical model of the induction motor; constructing a full-order observer, and obtaining an estimated value of the rotating speed of the rotor of the induction motor and an estimated value of the flux linkage through the full-order observer; parameter identification of stator resistance is introduced into a motor rotating speed estimation and model prediction module; establishing a prediction model, predicting the stator flux linkage and the rotating speed at the k + 1 moment, and obtaining a stator flux linkage prediction value and a rotating speed prediction value; and finally, constructing a reduced order load torque observer, carrying out feedforward compensation on a speed outer ring of the control system, and improving the dynamic response of the system. According to the invention, the problem in the prior art that the system performance is reduced and even the system crashes due to sensor faults is solved.

The invention discloses a control system for a phase-locked loop-free synchronous tracking mode of a hybrid network following-construction system, and belongs to the technical field of virtual synchronous generator control, phase angle information generated by network construction type control is used for synchronization of a network following type inverter, and synchronization of the network following type inverter is realized without a phase-locked loop. According to the control technology, potential unstable factors caused by the dynamic state of the phase-locked loop can be avoided, and meanwhile, the two inverters of the following network and the constructing network have better transient performance. According to the improved scheme, an ideal voltage source on the direct current side of the inverter is replaced by a boost circuit controlled by a single current loop, and a direct current voltage loop is added to an active loop controlled by a network constructed on the alternating current side. Compared with the control technology provided by the invention, the improvement enables the control technology to have no frequency steady-state deviation and have better transient and steady-state performance.

The invention relates to a model-free micro-grid control method and system based on transfer learning and a medium, and the method comprises the following steps: dividing a DC micro-grid into a plurality of converters, and constructing a converter simulation model; realizing a deep reinforcement learning DDQN algorithm in combination with the converter simulation model, constructing a reward function, an action space and a state space, and performing normalization processing on the state space; parameters of the deep reinforcement learning DDQN algorithm are adjusted; training the converter by using the deep reinforcement learning DDQN algorithm and a reward function, and reconstructing a mapping function; and inputting an action space in the mapping function, outputting a duty ratio to PWM (Pulse Width Modulation), and adjusting the output voltage and the output power of the converter by dynamically adjusting the duty ratio, thereby realizing model-free control on the direct-current micro-grid. Compared with the prior art, the transient performance, the steady-state performance and the generalization performance of the controller are improved.

The invention relates to a high-voltage circuit breaker mechanical fault audio signal cluster acquisition system and method based on adaptive filtering and sampling. The system comprises a mechanical fault simulation module, a fault audio signal transmission module, an adaptive sampling module, a noise adding processing module, an adaptive filtering module and an audio fusion module. The acquisition method comprises the following steps: simulating a mechanical fault of the circuit breaker in an operation process, and transmitting and sampling an audio signal of the circuit breaker in a clustered sensor network; simulating an on-site noise environment, and carrying out noise adding processing on the audio signal obtained by sampling; transmitting the audio signal after noise addition processing to an adaptive filtering module for filtering and noise reduction processing, and calculating a signal-to-noise ratio of the processed or unprocessed audio signal; and optimizing an energy consumption formula of the voiceprint sensor according to the obtained audio signal and the signal-to-noise ratio, calculating a channel needing frequency fusion and the rate of the voiceprint sensor through a self-adaptive sampling heuristic algorithm, performing maximum ratio combination, and outputting a fault sound source.

The invention provides a direct-current micro-grid passive model prediction control method based on predefined time feed-forward compensation. The design process of the control method specifically comprises the following steps of: firstly, performing online estimation and feed-forward compensation on external interference by designing a predefined time nonlinear disturbance observer, so that the robustness of the system is remarkably improved; in order to obtain the optimal control structure, system parameters are estimated online instead of strictly assumed interference signals. Then, an adaptive passive model predictive control (APMPC) composed of a passive control voltage loop and a model predictive control current loop is designed, and the adaptive passive model predictive control (APMPC) has the advantages of simple structure, high robustness, rapid voltage regulation and the like. In addition, before the model predicts and controls the current loop, simple current limiting can be realized through a saturation current limiting link. The predefined time disturbance observer provided by the invention ensures that the error signal converges in the freely set time upper limit.

The invention discloses an unpowered returning-field aircraft spoiler speed control method based on active disturbance rejection control, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problem that high-precision speed control is difficult to realize due to insufficient robustness when a traditional spoiler control strategy faces a complex and changeable environment and unknown disturbance. According to the method, the expansion state observer introducing active disturbance rejection control is adopted, unmodeled dynamics and external disturbance in the system are estimated on line and compensated in real time, the speed deviation is responded in a short time, the adaptive capacity to unknown disturbance is remarkably improved in unpowered return field section spoiler speed control, and the speed control accuracy of the spoiler is improved. According to the method, the dependence on an accurate model is reduced, higher-precision and more robust speed control is realized, and an effective technical means is provided for safe, stable and accurate landing of unmanned aerial vehicles and other unpowered landing aircrafts.

The invention discloses a permanent magnet synchronous motor model prediction control method based on an improved sliding mode disturbance observer. The method comprises the steps of obtaining a current parameter of a permanent magnet synchronous motor at a k moment and a direct current side capacitor voltage of an inverter; calculating a q-axis predicted current iq (k + 1) at the k + 1 moment based on the current parameter; inputting the q-axis predicted current iq (k + 1) at the k + 1 moment and the current rotating speed omega into a sliding mode disturbance observer for estimation to obtain estimation parameters; performing reference voltage prediction based on a given reference rotating speed omega *, a reference current id * and an estimation parameter to obtain a d-axis reference voltage ud * and a q-axis reference voltage uq *; calculating the neutral-point voltage Uo (k + 1) of the inverter at the k + 1 moment by using a value function, wherein the value function is # imgabs0 #, wherein lambda is a balance weight coefficient; controlling the neutral-point potential of the inverter according to the neutral-point voltage Uo (k + 1) of the inverter at the k + 1 moment and the weight coefficient lambda; and controlling the inverter according to the voltage vector selected by the minimum value function. The invention provides a permanent magnet synchronous motor model prediction control method and system based on an improved sliding mode disturbance observer. The permanent magnet synchronous motor model prediction control method and system have better steady-state performance and dynamic performance.

The invention discloses a rotating speed control method of a permanent magnet synchronous motor. The method comprises the following steps: firstly, designing an adaptive switching expansion state observer of the permanent magnet synchronous motor, and adding the adaptive switching expansion state observer into a rotating speed loop control process; and then inputting the rotating speed of the permanent magnet synchronous motor and a q-axis current reference value output by a rotating speed ring into an extended state observer, performing adaptive parameter switching control at the same time, and outputting the rotating speed and an observed value of lumped disturbance after processing so as to continue to perform rotating speed ring control and realize rotating speed control of the permanent magnet synchronous motor. The method can improve the dynamic and steady state performance of the permanent magnet synchronous motor under inertia mismatch, weaken the overshoot of the motor in the dynamic process, greatly accelerate the response speed, reduce the rotation speed fluctuation and oscillation in the adjustment process, reduce the dependence of the parameter design of a motor control system on the rotational inertia parameter, and improve the stability of the motor control system. And meanwhile, the estimation capability of rapid change lumped disturbance is enhanced, and more complex lumped disturbance types can be dealt with.

The application discloses a data-driven optimal control method for a grid-connected inverter. The method comprises the following steps: constructing a DeePC optimization controller of the grid-connected inverter on the grid side; acquiring a data matrix of the grid-connected inverter in a preset historical period and an initial trajectory after a preset adjacent period, inputting the controller, setting parameters for different control targets and types of the grid-connected inverter, outputting an optimal input data sequence after processing, generating a sinusoidal pulse width modulation wave signal and acting on the grid-connected inverter, and realizing data-driven optimal control. The method can automatically perceive and adapt to the dynamic characteristics of the actual power grid through real-time data-driven predictive control, can present or enhance the control behavior of the grid-constructing or grid-following inverter by modifying the cost parameters, can realize multi-mode flexible, optimal and coordinated control, has excellent dynamic response and steady-state performance, is beneficial to safe and stable operation, and improves the ability to adapt to complex and variable operating conditions and power grid strength.

The invention provides a fuzzy-PID (Proportion Integration Differentiation) design method for flight control of an electric tilting rotorcraft. The method comprises the following steps: establishing a flight dynamics model according to the stress and torque of the electric tilting rotorcraft; performing linearization processing on the flight dynamics model; aiming at three flight modes of a helicopter of an electric tilt rotorcraft, a propeller-driven aircraft and tilt transition, an inner and outer double-loop control structure is adopted; for an outer loop of a control system, a fuzzy-PID control method is adopted to carry out control law design, and then a fuzzy-PID controller is constructed according to the control law; aiming at an inner loop of the control system, a PID control method is adopted to carry out control law design, and then a PID controller is constructed according to the control law; and acquiring a difference value between expected input and actual output of the system, and inputting the difference value into the fuzzy-PID controller to adjust parameters of the controller. According to the invention, an ideal flight control effect of the electric tilting rotorcraft is obtained.

This invention discloses a predictive current control method and system for a GaN-based permanent magnet synchronous motor. The method includes: predicting the current of each voltage vector among multiple voltage vectors of the inverter based on a predictive current model to obtain multiple predicted currents; filtering the multiple voltage vectors according to the multiple predicted currents and a first cost function to obtain candidate voltage vectors; determining the duration of action of the candidate voltage vectors; if there are multiple candidate voltage vectors, filtering them according to the duration of action of the multiple candidate voltage vectors and a second cost function to obtain the optimal voltage vector; and controlling the inverter according to the optimal voltage vector and its duration to control the operation of the permanent magnet synchronous motor. This improves the overall steady-state performance of the motor while reducing the computational load, thus lowering the complexity of the control method.

The embodiment of the invention provides a variable-sweepback aircraft preset performance control method based on adaptive dynamic programming, and belongs to the technical field of control, and the method specifically comprises the steps: constructing a variable-sweepback aircraft motion model for attitude control; a preset performance function is constructed, a converted error system is obtained through homeomorphic mapping, and a virtual controller and a steady-state controller are designed for the two subsystems of the attitude angle loop and the attitude angular velocity loop respectively; a cost function is introduced to convert an aircraft attitude tracking control problem into solution of an optimal control problem, and an Actor-Critic network is constructed based on an adaptive dynamic programming technology to online solve an optimal compensation controller; and a variable-sweepback aircraft controller is obtained by combining a steady-state controller and an optimal compensation controller, and numerical simulation is performed on the performance of the controller based on specific flight conditions. Through the scheme disclosed by the invention, the control system has better control precision and transient performance, and meanwhile, the robustness to an unknown flight environment is improved.

The present invention discloses a multi-vector model predictive control method for a permanent magnet synchronous motor taking into account vector screening. First, a current reference value is obtained, and a q-axis current reference value i q * The d-axis current reference value i is obtained through the speed regulator. d * Set to 0 to implement i d =0 control; secondly, according to the deadbeat control idea, the current prediction model is used to calculate the expected voltage vector dq axis component v d * With v q * , and calculate the angle of the expected voltage vector in the αβ coordinate system; again, according to the voltage vector angle, select two adjacent active voltage vectors; then, use the error evaluation function to evaluate the selected active voltage vector and zero vector, determine the optimal action time of the two active vectors and the zero vector by the Lagrange multiplier method, and obtain the optimal switching signal of the inverter. The permanent magnet synchronous motor model predictive control method provided by the present invention not only reduces the number of vectors that need to be evaluated, and reduces the calculation burden of the controller to a certain extent, but also acts on two active vectors and two zero vectors in one control cycle, greatly improving the steady-state performance of the system while achieving fixed switching frequency.

This invention provides a model predictive control method for a six-phase electric drive reconfigurable on-board charging system, belonging to the field of power electronics and electric drive technology. It solves the problems of high current ripple and heavy computational burden on the system. The technical solution includes the following steps: S1: Obtaining the q-axis current setpoint; S2: Obtaining the real-time 0 / 1 axis current setpoint; S3: Acquiring the six-phase current of the six-phase symmetrical permanent magnet synchronous motor; S4: Calculating the predicted current for the next cycle; S5: Selecting the voltage vector for the next cycle; S6: Obtaining the on / off state of the switching transistors in the next cycle; S7: Realizing the operation mode of the six-phase electric drive reconfigurable on-board charging system based on the drive signal of the six-phase inverter. The beneficial effects of this invention are: it can improve the dynamic and steady-state performance of the system while reducing the computational burden and lowering zero-sequence current ripple, and has broad application prospects.

The invention relates to the technical field of robot control, and discloses a man-machine interaction scene-oriented flexible joint preset performance function design method and control system, and the method comprises the steps: building a collaborative robot flexible joint rigid-flexible coupling dynamic model; defining a tracking error, adding a Gaussian kernel function on a traditional preset performance function, and forming a Gaussian kernel-preset performance function as a constraint condition; performing error transformation according to the tracking error and a Gaussian kernel-preset performance function to obtain an unconstrained error; according to the unconstrained error, a virtual control law and an actual control law of a flexible joint nonlinear position controller are designed through a dynamic surface control method; and estimating external interference through the biradial basis function neural network, and replacing an external interference item in the nonlinear position controller with an estimated value to obtain a corrected virtual control law and a corrected actual control law of the nonlinear position controller.

The invention discloses a bridge crane sliding mode anti-swing control method based on a variable speed reaching law. The method comprises the following steps: converting a state conversion system model according to a bridge crane dynamic model; a new variable speed reaching law is constructed by using an exponential function, so that the transient convergence speed of a sliding mode variable can be improved, and buffeting of a controller when the sliding mode variable enters a steady state can be reduced. And constructing a linear sliding mode surface, and designing a sliding mode controller based on the sliding mode surface and a variable speed reaching law. According to the method, the convergence speed of the sliding mode variable can be effectively improved, so that the rapid positioning problem of the bridge crane is solved, and the buffeting problem of the controller caused by a sign function is weakened.

The invention relates to the technical field of converter control, and discloses a model-free predictive current control method and device for an energy storage converter and a medium. According to the method, the first voltage candidate vector sequence and the second voltage candidate vector sequence of the sector where the corresponding reference voltage is located can be obtained, compared with a traditional symmetric double-vector scheme, the generalized double vectors are introduced, the better steady-state effect under the high modulation ratio can be obtained, and the harmonic content is greatly reduced. Finally, on the basis of considering a preset objective function of frequency control, a driving signal for each switching tube for controlling the current of the energy storage converter can be generated in combination with the first voltage candidate vector sequence and the second voltage candidate vector sequence. Therefore, by implementing the method, the steady-state performance of the model-free predictive control of the energy storage converter is effectively improved by combining the improved generalized symmetric double-vector modulation method with the model-free predictive control.

The invention relates to a permanent magnet synchronous motor control system, which comprises a position ring, a speed ring and a current ring, the position ring and the speed ring are connected in parallel to serve as a system outer ring, the current ring is a system inner ring, and an output value after the position ring and the speed ring are connected in parallel is an input value of the current ring; and performing parameter setting on the controllers of the position loop and the speed loop through a frequency domain method. A series connection structure of a position ring and a speed ring in a traditional vector control system is changed into a parallel connection structure, system model simplification is carried out on the parallel connection structure, a system block diagram and a transfer function of the parallel connection structure are obtained, and meanwhile parameter setting is carried out on controllers of the position ring and the speed ring through a frequency domain method. The control system has better steady-state performance and dynamic performance; meanwhile, a higher system type is achieved, and steady-state errors do not exist when ramp signals are input; in addition, the control structure has a simpler optimization scheme, and has greater advantages in subsequent performance optimization.

The application discloses a non-singular fast terminal sliding mode vibration active control method based on a compensation function observer, 1) according to elastic dynamics, a fourth-order modal equation of a four-side fixed support plate structure driven by an electromagnetic inertial actuator is established; 2) in view of external unknown interference and modeling uncertainty existing in the system, a compensation function observer is designed to realize real-time estimation and compensation; 3) a non-singular fast terminal sliding mode surface is constructed, and a sliding mode control law is designed in combination with the observer output, so that the singularity problem of a traditional terminal sliding mode is solved, and the time for system state to reach a balance point is shortened through a fast convergence term; 4) a comparison experiment is designed, and the composite control method designed in the application can significantly reduce the vibration amplitude of the four-side fixed support plate while guaranteeing the finite time stability of the system, and has stronger anti-interference ability and higher vibration suppression precision compared with the traditional sliding mode control.

This invention relates to a sensorless control method for permanent magnet synchronous motors (PMSMs) with low observation error under multiple operating conditions, belonging to the field of motor control technology. The invention establishes a mathematical model of the PMSM in a stationary coordinate system and a classical back-EMF observer; based on the observed back-EMF values ​​after coordinate transformation, an adaptive gain characterizing the rotor motion direction is designed; a cosine value of the rotor position estimation error is constructed, and an adaptive gain feedforward orthogonal high-order phase-locked loop (PLL) is used, along with an ideal low-pass filter, to obtain estimates of the rotor speed and position. This invention can more effectively reduce the influence of complex operating conditions on the motor position estimation error, providing more reliable speed estimation and rotor position signals for the field-oriented control of the motor. The sensorless control strategy for PMSMs with low observation error under multiple operating conditions proposed in this invention can achieve speed control when the motor is in reverse, exhibiting good dynamic and steady-state performance.

The application discloses a three-level full-bridge dual active bridge converter and a midpoint potential balance control method. The converter comprises a high-frequency transformer, a DC input voltage source is arranged on the primary side of the high-frequency transformer, and series-connected upper and lower capacitors are connected between the positive and negative electrodes of the DC input voltage source. Three-level half-bridge A and three-level half-bridge B are connected in parallel, a node between the upper and lower capacitors is connected to the midpoint of two clamping diodes of the two three-level half-bridges, the center point of the three-level half-bridge A is connected to one end of the primary side of the high-frequency transformer through a power transmission inductor, and the center point of the three-level half-bridge A is connected to the other end of the primary side of the high-frequency transformer through a DC isolation capacitor. In the control method, the primary side power device is divided into a fixed 50% duty ratio basic bridge arm and a non-symmetrical duty ratio adjusting bridge arm, a PI voltage balance loop is constructed by taking the voltage difference of the two capacitors as feedback, the duty ratio of the adjusting bridge arm is dynamically adjusted, the average value of the midpoint current is changed, and the midpoint potential balance is realized.

The present invention relates to a multi-module DC converter power balancing method based on model predictive control, which uses model predictive control to quickly control the output voltage of the multi-module DC converter, so as to be suitable for output voltage steady-state control under different modulation strategies, and uses proportional integral control to evenly control the input voltage of the multi-module DC converter, so as to achieve power balance between multiple modules, thereby achieving system output voltage control and power balance control of each module at the same time. The method is conducive to achieving power balance between modules of the multi-module DC converter.

The present invention belongs to the technical field of MC-PMSM system and discloses a method for minimizing the common mode voltage of a matrix converter permanent magnet synchronous motor using model predictive control. According to the current reference value, the voltage vector required for the next cycle, i.e., the reference voltage vector V * ; According to the input voltage phase angle θ in and the phase angles of the six rotating vectors, compare the phase angle of the reference voltage vector with the phase angles of each rotating vector, and determine the sector where the reference voltage vector is located; according to the sector where the reference voltage vector is located and θ in , the obtained vectors are formed into a candidate vector set; each vector in the candidate vector set is substituted into the value function, the obtained function values ​​are compared, and the vector with the smallest function value is selected as the voltage vector of the next control cycle MC. The present invention improves the steady-state performance of torque and current while eliminating the common mode voltage.

This invention provides a circuit topology and control method for high-power power conversion devices. This circuit topology exhibits low switching losses and high conversion efficiency in applications requiring high-frequency power switching. The invention also provides a power conversion device utilizing this circuit topology, outlining the device layout and transformer winding method. While meeting the requirements for high-power output, this further reduces the size and losses of the power conversion device, improving its steady-state and dynamic performance. Furthermore, this invention provides a voltage equalization control scheme to achieve voltage balancing between two high-voltage sub-circuits.

The invention discloses a model-free self-adaptive discrete time fast terminal sliding mode control method and system based on a novel discrete approaching rate, and the method is compared with a conventional PI controller, a sliding mode controller and a model-free self-adaptive linear sliding mode controller. The response speed of the system is improved, and the method does not depend on a system model any more. Meanwhile, on the basis of input and output data of the permanent magnet synchronous motor system, a pseudo-partial derivative estimation algorithm is constructed according to a criterion function to obtain a time-varying parameter, a pseudo-partial derivative resetting mechanism is perfected, motor control based on data driving is achieved, and convergence of the pseudo-partial derivative estimation algorithm and stability of a control algorithm are analyzed; the control method is high in control precision and high in response speed, the robustness and the anti-interference performance of the system are improved, and then the control performance of the motor system under the complex working condition is improved.

The invention discloses a distributed satellite predetermined time attitude cooperative anti-saturation control method. The method comprises the following steps: firstly, establishing an SAR satellite formation model considering saturation constraint; then designing a preset performance boundary function which can converge within specified time; solving the problems of external interference, actuator saturation constraint and the like of a satellite formation flight system; and finally, designing an SAR satellite predetermined time attitude cooperative control law based on an anti-saturation compensator, an interference observer and sliding mode control, so that the formation satellites can realize the specified time convergence of the attitude cooperative error under the saturation constraint of the actuator, the attitude cooperative error is within a preset performance boundary, the control precision is high, the control performance is good, and the convergence speed is high.

The invention discloses a method for constructing a multi-permanent magnet synchronous motor speed synchronous controller based on a distributed observer. The method comprises the following steps: 1, establishing a multi-permanent magnet synchronous motor system consisting of N permanent magnet synchronous motors; 2, dividing the motors into two groups according to whether leader information can be directly obtained or not, and constructing a closed-loop system of multiple permanent magnet synchronous motor speed loops based on a collaborative output regulation theory; 3, constructing a directed communication topology to describe information transmission between the motors, and designing observers for the two groups of motors respectively; 4, designing a speed controller aiming at the speed rings of the two groups of motors; and 5, designing a PI controller for the current loops of the two groups of motors, and providing a final speed synchronous controller. The speed synchronization controller based on the distributed observer is designed for the situation that communication network constraint exists in actual control, speed synchronization and interference suppression of a multi-permanent magnet synchronous motor system are achieved, and good tracking performance is achieved.

The invention discloses a repeatable fuze type precise guidance assembly and system and a use method, and belongs to the technical field of communication guidance and flight control. The assembly mainly comprises a shell, a radio frequency antenna, a satellite antenna, a missile-borne controller, a rudder system, a fairing, a folding rotor wing, an explosive rope, an explosive bolt, a compression spring, a slewing bearing type speed reducer, a battery, a rotating disc and a motor. Wherein the radio frequency antenna and the rudder system are both installed on the shell, the satellite antenna is installed on the wall face of the shell, the missile-borne controller and the battery are installed in the shell, the inner ring of the slewing bearing type speed reducer is connected with the battery, and the outer ring of the slewing bearing type speed reducer is connected with the rotating disc; the folding rotor wings are fixed on the turntable, an output shaft of the motor is connected with the turntable, and the compression spring is fixed at the lower end of the motor. The mode that an original fuse is not replaced and a fixed rotor wing is additionally arranged is adopted, and the problems of storage, destruction, maintenance and repeated use of the original fuse are solved.