Virtual direct current motor control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a novel virtual direct current motor control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: constructing a mathematical model of a virtual direct current motor; analyzing the mathematical model of the virtual direct current motor, introducing virtual inertia, and determining a novel virtual direct current motor; and controlling the line based on the novel virtual direct current motor. By adopting the method, a control structure with an inverse droop characteristic and an output voltage compensator can be obtained, stable operation of the device is ensured, and meanwhile, indifference control of the output voltage and certain inertia support can be realized.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a virtual DC motor control method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the rapid development of power grids, more and more high-voltage and ultra-high-voltage transmission lines are crossing ice-covered areas. Extreme weather disasters, such as low temperature, rain and snow, are increasingly likely to cause damage to the power grid. Icing of transmission lines can cause line overload, leading to line tripping, line breaking, conductor dancing, insulator flashover, and even tower collapse, which can cause large-scale power outages. These accidents occur in the severe winter season. Due to heavy snow blocking the mountains and frozen roads, emergency repairs are difficult, which can easily cause long-term power outages, resulting in huge economic losses and social impacts.

[0003] The DC de-icing device applies DC current and uses the thermal effect of the current to remove ice from the line, thereby protecting the transmission lines and towers from damage, reducing line tripping, and ensuring system safety. However, when using traditional virtual DC devices to adjust the DC de-icing capacity, the load power usually changes greatly. Although the output parallel system can reduce the power of each module, the sudden change in load will still cause the output voltage of the input-series output-parallel (ISOP) system to drop, and even affect the working condition of the DC de-icing device. Summary of the invention

[0004] Based on this, it is necessary to provide a virtual DC motor control method, device, computer equipment, computer readable storage medium and computer program product that can solve the impact of load mutations in response to the above technical problems.

[0005] In a first aspect, the present application provides a virtual DC motor control method, comprising:

[0006] Construct a mathematical model of a virtual DC motor;

[0007] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0008] Based on the novel virtual DC motor, the line is controlled.

[0009] In one embodiment, introducing virtual inertia includes:

[0010] The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

[0011] In one embodiment, adjusting the output voltage of each module in the virtual DC motor includes:

[0012] An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

[0013] In one embodiment, it also includes:

[0014] The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

[0015] In one embodiment, adding a reverse droop characteristic to the virtual DC motor includes:

[0016] Change the polarity of the armature resistance in the virtual DC motor to positive.

[0017] In one embodiment, based on the novel virtual DC motor, controlling the circuit includes:

[0018] Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined by using the armature circuit equation and the mechanical circuit equation;

[0019] Based on the duty cycle, the circuit is controlled.

[0020] In a second aspect, the present application further provides a virtual DC motor control device, comprising:

[0021] A building block for constructing a mathematical model of a virtual DC motor;

[0022] An analysis module, used for analyzing the mathematical model of the virtual DC motor, introducing virtual inertia, and determining a new type of virtual DC motor;

[0023] A control module is used to control the circuit based on the novel virtual DC motor.

[0024] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0025] Construct a mathematical model of a virtual DC motor;

[0026] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0027] Based on the novel virtual DC motor, the line is controlled.

[0028] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0029] Construct a mathematical model of a virtual DC motor;

[0030] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0031] Based on the novel virtual DC motor, the line is controlled.

[0032] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0033] Construct a mathematical model of a virtual DC motor;

[0034] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0035] Based on the novel virtual DC motor, the line is controlled.

[0036] The virtual DC motor control method, device, computer equipment, computer readable storage medium and computer program product first construct a mathematical model of the virtual DC motor; then analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new virtual DC motor; finally, control the circuit based on the new virtual DC motor. This control method can simplify the control and sampling circuits and reduce the impact of load mutations on the output voltage. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] FIG1 is a flow chart of a novel virtual DC motor control method according to an embodiment;

[0039] Figure 2 A control diagram of an armature circuit output terminal of a virtual DC motor in one embodiment;

[0040] Figure 3 It is a block diagram of equivalent control of a virtual DC motor output terminal in one embodiment;

[0041] Figure 4 It is a block diagram of equivalent control of a novel virtual DC motor in one embodiment;

[0042] Figure 5 A block diagram of virtual DC motor output equivalent control in one embodiment;

[0043] Figure 6 A block diagram of a novel virtual DC motor control in one embodiment;

[0044] Figure 7 It is a device diagram of a novel virtual DC motor control method in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] In one embodiment, as shown in FIG1 , a virtual DC motor control method is provided. This embodiment is illustrated by applying the method to a terminal. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0047] Step 102, constructing a mathematical model of a virtual DC motor.

[0048] Among them, the virtual DC motor is a technology that introduces the mechanical rotation equation of the DC motor to provide inertia for the DC side, thereby improving the system voltage stability. It simulates the behavioral characteristics of the DC motor and is implemented through a power electronic converter.

[0049] Among them, the power electronic converter is a device that can realize electric energy conversion and control. It modulates and controls electric energy through power electronic devices.

[0050] Exemplarily, a mathematical model of the virtual DC motor is constructed according to the structure of the virtual DC motor.

[0051] Step 104, analyzing the mathematical model of the virtual DC motor, introducing virtual inertia, and determining a new type of virtual DC motor.

[0052] Among them, virtual inertia realizes the inertial response of the power system through rapid response control of the power system, thereby improving the stability and reliability of the power system.

[0053] Exemplarily, the structure of the virtual DC motor is analyzed, a mathematical model of the virtual DC motor is established, virtual inertia is added to the mathematical model of the virtual DC motor, and a new virtual DC motor is determined.

[0054] Step 106: Control the circuit based on the novel virtual DC motor.

[0055] Exemplarily, based on the novel virtual DC motor, a control signal is generated to control the circuit.

[0056] The above virtual DC motor control method first constructs a mathematical model of the virtual DC motor; then analyzes the mathematical model of the virtual DC motor, introduces virtual inertia, and determines a new virtual DC motor; finally, based on the new virtual DC motor, the circuit is controlled. This control method can simplify the control and sampling circuits and reduce the impact of load mutations on the output voltage.

[0057] In an exemplary embodiment, introducing virtual inertia includes: adjusting the output voltage of each module in the virtual DC motor, and adding a reverse droop characteristic to the virtual DC motor to introduce virtual inertia.

[0058] Among them, the reverse droop characteristic is a method of detecting the grid frequency and adjusting the inverter output power according to a specific control algorithm to achieve support for the system frequency.

[0059] Among them, the inverter is a converter that converts direct current into alternating current.

[0060] Among them, the module is a converter.

[0061] Exemplarily, the output voltage of each converter in the virtual DC motor is adjusted according to the voltage-current characteristic curve, and a reverse droop characteristic is added to the virtual DC motor.

[0062] In this embodiment, the output voltage of each transformer of the virtual DC motor is adjusted through the voltage-current characteristic curve, and the reverse droop characteristic is added, so as to increase the stability of the system.

[0063] In an exemplary embodiment, adjusting the output voltage of each module in the virtual DC motor includes: adding an output voltage regulator to each module of the virtual DC motor; and adjusting the output voltage of each module by the output voltage regulator.

[0064] Exemplarily, the output voltage of the virtual DC motor is determined according to a mathematical model of the virtual DC motor, and the output voltage regulator adjusts the output voltage to obtain a final output voltage.

[0065] In this embodiment, the output voltage is regulated by the output voltage regulator, so that the output voltage can be controlled and the voltage stability can be maintained.

[0066] In an exemplary embodiment, the method further includes: changing the proportional link of each module in the virtual DC motor into a proportional-integral controller and setting the parameters of the proportional-integral controller.

[0067] Among them, the controller whose proportional link only has proportional control function has a control law that the change of the controller action within a certain limit is proportional to the input deviation, and it responds quickly to the deviation.

[0068] Among them, the proportional integral controller means that in integral control, the output of the controller is proportional to the integral of the input error signal.

[0069] Optionally, the proportional-integral parameter of the controller is =0.42, =50

[0070] For example, the mathematical model of the virtual DC motor is analyzed, the voltage loop adopts a conventional voltage loop, the proportional link controller of each converter in the virtual DC motor is replaced with a proportional-integral proportional-integral controller, and the proportional-integral parameter of the voltage loop controller is set to =0.42, =50.

[0071] In this embodiment, by changing the proportional link of each transformer in the virtual DC motor into a proportional-integral proportional-integral controller and designing the parameters of the proportional-integral controller, the output of the voltage can be flexibly controlled to ensure that the voltage is equal to a given value.

[0072] In an exemplary embodiment, adding a reverse droop characteristic in the virtual DC motor includes: changing the polarity of the armature resistance in the virtual DC motor to positive.

[0073] Among them, the armature is a component in the DC motor, which is composed of many conductor coils wound on an iron core.

[0074] Among them, the armature resistance is an important parameter of the motor operation, which directly affects the performance indicators of the motor, such as torque, speed, etc.; it can protect the motor. When the motor load is too large or short-circuited, the armature resistance can play a current limiting protection role to prevent the motor from being damaged.

[0075] Exemplarily, the polarity of the armature resistor is changed to positive so that the armature reaction becomes a magnetic assisting effect.

[0076] Among them, magnetic assistance means that the controller provides a certain current to the motor to enhance the magnetic field of the motor rotor, making the motor easier to start and run.

[0077] In this embodiment, by changing the polarity of the armature resistance to positive and making the armature reaction a magnetic assist, the reverse droop coefficient can be introduced into the virtual DC motor, so that the voltage and current characteristic curves of the converter overlap and output current sharing is achieved.

[0078] In an exemplary embodiment, based on the novel virtual DC motor, controlling the circuit includes: determining the duty cycle by using the armature circuit equation and the mechanical circuit equation based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor;

[0079] Based on the duty cycle, the circuit is controlled.

[0080] Among them, the armature circuit equation is:

[0081]

[0082] The mechanical circuit equation is:

[0083]

[0084] in: is the armature circuit current; E is the armature potential; is the armature resistance; is the torque coefficient; is the magnetic flux; J is the moment of inertia; D is the damping coefficient; , are mechanical torque and electromagnetic torque respectively; is the actual angular velocity; The angular velocity is given as the reference.

[0085] Among them, the duty cycle is the proportion of the power-on time to the total time in a pulse cycle. The circuit can be controlled by controlling the duty cycle.

[0086] Exemplarily, based on armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient, the duty cycle is calculated using the armature circuit equation and the mechanical circuit equation; based on the duty cycle, the circuit is controlled.

[0087] In this embodiment, the circuit is ultimately controlled by controlling the duty cycle, so that the system can achieve the effect of voltage and current balancing, thereby ensuring the stable operation of the system.

[0088] In an exemplary embodiment, Figure 2The figure shows the control diagram of the armature circuit output of the virtual DC motor, where E is the armature potential of the DC motor, It is the output voltage sampling value obtained by the ISOP system through the sampling circuit. is the armature resistance, It is the output current sampling value obtained by the ISOP system through the sampling circuit. In the control block diagram, the armature potential E and the output voltage After subtraction, the reference value of the output current is obtained. , as the input of the inner current loop.

[0089] In an exemplary embodiment, Figure 3 This is the equivalent control block diagram of the virtual DC motor output. Based on Figure 1, the virtual impedance voltage drop of the output inductor current is introduced at the armature potential E to obtain the reference value of the output voltage. In order to ensure that the control loop gain remains unchanged, an output current is added after the output voltage loop. At this time, the virtual DC motor control can be equivalent to a dual-loop control with a voltage outer loop containing a proportional link and an output current feedforward added. The existence of the output current feedforward control improves the dynamic performance of the loop, but because the proportional link is composed of the armature resistance Therefore, if the armature resistance is too small, the proportional coefficient will be large and the overshoot of the output voltage will increase. If the armature resistance is too large, the system response will be too slow.

[0090] In an exemplary embodiment, Figure 3 Simplify it, that is, cancel the output current value of the inner current loop, and get Figure 4 The new virtual DC motor equivalent control block diagram includes the droop characteristics and output voltage regulation. The new output voltage reference value is obtained through the armature circuit equation and rotor motion equation of the DC motor. , and the voltage loop adopts a conventional voltage loop, and the proportional link P is changed to a PI controller, and its parameters can be designed separately. The output voltage of the virtual DC motor is Laplace transformed to obtain a new output voltage reference value for:

[0091]

[0092] in, is the old output voltage reference value, s is a complex variable, usually expressed as s=a+jb, where a and b are real numbers and j represents an imaginary unit. Laplace transform can convert the expression of a function in the time domain (t domain) into an expression in the complex frequency domain (s domain). The formula can be divided into three parts: The first part is the initial torque The second part is the voltage drop caused by the output current, and the third part is the compensation amount of the output voltage. For the convenience of analysis, let the first part be equal to the output voltage reference value. , the PI parameters of the third part are designed to , which is used for zero-pole cancellation, so the virtual DC motor control can be written as follows:

[0093]

[0094] This formula is consistent with the control equation of droop control, but droop control will cause extreme voltage division in the system, which will eventually lead to system instability. Therefore, analogy is made with the case of synchronous motor power factor angle leading, that is, the port external characteristics of the synchronous motor with capacitive load. At this time, the armature reaction is a magnetic auxiliary effect. As the armature current increases, the total magnetic flux in the motor increases, and the terminal voltage increases. In DC motors, it is also possible to make the armature reaction a magnetic auxiliary effect. The polarity of the second part of the armature resistance can be changed to positive. At this time, the armature resistance is the reverse droop coefficient. The inertia link adopts zero-pole cancellation, and the new virtual DC motor is equivalent to adding an output voltage adjustment amount and an offset of the reverse droop coefficient. The offset of the reverse droop coefficient makes the voltage and current characteristic curves of the converter coincide, so that the difference of the output inductor current of each module is 0, and the output current is equalized, which ensures the stable operation of the system. However, the output voltage will be greater than the given reference value, and there will be a certain steady-state error in the end. In the proposed control strategy, an output voltage regulator is added to each module, so that the voltage and current characteristic curve of the module is shifted downward, so that the output voltage is finally equal to the given value. At this time, the input-series output-parallel (ISOP) system can not only achieve voltage and current equalization, but also achieve zero-difference control of the output voltage.

[0095] In an exemplary embodiment, Figure 5 The figure shows the equivalent control block diagram of the virtual DC motor output. The virtual DC motor contains N converters working in parallel, and each converter inputs an output current , according to the output current and the old output voltage reference Get the new output voltage reference value , the new output voltage reference value Subtract the output voltage , pass the result through the proportional integral PI controller, and output the duty cycle In this control strategy, only the output current and output voltage of the module are sampled. There is no separate input voltage-sharing loop and common output voltage loop for each module. Therefore, the sampling circuit does not need to be isolated. The controllers of each module are not connected to each other, and independent and equal control is achieved. The controller parameters of each module can be designed separately, which truly realizes modularization and improves system reliability. The simplified control equation can be written as:

[0096]

[0097] To analyze the stability of the control, that is, to ensure that the input voltage difference of the converter can become 0, the input impedance of each module under the control must be calculated. From the analysis of the ISOP small signal model, it can be seen that the disturbance signal of the inductor current needs to be eliminated. Taking the first converter as an example, there are:

[0098]

[0099] in: is the transformer turns ratio, is the effective duty cycle, is the load resistance, N is the number of modules. The disturbance signal of the duty cycle is:

[0100]

[0101] in, is the controller of the output voltage loop, is the output voltage feedback factor.

[0102] Setting the output current disturbance of other converters to 0, the equivalent input impedance of the module can be written as:

[0103]

[0104] in:

[0105]

[0106]

[0107] Similarly, the input impedance of module 2 can be written as:

[0108]

[0109] Therefore, the input side small signal model of the ISOP DC converter can be established. From the input side of the ISOP system, the equivalent impedance of each module in parallel with the input capacitor determines the distribution of the input voltage of the two modules. The ratio of the input voltage difference between the two modules to the total input voltage can be written as:

[0110]

[0111] In the formula represents the PI controller and can be written as:

[0112]

[0113] General Japanese style Substitution In the equation, the characteristic polynomial q(s) can be obtained as follows:

[0114]

[0115] From this we can write the Routh table of the characteristic polynomial:

[0116]

[0117] The coefficients are:

[0118]

[0119]

[0120]

[0121] According to the Routh-Hurwitz criterion, in order to ensure system stability, the values ​​in the first column of the Routh table should all be positive. If traditional droop control or virtual DC motor control with a negative positive multiplication of the output inductor current and the armature resistance is used, the value of a0 is always negative, so the system cannot be stable. The other coefficients can determine the range of the reverse droop control coefficient (armature resistance) through the following inequality.

[0122]

[0123] The parameter design is based on root locus analysis and the parameters are listed in the table. The PI parameters of the voltage loop controller are fixed as =0.42, =50, The value of is increased from zero to test the stability of the system. There are four poles in the system. As the value of increases, the pole on the real axis moves from the right half plane to the left half plane. The critical value is 0.053, which indicates that Must be greater than this value to keep the system stable. As the value of continues to increase, the two poles move from the left half plane to the right half plane. The critical value of is 4.71. If the value continues to increase, the two conjugate poles will move to the right half plane and the system becomes unstable. Therefore, it can be concluded from the root locus that The value of cannot be too large or too small. After considering the influence of the electromagnetic circuit, the system control loop equation can be written as:

[0124]

[0125] At this time, the disturbance signal of the duty cycle is:

[0126]

[0127] Similarly, the transfer function from the input voltage difference to the total input voltage is established, and the characteristic polynomial is extracted as follows:

[0128]

[0129] The coefficients are:

[0130]

[0131]

[0132]

[0133]

[0134]

[0135]

[0136] By observing the coefficients in the characteristic polynomial, it can be found that the range of armature resistance Ra in the virtual DC motor control without electromagnetic circuit can also meet the Routh-Hurwitz criterion. Therefore, by selecting a suitable armature resistance, the system can also ensure input voltage equalization and output current equalization.

[0137] The Routh criterion is used to determine the system input equalization and output equalization conditions, ensuring that the system can automatically equalize the pressure and current without an equalization ring.

[0138] In an exemplary embodiment, Figure 6 The following is a block diagram of the new virtual DC motor control. The next step is to analyze the output characteristics of the ISOP system, which requires analysis of the output voltage loop. Output voltage reference value and After the difference is made, it passes through an integral link as a compensation amount to eliminate the reverse droop caused by the reverse droop control. The subsequent process is the same as the previous one. For a single converter in the system, the dynamic performance of the output voltage regulation is verified under the condition of a sudden load change. It should be noted that the load of the converter becomes NRo at this time. Output voltage reference value after the new virtual DC motor control for:

[0139]

[0140]

[0141] Among them, Gu is the open-loop transfer function of the voltage inner loop, and the expression is as follows:

[0142]

[0143] is the transfer function of output voltage to duty cycle, is the PI transfer function of the output voltage loop. In Chapter 2, we have obtained the transfer function from output voltage to duty cycle. The expression is:

[0144]

[0145] In order to obtain the transfer function from the output voltage given value to the output voltage, it is necessary to perform small signal analysis on the system. At this time, the terminal voltage small signal output by the new virtual DC motor control can be written as:

[0146]

[0147]

[0148]

[0149] The above three equations can be combined to get:

[0150]

[0151] The coefficients are:

[0152]

[0153]

[0154]

[0155]

[0156]

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] It is the transfer function of the output voltage disturbance and the output voltage reference value disturbance. The zero-pole distribution diagram of the system's moment of inertia J varying between 0.01 and 0.15 can be obtained. As the moment of inertia increases, the two dominant poles continue to approach the imaginary axis, the system overshoot will increase, the adjustment time will increase, and the system will show inertial characteristics.

[0163] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0164] In an exemplary embodiment, Figure 7 As shown, a virtual DC motor control device is provided, comprising: a construction module, an analysis module and a control module, wherein:

[0165] Building blocks for constructing mathematical models of virtual DC motors.

[0166] The analysis module is used to analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor.

[0167] A control module is used to control the circuit based on the novel virtual DC motor.

[0168] In one embodiment, the analysis module is further configured to:

[0169] The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

[0170] In one embodiment, the analysis module is further configured to:

[0171] An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

[0172] In one embodiment, the analysis module is further configured to:

[0173] The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

[0174] In one embodiment, the analysis module is further configured to:

[0175] Change the polarity of the armature resistance in the virtual DC motor to positive.

[0176] In one embodiment, the control module is further configured to:

[0177] Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined using the armature circuit equation and the mechanical circuit equation; based on the duty cycle, the circuit is controlled.

[0178] Each module in the novel virtual DC motor control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0179] In an exemplary embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store voltage data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a novel virtual DC motor control method is implemented.

[0181] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0182] Construct a mathematical model of a virtual DC motor;

[0183] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0184] Based on the novel virtual DC motor, the line is controlled.

[0185] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0186] The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

[0187] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0188] An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

[0189] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0190] The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

[0191] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0192] Change the polarity of the armature resistance in the virtual DC motor to positive.

[0193] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0194] Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined using the armature circuit equation and the mechanical circuit equation; based on the duty cycle, the circuit is controlled.

[0195] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0196] Construct a mathematical model of a virtual DC motor;

[0197] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0198] Based on the novel virtual DC motor, the line is controlled.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0202] An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

[0203] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0204] The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

[0205] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0206] Change the polarity of the armature resistance in the virtual DC motor to positive.

[0207] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0208] Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined using the armature circuit equation and the mechanical circuit equation; based on the duty cycle, the circuit is controlled.

[0209] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0210] Construct a mathematical model of a virtual DC motor;

[0211] Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor;

[0212] Based on the novel virtual DC motor, the line is controlled.

[0213] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0214] The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

[0215] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0216] An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

[0217] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0218] The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

[0219] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0220] Change the polarity of the armature resistance in the virtual DC motor to positive.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0222] Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined using the armature circuit equation and the mechanical circuit equation; based on the duty cycle, the circuit is controlled.

[0223] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0224] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0225] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A virtual DC motor control method, characterized in that: The method comprises: Construct a mathematical model of a virtual DC motor; Analyze the mathematical model of the virtual DC motor, introduce virtual inertia, and determine a new type of virtual DC motor; Based on the novel virtual DC motor, the line is controlled.

2. The method according to claim 1, characterized in that The introducing of virtual inertia comprises: The output voltage of each module in the virtual DC motor is adjusted, and a reverse droop characteristic is added to the virtual DC motor to introduce virtual inertia.

3. The method according to claim 2, characterized in that The step of adjusting the output voltage of each module in the virtual DC motor includes: An output voltage regulator is added to each module of the virtual DC motor; the output voltage of each module is adjusted by the output voltage regulator.

4. The method according to claim 3, characterized in that The method further comprises: The proportional link of each module in the virtual DC motor is changed into a proportional-integral controller and the parameters of the proportional-integral controller are set.

5. The method according to claim 2, characterized in that: The step of adding a reverse droop characteristic to the virtual DC motor comprises: Change the polarity of the armature resistance in the virtual DC motor to positive.

6. The method according to claim 1, characterized in that The control of the circuit based on the novel virtual DC motor includes: Based on the armature circuit current, armature potential, armature resistance, torque coefficient, magnetic flux, moment of inertia, damping coefficient, proportional coefficient and integral coefficient in the novel virtual DC motor, the duty cycle is determined by using the armature circuit equation and the mechanical circuit equation; Based on the duty cycle, the circuit is controlled.

7. A virtual DC motor control device, characterized in that: The device comprises: A building block for constructing a mathematical model of a virtual DC motor; An analysis module, used for analyzing the mathematical model of the virtual DC motor, introducing virtual inertia, and determining a new type of virtual DC motor; A control module is used to control the circuit based on the novel virtual DC motor.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images