53results about How to "Simple control structure" patented technology

The invention relates to the technical field of intelligent power grids, in particular to a grid-connected control method for an improved RBF (Radial Basis Function) network construction type converter with active support capability. The method comprises the following steps: firstly, taking a group of initial values in a VSG system virtual inertia and equivalent damping coefficient parameter value range; determining an initial angular frequency according to the initial value and a swing equation; a VSG secondary control system is improved, an improved phase self-tracking pre-synchronization method without a phase-locked loop is added, a voltage deviation signal is responded, a frequency phase is compensated, and the rotational inertia and the damping coefficient of the system are adjusted in real time to respond to the change of the system state. According to the neural network, the virtual inertia, the damping coefficient and the angular velocity compensation amount are adaptively adjusted, and whether parameters accord with criteria is compared, so that the input parameters are corrected, the influence of disturbance on the system frequency and the output active power is reduced, the dynamic response process of the system is improved, and the stability of the system is improved. And system output power distribution errors and overshoot caused by a rotor motion equation are reduced.

The invention discloses a direct current control method and system for improving transient stability of a grid-connected converter, and the method comprises the steps: judging whether a power angle out-of-limit-based fault judgment module or a voltage out-of-limit-based fault judgment module has a voltage drop or phase jump fault or not when any one module judges that a power grid has a voltage drop or phase jump fault; processing an angular velocity control signal of a synchronous control link through a direct current port transient energy correction module, and performing temporary storage unbalanced power-oriented lifting and inertia correction-oriented lifting on a direct current voltage reference value; the voltage value of the direct-current port capacitor is compared with a direct-current voltage reference value, and is processed by the steady-state direct-current voltage control module to obtain a direct-current voltage control reference value; the output data of the converter at the common coupling point obtains a synchronous control signal according to a synchronous control link; and based on the synchronous control signal, an internal potential reference value is obtained according to an internal potential control link, and then a converter driving signal is generated. According to the invention, the stability problem of the grid-connected converter when the power grid has a transient fault can be effectively solved.

The invention relates to the technical field of photovoltaic power generation, and discloses a phase-locked loop-free photovoltaic power generation system multi-power quality cooperative improvement method and system, and the method comprises the steps: processing a collected current signal of a three-phase grid-connected point of a photovoltaic power generation system to obtain a current fundamental component and a current harmonic component of the grid-connected point, and determining a fundamental reactive power; determining the capacity required by harmonic suppression and the capacity required by reactive compensation according to the current harmonic component of the grid-connected point and the fundamental reactive power; obtaining the residual capacity of the photovoltaic power generation system, and carrying out an optimization algorithm to determine the optimal compensation coefficient of harmonic suppression and reactive compensation; and transmitting the optimal compensation coefficient of harmonic suppression and reactive compensation to a photovoltaic inverter control algorithm to complete multi-power quality collaborative improvement of the photovoltaic power generation system. The technical problems of large delay, slow control response speed, need of a phase-locked loop and poor power quality management target collaboration in the prior art are solved.

The invention discloses a virtual synchronous machine active low-frequency oscillation suppression method based on power feedback compensation, and belongs to the field of new energy grid-connected converter control under large-scale new energy access. According to the method, the output voltage and current of the new energy converter are sampled, the instantaneous output active power and reactive power are calculated, and the average output active power and reactive power are obtained through a first-order low-pass filter; and then virtual synchronous machine active outer loop control based on output power feedback compensation and reactive outer loop control based on reactive-voltage droop are adopted to obtain reference values of a d-axis voltage amplitude and a voltage phase angle of new energy converter voltage inner loop control, and output voltage closed loop control is carried out. Under the condition that the output active control order and the steady-state characteristic are not increased, the output active dynamic overshoot and low-frequency oscillation suppression of the new energy converter based on the network construction control type virtual synchronous machine are effectively realized, the parameter value range is slightly constrained by the system stability, and the engineering application is simple.

The invention relates to the technical field of digital model construction of network construction type control energy storage power equipment, in particular to an energy storage electromechanical transient model construction method and system for analyzing the characteristics of a synchronous control equipment grid-connected system, and the method comprises the steps: applying double droop control to an energy storage converter system, analyzing a regulation and control principle and grid-connected equivalent external characteristics, constructing a grid-connected equivalent circuit of the double-droop control energy storage converter system; designing the structure of the energy storage converter system; according to the designed energy storage converter system structure, a double-droop control part electromechanical transient model, an energy storage body electromechanical transient model and a grid-connected interface electromechanical transient model are constructed, and a complete energy storage converter control system electromechanical transient model capable of being embedded into a PSASP main interface is formed. And the output power change of the converter is reflected at the access node, so that the functions of characteristic analysis, load flow calculation and the like of a regional power grid system accessed to the energy storage converter can be realized, and a technical scheme is provided for guiding the planning design of accessing the energy storage converter to the regional power grid.

The invention discloses a high-frequency disturbance suppression method based on repeated sampling in a tilting mirror system, which is mainly used for tracking and controlling real-time high-frequency disturbance signals and reducing optical axis errors, especially for high-frequency disturbance signals which are limited in sensor sampling and difficult to suppress. The method comprises the steps of identifying whether an unknown signal is aliasing or not through a sampling scheme with a variable sampling period and obtaining frequency information of actual disturbance, and then recovering an actual high-frequency signal component exceeding the Nyquist frequency of a sensor through a repeated sampling algorithm. And finally, designing a multi-rate parallel repetitive control scheme to compensate and suppress high-frequency disturbance signals exceeding the closed-loop bandwidth. The method can effectively solve the problem that tracking control is difficult to realize due to aliasing of high-frequency disturbance signals when sampling of the image sensor is limited, and improves the anti-interference capability of the system.

The invention discloses a high-voltage direct-current power transmission system oscillation suppression method based on MMC negative-sequence impedance remodeling. The method comprises the steps that equivalent admittance of a new energy unit considering MMC impedance characteristic influence is established; mMC negative sequence impedance remodeling control based on virtual parallel impedance is constructed; and designing control parameters considering impedance coupling degree constraint. According to the invention, the oscillation phenomenon of the system can be effectively suppressed, and safe and stable operation of the high-voltage direct-current power transmission system is ensured.

The invention discloses a control strategy and parameter selection method for a new energy via-structure network type flexible direct delivery system. The method comprises the following steps: establishing a small-disturbance stability analysis model of the new energy via-structure network type flexible direct delivery system; the small disturbance stability of the new energy via-network flexible direct delivery system along with power change is analyzed based on a root locus method, a dominant control link influencing an oscillation instability mode of the new energy via-network flexible direct delivery system is identified based on a participation factor analysis method, and an overall design scheme of a control strategy of the new energy via-network flexible direct delivery system is determined; designing a voltage outer loop control structure of the modular multilevel converter; and designing a modular multilevel converter voltage outer loop parameter calculation method, and calculating modular multilevel converter voltage outer loop proportional control link parameters according to a given AC voltage maximum deviation requirement. According to the invention, on the basis of considering the AC voltage control capability, stable operation of the new energy via-network flexible direct-current delivery system in a full-power range is ensured, and the system delivery capability is improved.

The invention discloses an internal model control-based network construction type full-power wind power converter control method. The method comprises the following steps of: acquiring a control quantity of a network construction type full-power wind power converter; determining an active power current given value by using preset internal model control according to the control quantity; determining a modulation voltage of a wind power converter machine side converter according to an active power current given value by utilizing current loop control; utilizing direct-current voltage synchronous control, and outputting a control synchronous angle according to the control quantity; by means of voltage and current double-loop control, output control output voltage is output according to the control quantity; and realizing machine-side converter control of the wind power converter according to the modulation voltage, and realizing grid-side converter control of the wind power converter according to the control synchronization angle and the control output voltage.

The invention belongs to the technical field of flight control, and relates to a tactile alarm jitter control method for motor-driven aircraft control equipment. According to the jitter alarm control method designed by the invention, the jitter frequency and amplitude can be set; when the airborne alarm device recognizes the touch alarm information, a jitter alarm instruction is sent to the control device; a controller of the control equipment adds a jitter alarm instruction to a control target instruction, and calculates and executes a motor driving control instruction according to a control algorithm; a motor driving circuit of the control equipment drives an execution motor to rotate according to the driving control instruction; and the execution motor drives the control mechanism to move to a control target instruction position through the transmission mechanism, and controls the equipment to shake and give an alarm according to the frequency, the amplitude and the duration of the shaking alarm instruction. According to the invention, the haptic alarm function of the aircraft control equipment with higher interactivity and more comprehensive information elements is realized. Interaction between a pilot and an aircraft is improved, and flight control is safer.

This invention relates to the field of gearbox housing processing technology, and more particularly to a die-casting molding device for automotive gearbox housing processing. The device includes a base on which a die-casting mechanism is mounted for die-casting automotive gearbox housings. The die-casting mechanism includes: a mold assembly comprising a base mounted on the base, a fixed mold fixed to the front end of the base, a movable mold mounted on the base, a push plate slidably installed inside the fixed mold, and a push rod fixed to the front end of the push plate; and a linkage assembly comprising a guide seat fixed to the rear end of the push plate, guide grooves on both the left and right sides of the guide seat, a guide straight groove at the front end of the guide grooves, and sliding rods slidably mounted through both ends of the base. The device achieves sequential linkage between locking and demolding, with unlocking preceding ejection to avoid motion interference. The locking head angle and position are adjustable, offering strong adaptability and high assembly precision. Synchronous driving from both sides ensures stable locking alignment and smooth, reliable operation.

The dual-output energy conversion device, modulation method and power supply equipment provided by the present invention can greatly improve the bus voltage boosting capability of the conversion device by adopting the first electrical energy storage module, so that it can be used within a wider input voltage range. The first conversion output circuit and the second conversion output circuit are provided, and the voltage stress of all switch tubes is reduced to half of the DC bus voltage, which can greatly reduce the system EMI of the conversion device in high-frequency applications and improve the power conversion efficiency of the device. Compared with the traditional multi-stage structure, which needs to realize the midpoint voltage clamping of the front stage and the rear stage and other controls at the same time, and the control structure is complicated, the dual-output energy conversion device provided by the present invention only needs to realize the control of one-stage power conversion, and the control structure is simple.

The sand storage device comprises a sand storage tank, the sand storage tank is provided with a sand inlet and a sand outlet, the sand inlet is provided with a sand adding valve, the sand adding valve comprises a valve body connected with the sand inlet, the valve body is provided with a first port and a second port, the first port is connected with the sand inlet, and a deformation sealing piece used for sealing the second port is arranged in the valve body. The deformation sealing piece is connected with a balancing weight, the sand adding valve is provided with an air inlet nozzle, the air inlet nozzle is located below the balancing weight, and the air outlet end of the air inlet nozzle faces the balancing weight. The sand inlet is connected with a sand adding tank; the balancing weight is configured to be used for driving the deformation sealing piece to deform downwards, so that the second port is in an open state and communicates with the interior of the valve body; the air inlet nozzle is configured in the mode that when air enters the air inlet nozzle, compressed air output by the air outlet end of the air inlet nozzle drives the balancing weight and the deformation sealing piece to be attached to the valve body upwards so that the second port can be closed.

The invention relates to the technical field of power electronics, in particular to a control method and system for a self-adaptive fixed-time sliding mode control Buck converter, and the method comprises the following steps: building a Buck converter system model which adopts a double-closed-loop control structure to enhance the dynamic response and stability of the system; establishing a Buck converter state-space equation, and considering the influence of uncertain factors and external interference of the system; designing a sliding mode surface, and performing effective approximation on comprehensive uncertainty in the system by adopting a variable-index adaptive fixed-time sliding mode control method to form an improved control law; using an improved control law, taking the output of the voltage loop as the reference inductive current of the current loop, comparing the reference inductive current with the actual feedback current, and obtaining the error of the current loop; according to the error, accurate control of the Buck converter is realized by adjusting a control signal. According to the invention, the control structure is simplified, the convergence speed is improved, and the robustness and rapidity of the system are enhanced.

The utility model discloses an automatic film pressing device for a circuit board, which comprises a film pressing machine main body and a film pressing bin, the top surface of the film pressing machine main body is fixedly provided with the film pressing bin, and the interior of the film pressing bin is rotatably connected with a front-end conveying roller and a rear-end conveying roller; a second film pasting roller and a first film pasting roller are vertically arranged between the front-end conveying roller and the rear-end conveying roller, the first film pasting roller and the second film pasting roller are rotationally connected with the film pressing bin, and a pressing roller is rotationally connected to the upper portion of the front-end conveying roller; the pressing roller, the front-end conveying roller, the rear-end conveying roller, the first film pasting roller and the second film pasting roller are all rotationally connected with the film pressing bin through roller shafts, and the roller shafts all penetrate through the film pressing bin and are rotationally connected with the film pressing bin through bearings. The automatic film pressing device has the beneficial effects that the film waste phenomenon can be avoided through simple control of a single infrared correlation switch, automatic film pressing is completed, the control structure is simple, complex calculation and control systems are not needed, debugging and using are convenient, and using convenience is improved.

An open-type TBM includes a TBM main unit and supporting equipment. The TBM main unit includes a cutterhead, a front shield, a tensioning shield, and propulsion devices. The cutterhead is located at the front of the front shield. The front shield is connected to the tensioning shield via two sets of vertically symmetrically arranged propulsion devices and two sets of horizontally symmetrically arranged propulsion devices. The four sets of propulsion devices are connected in series along the circumference of the front shield. Each set of propulsion devices includes two propulsion cylinders, arranged in a V-shape with their front ends close to each other and their rear ends far apart. The tensioning shield has support shoes on its side for tensioning the rock wall. The supporting equipment includes a trailer and an advance drilling bridge. The front of the advance drilling bridge is connected to the rear of the trailer. The trailer is connected to the bottom of the tensioning shield via a towing cylinder. The trailer is equipped with a rear-support belt conveyor, an arch frame installer, and a bolt drilling rig, arranged sequentially from front to back. The advance drilling bridge is equipped with a shotcrete system and an advance drilling rig, arranged sequentially from front to back. This design can adapt to widening excavation conditions and small turning radius starting requirements.

The invention discloses an automatic glass film cutting device based on improved LADRC and a control method, and belongs to the field of glass film cutting. The device comprises an X-axis platform, a Y-axis platform vertically arranged on the X-axis platform, a precise rotating platform vertically arranged on the Y-axis platform and a film cutting tool arranged on the precise rotating platform; the Y-axis platform can move back and forth on the X-axis platform; the precise rotating platform can move left and right on the Y-axis platform and can rotate; a telescopic mechanism is arranged in the film cutting tool; the control method comprises the following steps: performing glass film cutting, adjusting the moving track of the film cutting tool, controlling the rotation of the precise rotating platform, controlling the film cutting device by adopting an improved LADRC control algorithm, cutting the film by adopting different expected force waveforms, and displaying the operating state of the film cutting tool and the contact force between the film cutting tool and glass in real time according to film cutting data. The device is simple in structure, high in disturbance resistance and high in control precision, and the contact force between the cutter and the glass is stable and fast to control.

The invention discloses a hierarchical control method, system and device based on an MMC type multi-port power electronic transformer and a medium, the system comprises an upper computer, a mainboard DSP, a mainboard FPGA, an FPGA of a bridge arm control board, a sub-module of the bridge arm control board and a power main loop, the upper computer is connected with the mainboard DSP, the mainboard DSP is connected with the power main loop and the mainboard FPGA, the sub-module of the bridge arm control board is connected with the power main loop, and the mainboard FPGA is connected with the sub-module of the bridge arm control board. The mainboard FPGA is connected with the FPGA of the bridge arm control board, the FPGA of the bridge arm control board is connected with the sub-module of the bridge arm control board, and the method, the system, the equipment and the medium can improve the real-time performance and the stability of the system and reduce the complexity of the system at the same time.

The invention discloses a method for controlling a controlled impedance source of a modular multi-level matrix converter for low-frequency power transmission. According to the control method, on the basis of the idea of a controlled impedance source, the sub-module is equivalently designed to be a frequency division controlled impedance source, energy transfer between impedances is achieved, namely, a power frequency impedance source obtains energy from a power grid, a low frequency impedance source transmits power to a low frequency power transmission system, and therefore stable control over the capacitor voltage of the converter sub-module is guaranteed. And meanwhile, non-communication power frequency / low frequency grid-connected synchronization of the M3C system and self-synchronization among the sub-modules are realized by utilizing the passive synchronization characteristic of the controlled impedance source. The control structure is simple, the information flow of controller interaction and centralized communication can be obviously reduced, and expansion to more quantum modules is easy. According to the control method provided by the invention, the efficiency and safety of the flexible low-frequency power transmission system can be improved, and large-scale grid connection and frequency division power transmission of offshore wind power are realized.

The present invention discloses an asymmetric power grid phase-locked synchronization method based on a complex vector filter. Aiming at the challenge that the control bandwidth of the rear-stage single synchronous coordinate system phase-locked loop in the traditional asymmetric power grid phase-locked synchronization technology based on a second-order generalized integrator is limited by the stability margin of the cascade system, the present invention introduces a first-order complex vector filter in a stationary coordinate system as a basic filtering unit, reconstructs the control structure of the front-stage positive and negative sequence filtering network, and adopts a feedback filtering architecture to suppress the control coupling effect of the front-stage filtering network and the rear-stage single synchronous coordinate system phase-locked loop, thereby achieving a significant improvement in the dynamic response capability of the rear-stage single synchronous coordinate system phase-locked loop under the premise of meeting the stability margin, thereby achieving accurate and rapid synchronization of the positive and negative sequence voltage components under asymmetric power grid conditions.

A pressure regulating valve (11) includes a valve main body (12) having a valve chamber (13) which communicates with a refrigerant inflow passage (14) and a refrigerant outflow passage (15), a valve body (17) which changes a flow rate of a refrigerant by advancing and retreating with respect to a valve seat (16) formed in the valve chamber (13) between a valve-closed state of being seated on the valve seat (16) and a valve-opened state of being spaced apart from the valve seat (16), a pressure sensitive member (21) which biases the valve body (17) toward the valve seat (16) and which allows an advancing and retreating movement of the valve body (17) by expanding and contracting according to a pressure which the valve body (17) is applied from the refrigerant flowing into from the inflow passage (14), and an adjustment means (24) which adjusts a biasing force applied to the valve body (17) of the pressure sensitive member (21), and an actuator (a stepping motor) (40) driving the adjustment means (24) is provided. The adjustment means (24) is preferably provided with a stopper member (29) which stops the movement of the adjustment member by the actuator (40) and can be set as a starting point when setting the biasing force.

The invention belongs to the technical field of positioning pins, and particularly relates to a novel energy-saving electric telescopic positioning pin which comprises a power supply component, a telescopic mechanism, a friction reduction assembly, a guide assembly and a displacement monitoring assembly. And a shell is mounted at the upper end of the mounting base. According to the invention, an intermediate control element pneumatic electromagnetic valve is not needed any more, so that the control structure is simplified, the element cost is greatly saved, and the response speed of a product is improved; the low-efficiency mode that electric energy generates compressed air through an air compressor and then the compressed air is converted into mechanical energy through an air cylinder is changed into the high-efficiency mode that the electric energy is directly converted into the mechanical energy, the electric energy is directly converted into the mechanical energy, the energy conversion efficiency is improved, energy consumption is reduced, and the production cost is reduced. Unsafe uncontrollable actions are reduced, and the workpiece positioning accuracy and the safety of operators are ensured.

The sputum collecting and processing device comprises a collecting barrel and a collecting bag, an upper rotating shaft and a lower rotating shaft are vertically connected between the inner sides of the two opposite barrel walls of the collecting barrel, a roller is rotatably connected to the upper rotating shaft in a penetrating mode, and the peripheral faces of the roller and the lower rotating shaft are close to the inner face of the same barrel wall; the upper end of the drum wall far away from the peripheral surface of the drum is connected with an opening supporting piece; the collecting bag is a self-sealing bag roll group, the self-sealing bag roll group comprises a plurality of self-sealing bags which are connected end to end and are wound on a core pipe, prefabricated tearing kerfs are arranged between the adjacent self-sealing bags, the core pipe is used for rotatably inserting a lower rotating shaft, and the self-sealing bags penetrate through a gap between the roller and the barrel wall, bypass the roller and then are wound on the barrel wall. When the upper end of the front plastic film of the self-sealing bag is pulled open to be fixed by the opening supporting piece, the self-sealing bag in an open state can be formed in the collecting barrel. The device is low in cost and convenient to use, the collecting bag is convenient to store, take and replace, disinfectant adding is not easy to forget, and sputum collecting treatment is more thorough, safer, more reliable and simpler.

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 invention provides an electromagnetic vibration table control method and system considering various nonlinear factors, and the method comprises the steps: building a lumped parameter model of the nonlinear motion of a vibration table through the similarity of a mechanical system and a circuit system in a mathematical form; then, according to the characteristics of the model under different excitation frequencies, identifying parameters of each mechanical element to obtain a control equation of a vibration table, and calculating an excitation current curve in a driving coil according to a control target; and finally, judging whether the tracking error meets the requirement or not through simulation of the established nonlinear model, and generating an excitation current waveform file or a real-time analog signal after the requirement is met, and inputting the excitation current waveform file or the real-time analog signal into vibration table power amplification equipment. According to the method, the influence caused by the non-linear rigidity in the working process of the electric vibration table is considered, the non-linear rigidity in a mechanical system is simulated by using the non-linear inductor, the harmonic distortion of the vibration table in the sine frequency sweeping test process can be reduced by using the driving current calculated by using the feedforward control algorithm, and the control precision and the test precision are improved.

The present invention provides a low-damage stamping device with a buffer mechanism in the field of stamping equipment. The buffer extrusion frame is arranged between the upper die and the lower die and is buffered by a negative pressure spring, so as to achieve buffering of the upper die moving downward, avoid rigid collision between the upper die and the lower die, and avoid collision damage to the upper die or the lower die; at the same time, before the upper die contacts the steel plate, the buffer extrusion frame extrudes the steel plate step by step to squeeze and fix the steel plate, so that the steel plate is guaranteed to be stable and reduce deviation during stamping, thereby improving the stamping stability and stamping quality; through the driving rack plate arranged on the upper die seat and the ratchet gear meshing therewith, the synchronous rotation mechanism is linked with the stamping cylinder, and after the stamping is completed, the material is loaded and the waste material is rolled up, so that the loading and unloading and stamping are carried out at intervals, and there is no need to set up an additional control mechanism for control, thereby simplifying the control structure.

The utility model provides a kind of charger for realizing high power belongs to charging technical field, including, single-phase full-bridge rectifier main circuit, for converting AC input into DC output, sampling conditioning circuit, the voltage division, filtering, isolation processing to the DC voltage after rectification and input AC voltage, output the sampling signal that meets adder and voltage controller level requirement, voltage controller, receives the voltage error signal generated by adder.According to the fixed conduction time of high-frequency switch tube in rectifier, the energy storage inductance is applied to the principle of volt-second balance, the turn-off time of high-frequency switch tube corresponding to different time is calculated, so that the current on the energy storage inductance always works in critical continuous mode, without adding extra current zero-crossing detection circuit, the circuit complexity is reduced, the reliability is improved, only a separate voltage controller is needed, to realize the high power factor of rectifier net side.

The application discloses a laser weeding robot, which comprises a movable main body and a control system, and is characterized in that a three-degree-of-freedom platform is arranged at the bottom of the movable main body, a laser emission mechanism is connected to the bottom of the three-degree-of-freedom platform, in addition, the first and second rope driving devices controlled by the control system are further included, the first and second rope driving devices are connected with the laser emission mechanism and the three-degree-of-freedom platform through ropes, wherein the second rope driving device is used for controlling the movement of the three-degree-of-freedom platform in the X, Y and Z axial directions, and the first rope driving device is used for adjusting the orientation of the laser emission mechanism. The three-degree-of-freedom platform and the laser emission mechanism of the application are controlled through the rope driving devices, the traditional multi-link structure is simplified, the whole control structure is simple, the production and maintenance costs are reduced, and the positioning speed and weeding efficiency are improved.

The application discloses a network-constructing energy storage coordinated control method for supporting grid voltage stability, and steps are as follows: real-time acquisition of state information and network-constructing energy storage output current; when the network-constructing energy storage output current does not reach an overcurrent limiting threshold, the network-constructing energy storage is controlled to adopt a constant voltage amplitude operation mode, the voltage amplitude of a node connected with the network-constructing energy storage is maintained to be equal to a reference value, so that a P-V characteristic curve of a load side is reshaped, the maximum transferable power of the load side is improved, and a static voltage stability margin is increased; when overcurrent occurs in the network-constructing energy storage, the network-constructing energy storage is switched to an overcurrent operation mode, in which mode, the network-constructing energy storage output active power and reactive power are distributed according to the ratio of line resistance to reactance between a grid node and a node connected with the network-constructing energy storage; and when the network-constructing energy storage output current falls below a preset recovery threshold, the constant voltage amplitude operation mode is restored. The application can improve the static voltage stability limit of a load node and the continuous voltage support capability of energy storage to the load under an overcurrent condition.

The utility model provides horizontal type three-dimensional circulating parking equipment transversely or longitudinally arranged beside a road, which comprises a horizontal type supporting frame transversely or longitudinally fixed on the ground, and a car carrying plate circulating device is arranged on the upper portion of the horizontal type supporting frame. A plurality of car carrying plate hanging frames and car carrying plate combined structures which are not mutually interfered are hung on the car carrying plate circulating device, a horizontal limiting guide rail is arranged beside the horizontal supporting frame far away from the driving channel, and the horizontal limiting guide rail is movably connected with the car carrying plates. The system is simple in structure, low in use and maintenance cost, capable of saving the overall use cost, easy to operate, convenient to use, capable of being applied to the scenes such as peoples, ground pits, underground parking lots and small free space above the ground, capable of being provided with charging piles to meet the charging requirement of electric automobiles, easy to construct and select, wide in selectable range, flexible and wide in application and wide in applicable crowd.