48results about How to "Oscillation suppression" patented technology

The invention discloses a converter feedforward decoupling control method and system for improving low voltage ride through capability, and the method comprises the steps: firstly carrying out the dynamic lead compensation of a measurement voltage after d-q conversion, so as to actively offset the amplitude attenuation and phase delay introduced by hardware links, such as a low-pass filter, in a measurement link, and restore a real power grid voltage dynamic state; and based on the accurately compensated and corrected voltage signal, positive and negative sequence separation and feed-forward quantity calculation are carried out, and finally a reference voltage instruction is generated. In this way, it can be ensured that the input signal of feedforward control accurately reflects the instantaneous change of the power grid voltage, the dynamic response speed and precision of a control system are greatly improved, current overshoot and oscillation in the voltage drop period are effectively restrained, the low-voltage ride-through capacity of a converter is remarkably enhanced, and the stability of new energy grid connection is guaranteed.

The invention relates to the technical field of optical fiber wireless communication and mobile forward transmission, in particular to a digital analog optical fiber wireless forward transmission transmitting end parameter self-adaptive optimization method and system based on reinforcement learning. Decomposing the normalized wireless signal into digital parts of all levels and a final analog residual error part through multi-level modulation, and transmitting the digital parts and the final analog residual error part in a time division multiplexing manner; a receiving end represents inter-symbol interference caused by link nonlinear distortion and bandwidth limitation, and the signal-to-noise ratio of a recovery signal is calculated based on the error vector amplitude. Parameters of a transmitting end are optimized and modeled into a Markov decision process, states comprise rounding factors, scaling factors, constellation forming factors and pre-equalization filter tap coefficients of all levels, and actions are discrete increments of the parameters; a reinforcement learning agent is constructed by using a dual deep action value network, and training is updated in combination with experience playback and a target network. The reward function comprises a threshold satisfaction item and a signal-to-noise ratio change item; parameters are interactively updated in the training stage, and online self-adaptive adjustment is performed in the reasoning stage.

The application belongs to the field of shaft coupling alignment technology, in particular to a shaft coupling alignment intelligent auxiliary system based on double laser displacement and MEMS gyroscopes, which adopts a mode of cooperative work of an active stable attitude measurement module and a space reference beacon module to establish a dynamic stable measurement reference unaffected by turning operation and environmental disturbance. The system can perceive and actively compensate for the slight attitude change of the measurement device in real time during the measurement process, ensure that the laser displacement data under all angles are collected under the same absolute space coordinate system, ensure the high consistency and accuracy of the multi-point measurement data, then use an intelligent calculation module to fuse the attitude feedback signal and the attitude reference signal to generate an attitude control instruction, and process the displacement measurement data collected by the double laser displacement sensors after the attitude is stabilized to calculate the centering deviation parameters, which helps to improve the efficiency, accuracy and automation level of the shaft coupling alignment work.

The utility model discloses a direct-drive electro-magnetic annular synchronous motor, and belongs to the technical field of large-scale synchronous motors. The motor comprises a split stator which is formed by splicing and fixing a plurality of stator petals along the circumferential direction; the block magnetic poles form a motor rotor, a plurality of independently-formed magnetic pole units are arranged at intervals in the circumferential direction, and each magnetic pole unit is directly and fixedly installed on the outer wall of the load rotating cylinder; the supporting and sealing structure is arranged at the axial end part between the split stator and the block magnetic pole and is used for sealing a gap between the split stator and the block magnetic pole; and the collector ring and brush carrier system is arranged at one axial end of the motor, and the output end of the collector ring and brush carrier system is electrically connected with the excitation windings of the block magnetic poles. According to the utility model, the split stator and the block magnetic pole structure are adopted, so that the transportation and field installation of the ultra-large motor are facilitated; the rotor is directly mounted on the outer wall of the milling cylinder to realize direct drive, a gear transmission link is omitted, the transmission efficiency is high, and operation is stable; a multi-layer sealing structure adapts to a high-dust environment, and the reliability is high; the speed regulation performance is good and the maintenance is convenient.

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

This invention relates to a constant pressure control system for an optical cavity based on pump-valve coordination and water immersion sensing, and its active protection method. Belonging to the fields of precision instrument control and industrial automation, the system integrates an electronically controlled proportional valve and an air pump through a pump-valve coordinated pressure control unit. It dynamically adjusts the intake and exhaust flow rates based on an adaptive PID algorithm and a coordinated allocation function, achieving high-precision, rapid, bidirectional adjustment of the optical cavity pressure. Simultaneously, it employs a dual environmental sensing unit including visual perception and capacitive liquid level sensing, which executes constant pressure control and active anti-intrusion monitoring in parallel through an intelligent coordinated control unit. When visual detection identifies a risk of water intrusion, the system proactively limits the pump speed; when the capacitive sensor detects liquid water intrusion, it immediately executes an emergency shutdown. This solves the problem of difficulty in coordinating pressure control and safety assurance in traditional technologies, achieving a unified approach of long-term precise constant pressure and active contamination protection, significantly improving the system's reliability, safety, and intelligence level under complex operating conditions.

The invention discloses a hybrid photomultiplier coaxial output structure based on a microstrip line. The hybrid photomultiplier coaxial output structure comprises a semiconductor detector, a bonding wire, the microstrip line, a ground electrode, a lead pin, a medium, an outer conductor base and a detector lead pin. The semiconductor detector is used for receiving the photoelectrons converted by the photoelectric cathode and generating a current signal; the bonding wire is used for electrically connecting the semiconductor detector and the microstrip structure; the microstrip line and the ground electrode adopt gold-plated kovar alloy parts to form an in-tube microstrip structure; the guide pin and the detector guide pin are kovar alloy guide pins and form an inner conductor with a coaxial structure; the outer conductor base is a kovar alloy disc and forms an outer conductor with a coaxial structure; the medium is glass or ceramic. According to the coaxial output structure, a vacuum tube is of a 50-ohm microstrip structure, the exterior of the vacuum tube is of a 50-ohm SMA coaxial structure, and a complete 50-ohm coaxial line is formed by connecting a microstrip line and a guide pin together. The structure provided by the invention has the advantages of high transmission speed, small signal reflection and oscillation and the like, and is more beneficial to detection of ultrafast optical pulse signals.

This invention discloses an inverter control method for suppressing switching oscillations. The method includes: acquiring the inverter's port voltage signal; extracting a high-frequency oscillation signal representing the switching oscillation from the port voltage signal, and determining a target oscillation signal based on the high-frequency oscillation signal; integrating the voltage range of the target oscillation signal and the port voltage signal to obtain the inverter's reactive current increment; and controlling the inverter to output a corresponding reactive current based on the reactive current increment. This invention processes the input signal of the integral controller to output the required reactive current support current, thereby adjusting the inverter's reactive current output based on the reactive current support current, thus maintaining the inverter in stable operation within the non-VRT mode (normal operating mode) range and effectively suppressing switching oscillations.

The application discloses a kind of based on data-driven adaptive cycle engine multivariable sliding mode control method, belong to aero-engine control technical field, this method is based on a certain type of adaptive cycle engine, considering the influence of actuator, based on input, output data, the dynamic linearization data model of engine is established online;Three-variable model-free adaptive sliding mode controller based on sliding mode control algorithm is designed;Adaptive weight factor is introduced, the control conservative problem of controller when the controlled object parameter occurs large-scale change is solved, and the control effect is optimized;Finally, the algorithm designed is used to realize the multivariable steady control of adaptive cycle engine under different modes.The application can solve the problem that traditional sliding mode control of aero-engine depends on accurate mathematical model, ensure the control effect while having good real-time performance.

The embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The robot control method comprises the steps that in response to collision of a robot, an expected joint angle is selected from joint angles of all joints of the robot at multiple historical moments, based on the current expected joint angle, according to a first determination mode, the impedance torque of the robot is determined, and according to the impedance torque of the robot, the robot is controlled. And calculating the output torque of the robot, controlling the robot to move according to the output torque of the robot, and returning to the step of selecting the expected joint angle from the joint angles of the joints of the robot at the plurality of historical moments. Therefore, according to the scheme, the robot can be effectively protected after collision happens to the robot.

The application discloses a kind of discrete series low distributed capacitance liquid cooling heat dissipation device and method, it belongs to electronic device heat dissipation technical field, heat dissipation device includes several heat dissipation units, the top of each heat dissipation unit is used to set power device, and two adjacent heat dissipation units are connected by cooling liquid pipeline;Each heat dissipation unit includes matrix and radiator, cooling liquid pipeline is through the inside of matrix, the top center of matrix is equipped with mounting hole, and mounting hole is equipped with radiator, and the lower half of radiator is inserted into the inside flow channel of cooling liquid pipeline, and the top of radiator is used to place power device.The application adopts discrete series heat dissipation unit structure, cooling liquid pipeline is through each unit matrix, and the lower half of radiator is inserted into the inside flow channel of pipeline, and each unit independently corresponds a power device.Solve the parasitic distributed capacitance problem caused by shared metal radiator, eliminate resonance loop, inhibit switching oscillation, reduce loss, ensure that heat dissipation is uniform and dynamic equalization, improve the stability and service life of high-voltage series module.

The present disclosure relates to the technical field of vehicle intelligent driving, and provides a vehicle torque control method and a vehicle. When it is detected that a gear position of a vehicle changes and an accelerator pedal opening degree changes, a first engine request torque at a current moment and a second engine request torque at a previous moment of the current moment are acquired. A remaining power of the vehicle is acquired, a target change gradient is determined according to the first engine request torque, the second engine request torque and the remaining power of the vehicle, and the engine request torque of the vehicle is controlled based on the target change gradient. When the driver performs a throttle opening or throttle closing operation during the gear shifting process, the present disclosure adjusts the change gradient of the engine request torque correspondingly, provides a buffer time for the engine response, effectively suppresses the mutation and oscillation of the driving force, guarantees the smoothness of the vehicle torque, and further improves the user's vehicle experience.

This invention discloses a high-voltage nanosecond pulse shaping device and method based on magnetic devices. The device includes: a first magnetic transmission line and a second magnetic transmission line, with their input ends connected in parallel and connected to an initial pulse source; the output end of the first magnetic transmission line is connected to a load terminal; the output end of the second magnetic transmission line is short-circuited to ground; the first magnetic transmission line includes a first magnetic ring arranged along the axial direction and an outer magnetic field coil; the second magnetic transmission line includes a second magnetic ring arranged along the axial direction. Based on the current-dependent nonlinear permeability effect of the magnetic ring, this device simultaneously achieves pulse rise time compression, fall time truncation, pulse width shortening, and suppression of pre-pulse and tail oscillations through the rising sharpening effect of the first magnetic transmission line and the falling truncation effect of the second magnetic transmission line. This overcomes the limitation of single nonlinear transmission line or magnetic switching technology, which can only optimize single pulse parameters, and can obtain high-quality pulse waveforms at the load terminal.

This invention discloses a method for suppressing current imbalance and power oscillations based on a virtual synchronous generator (VSG). First, a traditional VSG loop model is established and its parameters are tuned. Then, the positive and negative sequence components of the grid-connected voltage, filter capacitor terminal voltage, and grid-connected current are extracted using a time-delay cancellation method and transformed to a synchronous rotating coordinate system. An equivalent VSG grid-connected loop model is added to the traditional VSG model. The traditional active power and extended reactive power calculation methods are transformed to the synchronous rotating coordinate system, and a reference value for the grid-connected current that suppresses the second harmonic component of the power is derived. A PI controller is used to make the actual grid-connected current track the reference value, and the output modulated wave drives the inverter. This invention can simultaneously suppress the second harmonic oscillations of active and reactive power, improve grid-connected current imbalance and distortion problems, while retaining the active power frequency regulation, reactive power voltage regulation, and inertial support characteristics of the VSG, thus improving the stability and power quality of the new energy grid-connected system.

The application discloses a network-constructing type flexible direct current station control method and device based on coupled virtual impedance, and the method comprises the following steps: obtaining three-phase currents and three-phase voltages of an alternating current side of a flexible direct current station; obtaining a control voltage of the flexible direct current station according to the three-phase voltages; filtering dq-axis fundamental frequency components of the three-phase currents according to a preselected filter to obtain dq-axis oscillation components; obtaining a dq-axis direct compensation voltage according to the dq-axis oscillation components and a first control coefficient; performing decoupling control on the dq-axis oscillation components, a second control coefficient and a third control coefficient, and then performing integral control to obtain a dq-axis decoupling compensation voltage; adding the dq-axis direct compensation voltage and the dq-axis decoupling compensation voltage to obtain a dq-axis damping remodeling compensation voltage; and superimposing the control voltage of the flexible direct current station and the dq-axis damping remodeling compensation voltage to perform modulation and control.

The invention discloses a virtual synchronous machine comprehensive control method based on optimal power compensation and inertia damping self-adaption, and belongs to the technical field of virtual synchronous machine control in a micro-grid. The method comprises the following steps: firstly, establishing a mathematical model of a virtual synchronous machine (VSG), analyzing the influence of parameters such as virtual inertia and virtual damping on system stability, and realizing online adaptive adjustment of virtual parameters based on a radial basis function neural network (RBF); and then, constructing a discretization prediction model according to an active-frequency relation of the VSG, setting an optimization target based on angular frequency deviation and output active power, designing a corresponding cost function, and solving an optimal power compensation amount through quadratic programming so as to adjust an active reference value of the VSG in real time. Compared with the prior art, overshoot and oscillation of power and frequency can be effectively restrained, the frequency change rate and deviation are reduced, and the power frequency response speed is increased.

The application provides a MOSFET / IGBT negative feedback active gate drive circuit, which comprises a low-voltage side drive chip, a turn-on voltage feedback regulation loop, an off voltage feedback regulation loop and a high-voltage side switching speed detection loop; the input ends of the turn-on voltage feedback regulation loop and the off voltage feedback regulation loop are connected with a node E in the switching speed detection loop, and the output ends of the turn-on voltage feedback regulation loop and the off voltage feedback regulation loop are respectively connected with a positive voltage power supply end VCC and a negative voltage power supply end VEE or a ground end GND of the drive chip. The application can effectively inhibit overshoot and oscillation in the switching process of the device, and increase the safety of the device; compared with the traditional gate drive, the method has faster switching speed and smaller loss under the same overshoot; the application realizes self-adaptive adjustment of the switching speed by constructing a feedback circuit, and has faster response.

The invention discloses a TDR and passive transient analysis fused power transmission cable fault diagnosis system, and belongs to the technical field of power system fault diagnosis and intelligent diagnosis. The method comprises the following steps: firstly, constructing a pulse injection and signal acquisition integrated device at the end part of a cable, acquiring three-phase voltage and current transient signals, and forming increments before and after a fault; and further constructing an incident wave and a reflected wave at a port, extracting a high-frequency detail component by adopting wavelet decomposition, enhancing wave head features in combination with a TEO energy operator, and analyzing a fault type. And judging a grounding fault, a high-resistance fault or a low-resistance fault. If the fault is a low-resistance fault, passive distance measurement is adopted, and if the fault is a high-resistance fault, the active distance measurement device generates pulse distance measurement. According to the high-resistance and low-resistance self-adaptive distance measurement method, the wave head detectability and the distance measurement stability can be improved under the conditions of different fault impedances and different fault types, and the reliability of cable fault positioning is improved.

The application relates to the technical field of temperature control, and particularly discloses a medicament reaction monitoring method and system based on constant-temperature control, which comprises the following steps: generating a temperature change rate distribution gradient field in the interior of a reaction container and predicting a thermal diffusion trend vector diagram of a next control period according to a detection point data set with space-time characteristics; determining a feedforward decoupling control component based on local extreme points in the thermal diffusion trend vector diagram and real-time temperature values, and taking a difference between a global average temperature and a set target temperature as a main deviation; integrating and adaptively coupling the main deviation to generate a feedback adjustment reference quantity according to a temperature field uniformity index, and preventing overshoot fusion of the feedforward decoupling control component and the feedback adjustment reference quantity to generate a comprehensive driving instruction; and the application effectively solves the problems of temperature response lag, overshoot oscillation and poor adaptability to temperature field distribution changes, and improves the temperature control precision and stability of a medicament reaction process.

This utility model discloses an auxiliary positioning device for a medium- and high-voltage electronic aluminum foil corrosion production line, relating to the field of aluminum foil corrosion production technology. It includes a tank body with a positioning mechanism fixedly installed in the middle, and side guide rollers fixedly installed at both ends of the tank body. Using this structure, the auxiliary positioning device drives the slide and plate to move vertically via a screw, precisely adjusting the depth of the pressure roller's immersion in the electrolytic cell. This adapts to different thicknesses of aluminum foil and electrolyte concentrations. Simultaneously, the limiting discs at both ends of the pressure roller and side guide rollers, with their spacing adjusted by hand-tightening screws, effectively constrain the lateral displacement of the aluminum foil. The combination of these two components ensures that the aluminum foil is conveyed centered along a preset path, avoiding deviation and friction with the electrode plate, reducing surface damage, and ensuring that the contact angle and area between the aluminum foil and the electrolyte are always optimal. This significantly improves corrosion uniformity and conveying accuracy, and reduces the scrap rate.

This invention provides a method and system for reconstructing the outer contour function of a projectile's head shape based on machine vision, belonging to the field of machine vision image processing and automatic parameter calculation technology. First, the invention performs semantic segmentation on the frontal view image of the projectile's head shape to obtain a binary mask of the projectile target, and extracts and crops the outer contour of the head shape segment. Second, through coordinate axis self-calibration and attitude alignment, the standard attitude coordinates of the projectile's head shape outer contour are obtained. Then, in the local coordinate system, geometric constraint feature points are extracted to obtain the endpoints, pixel areas, and single-point coordinates of the projectile's head shape outer contour. Third, a two-parameter head shape outer contour shape function satisfying endpoint constraints is constructed, and the shape parameters are solved using area constraints and single-point constraints to obtain the analytical expression of the head shape outer contour. Finally, the outer contour function and its derivative are substituted into the head shape factor integral formula to achieve automatic calculation of the head shape factor.

This invention relates to an adaptive control method for polishing pressure of helmet shells based on real-time surface roughness feedback. To address issues such as localized polishing pressure mismatch and insufficient accuracy caused by material heterogeneity, a multi-step adaptive modeling and real-time control process is proposed, based on multi-band perturbation excitation, surface micro-response measurement, feature extraction and dimensionality-reduced fingerprint representation, fingerprint parameter mapping database, and online criterion recalibration. By applying controllable mechanical disturbances at multiple spatial grid points and frequently acquiring the dynamic changes of surface roughness with the disturbance response, characteristic fingerprints representing the dynamic mechanical behavior of each region are generated. A nonlinear mapping is established with historical pressure control parameters, and the current multi-point fingerprints are fused and spatially weighted to map into highly adaptable control parameters, thereby adjusting the polishing pressure in real time. Its beneficial effects include significantly improving the regional adaptability of polishing pressure matching and its resistance to material uncertainties, endowing the system with self-recovery and online accuracy maintenance capabilities.

The application discloses a traffic adaptive safety switching control method and system, computer equipment and a medium, and belongs to the technical field of intelligent traffic, comprising the following steps: constructing a lattice fluid dynamics model, performing linear stability analysis to obtain a critical condition; periodically judging whether the current traffic flow state tends to be unstable based on the critical condition; when the current traffic flow state does not satisfy the critical condition or the traffic oscillation amplitude in the current traffic flow state exceeds a preset threshold, generating an adaptive safety switching controller enabling instruction; activating and running an adaptive safety switching controller based on road network geometric characteristics according to the adaptive safety switching controller enabling instruction; and feeding back the control signal as an additional adjustment term to the flow evolution equation of the lattice fluid dynamics model, so as to obtain a closed-loop control optimized lattice fluid dynamics model. The method improves the anti-interference ability, overall stability and driving smoothness of intelligent networked vehicle traffic flow in a mixed geometric road network environment.

The invention provides a method for suppressing low-frequency oscillation of a photovoltaic grid-connected system through a TCSC, and the method comprises the steps: firstly constructing a potential energy function containing a photovoltaic power grid branch mode from the perspective of network mode energy, achieving the online identification of key links of the system according to online data, considering the scene of weaker system damping after photovoltaic grid connection, and employing the TCSC in combination with the mode energy, thereby achieving the low-frequency oscillation suppression of the photovoltaic grid-connected system. Therefore, oscillation on-line suppression with the purposes of improving the small interference stability of the system and rapidly calming the oscillation energy is realized.

This utility model discloses a novel controller and electric compressor. A voltage regulation module reduces voltage and supplies power to the main control chip. A signal transmission module includes an isolation circuit for signal isolation and a LIN communication chip for communication. The isolation circuit is electrically connected to the main control chip, and the isolation chip used is an NSI8221. The LIN communication chip is electrically connected to the isolation circuit, and its model is NCA1021. The main control chip is connected to the signal transmission module for signal transmission. The main control chip is an AMC3064Q. The main control chip is electrically connected to both a drive circuit and a sampling circuit, controlling the switching module through the drive circuit and acquiring signals through the sampling circuit. This utility model, using the aforementioned domestically produced chip, ensures operational stability while reducing the processing cost of the motor controller, improving the stability of compressor production, and increasing the compressor's supply efficiency.

The present application relates to the field of control adjustment technology, in particular to a method for inter-ridge path planning and tracking based on multi-source perception fusion. The method synchronously collects image, point cloud and inertial measurement unit data, projects image ridge line coordinates and point cloud to vehicle body coordinate system for space-time synchronization based on external parameter calibration matrix and time stamp; calculates real-time confidence of vision and radar, constructs a dynamic topological graph with current vehicle position as root node and kinematic forward simulation trajectory as edge, and uses confidence weighted result to evaluate cost of topological graph edge node to output optimal planning path; establishes a model predictive control model containing steering angular velocity and speed constraints, and inputs optimal path to solve optimal front wheel steering angle. The present application eliminates spatial dislocation of perception data caused by sampling frequency difference of multi-source sensors, avoids infeasible trajectories of planning path beyond minimum turning radius, and reduces lateral deviation and heading angle oscillation in inter-ridge tracking process.

The application provides a double flexible contact phased adaptive three closed loop hybrid control method, system and readable storage medium, comprising: real-time monitoring of the contact state and contact force of the robot end and the workpiece surface; identifying the non-contact, contact transition or stable contact phase according to the relationship between the contact force and the expected force; packaging the three phases into three control experts, inputting the contact force, position error, tangential velocity and curvature information into the gate network to dynamically output the fusion weight, adopting the zoning and time-sharing weight distribution strategy to weight and fuse the position correction amount of each expert to generate the control instruction. The second expert introduces semi-active damping to enhance the force overshoot of double flexible contact inhibition, and the third expert adopts double channel decoupling control to compensate the time-varying stiffness. The system comprises a robot body, a sensor module and a controller. The application realizes full-process smooth switching and high-precision force control under double flexible contact, and is suitable for wind power blade roll coating and other operations.

This invention discloses an automated cutting system based on aluminum alloy production, belonging to the field of aluminum alloy profile processing technology. The system includes a mechanical execution layer, a sensing and detection layer, and an intelligent control layer. Addressing the problems of lag in feed control and lack of mechanical basis for attitude selection in cutting complex cross-section profiles, this invention uses a multi-axis attitude optimization control unit to calculate the relationship between the profile cross-section moment of inertia and cutting force, selecting the optimal attitude with minimal deformation. A collaborative controller drives a cross-section topology analysis unit to generate a cross-section feature sequence based on the optimal attitude. A feed rate adaptive control unit establishes a forward-looking window based on this sequence, predictively adjusting the rate before the saw blade contacts the wall surface or cavity features. This invention eliminates response lag through feedforward control and reduces profile deformation through mechanical optimization, significantly improving the cutting quality and accuracy of aluminum profiles.

The invention provides a yaw auxiliary control method for a double-impeller single-point mooring floating fan and a related device. The yaw auxiliary control method comprises the following steps: continuously monitoring a non-wind proportion value corresponding to the fan and a passive yaw angular velocity corresponding to a fan floating body; whether the current yaw error is too large or not is determined according to the non-wind-alignment proportion value; if yes, a target yaw auxiliary control strategy is determined according to the passive yaw angular velocity, and the target yaw auxiliary control strategy is executed. Aerodynamic indexes-a non-wind-facing ratio value and a floating body operation state index-a passive yaw angular velocity are comprehensively considered, a yaw auxiliary control strategy is dynamically matched according to the current power of an impeller, self-adaptive control over power generation benefits and structure safety is achieved, dynamic balance of power generation efficiency, structure loads and platform stability is achieved, and power generation efficiency is improved. The reliability of the whole system is remarkably improved, the power generation efficiency is improved, and oscillation is suppressed and the reliability of the system is enhanced under the working conditions of large-amplitude sudden change of wind directions, serious inconsistency of wind waves and flows and the like.

This invention discloses an optimal control method for a converter based on output feedback. The method involves acquiring the active and reactive power outputs of the converter, as well as the control frequency signal; constructing an output feedback controller, using the active and reactive power outputs as inputs, and processing them to obtain d-axis and q-axis current reference values ​​for the inner current loop; inputting these reference values ​​into the inner current loop to generate a modulation wave voltage amplitude signal; and processing the modulation wave voltage amplitude signal and the control frequency signal to generate a drive signal for controlling the converter. This invention can sense and adapt to changes in grid voltage, short-circuit ratio, and other operating conditions in real time. When disturbances such as a decrease in the short-circuit ratio or a frequency drop occur in the grid, it quickly adjusts the control output, actively provides damping, and effectively suppresses power and current oscillations.