Variable pitch system of generator set, method and device for improving response time and medium

Abstract

The invention provides a variable pitch system of a generator set, a method and equipment for increasing response time and a medium. The technical problem that in the prior art, when the response time of a variable pitch system is increased, a mechanical load and a reduction gearbox are greatly impacted is solved. The variable pitch system of the wind generating set comprises a main controller used for issuing a position step response instruction; the variable-pitch controller is in communication connection with the main controller through a CANopen bus, and the variable-pitch controller is used for obtaining the position step response instruction and the position information of the blades of the current wind generating set and obtaining a control instruction according to the position step response instruction and the position information; the driver is in communication connection with the variable pitch controller through a CAN bus, and the driver is used for feeding back the current position information, receiving the control instruction and driving the motor to operate based on the control instruction; a dual-thread communication mode exists among the main controller, the variable pitch controller and the driver; the first thread is used for running the target code; wherein the priority of the first thread is higher than that of the second thread.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a generator set variable pitch system, a method for improving response time, equipment and a medium. BACKGROUND

[0002] In the existing technology, a wind power generation system mainly includes three parts: a master control, a frequency conversion and a variable pitch. In recent years, with the increase of single machine capacity and the continuous improvement of grid connection requirements, variable pitch variable speed type wind turbine generator sets have gradually become the mainstream and development trend. The variable pitch variable speed type wind turbine generator set adjusts the blade angle by using a variable pitch control system, and its main functions are: adjusting the windward angle of the fan blade under normal power generation conditions, thereby dynamically adjusting the input power and improving the wind energy utilization rate; and using an energy storage mechanism to complete the pitch function under fault conditions to ensure the safety of the fan.

[0003] The variable pitch system controls the blade to rotate to a specified position by receiving the position or control instruction issued by the master control. As a direct component for controlling the rotation of the blade, the response performance of the variable pitch system directly affects the effect of the master control on controlling the fan. The response time of the variable pitch system in the industry is generally 100-120 ms. At present, to improve the response time of the variable pitch system, the acceleration of the variable pitch is usually improved. However, due to the limitation of the moment of inertia of the transmission mechanism, the maximum current of the driver and the like, the method for improving the acceleration of the variable pitch has certain limitations, and will have considerable impact on the mechanical load such as the blade and the reduction box. SUMMARY

[0004] Therefore, the present application provides a generator set variable pitch system, a method for improving response time, equipment and a medium, which solves the technical problem that the mechanical load and the reduction box are greatly impacted when the response time of the variable pitch system is improved in the prior art.

[0005] As a first aspect of the present application, the present application provides a wind turbine generator set variable pitch system, comprising:

[0006] a master controller configured to issue a position step response instruction;

[0007] a variable pitch controller in communication connection with the master controller through a CANopen bus, the variable pitch controller being configured to obtain the position step response instruction and position information of the current wind turbine generator blade, and to obtain a control instruction according to the position step response instruction and the position information;

[0008] a driver in communication connection with the variable pitch controller through a CAN bus, the driver being configured to feed back the position information and receive the control instruction, and to drive the motor to operate based on the control instruction;

[0009] The main controller, the variable pitch controller and the driver have a double-thread communication mode; a first thread is used for running target code; wherein the priority of the first thread is higher than that of the second thread.

[0010] In an embodiment, the variable pitch controller comprises a control operation module, which is used for obtaining a control instruction according to a position step response instruction sent by the main controller and position information fed back by the driver.

[0011] In an embodiment, the target code comprises at least one of a position instruction sent by the main controller, position information of a current wind turbine blade fed back by the driver, a control instruction sent by the variable pitch controller and a target threshold position instruction.

[0012] In an embodiment, the scanning period of the first thread is 1 ms.

[0013] In an embodiment, the scanning period of the second thread is 10 ms.

[0014] In an embodiment, the control instruction comprises at least one of a position instruction, a speed instruction and a torque instruction.

[0015] As a second aspect of the present application, the present application provides a method for improving the response time of a variable pitch system of a wind turbine, which is applied to the variable pitch system of the wind turbine as described above, the method is applied to a first thread, and the method comprises:

[0016] The main controller sends a position step response instruction through a CANopen bus;

[0017] The variable pitch controller obtains the position step response instruction from a CANopen port;

[0018] The variable pitch controller obtains position information of a current wind turbine blade fed back by the driver through a CAN port;

[0019] The variable pitch controller obtains a control instruction according to the position step response instruction and the position information and sends the control instruction to the driver;

[0020] The driver receives the control instruction and drives the motor to run based on the control instruction;

[0021] The variable pitch controller updates a target threshold position through the CANopen port and feeds back to the main controller;

[0022] The main controller refreshes the target threshold position;

[0023] The main controller calculates corresponding time of the pitch system according to time when the main controller receives the target threshold position and time when the main controller issues the position step response instruction through the CANopen bus.

[0024] In an implementation, the pitch controller obtains the control instruction according to the position step response instruction and the position information and sends the control instruction to the driver, including: a control operation module in the pitch controller performs PID operation on the position step response instruction and the position information to obtain the control instruction.

[0025] As a third aspect of the present application, the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of the preceding aspects.

[0026] As a fourth aspect of the present application, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the method according to any one of the preceding aspects.

[0027] The wind turbine pitch system provided by the present application comprises a main controller configured to issue a position step response instruction; a pitch controller in communication connection with the main controller through a CANopen bus, the pitch controller being configured to acquire the position step response instruction and position information of a current wind turbine blade, and obtain a control instruction according to the position step response instruction and the position information; and a driver in communication connection with the pitch controller through a CAN bus, the driver being configured to feed back the position information and receive the control instruction, and drive a motor to operate based on the control instruction; the main controller, the pitch controller and the driver have a double-thread communication mode; a first thread is configured to run target code; and the priority of the first thread is higher than that of a second thread. Since the main controller and the pitch controller of the wind turbine pitch system communicate through standard CANopen, and the pitch controller and the driver communicate through private CAN, the data transmission efficiency can be improved; and the wind turbine pitch system runs two threads, the first thread is configured to run target code, and the rest is configured to run the second thread, the priorities of the two threads are different, so that the response instruction can be transmitted preferentially, the response time of the pitch system is improved, the main control instruction can be responded in real time, and the risk of overspeed of the wind turbine is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0029] FIG. 1 Fig. 1 shows a structural schematic diagram of a wind turbine variable pitch system according to an embodiment of the present application.

[0030] FIG. 2 Fig. 2 shows a flowchart of a method for improving response time of a wind turbine variable pitch system according to an embodiment of the present application.

[0031] FIG. 3 Fig. 3 shows a communication topology diagram of a control operation module according to an embodiment of the present application.

[0032] FIG. 4 Fig. 4 shows a response time effect curve diagram of a variable pitch system according to an embodiment of the present application.

[0033] FIG. 5 Fig. 5 shows a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In the description of the present application, the meaning of "a plurality of" is at least two, for example two, three, and the like, unless specifically limited otherwise. All directional references (such as upper, lower, left, right, front, rear, top, bottom, etc.) are in relation to the specific embodiment shown in the figures, and are used only to illustrate the relative location and orientation of the various components to each other, and are not intended to limit the application to the orientation shown. Furthermore, the terms "including", "containing", and "having" and variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a list of steps or units are not necessarily limited to those listed steps or units, but can include additional steps or units not expressly listed or can include steps or units inherent to such process, method, product, or apparatus.

[0035] In addition, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiments, or alternative or alternative embodiments. It will be explicitly understood that the embodiments described herein can be combined with other embodiments in various ways.

[0036] Example wind turbine generator system pitch system

[0037] As a first aspect of the present application, the present application provides a wind turbine variable pitch system, FIG. 1 As shown in the structural schematic diagram of a wind turbine variable pitch system provided by an embodiment of the present application. As shown in the structural schematic diagram of a wind turbine variable pitch system provided by an embodiment of the present application. FIG. 1 As shown, the wind turbine variable pitch system comprises a main controller 100, a variable pitch controller 200 and a driver 300. The main controller 100 is configured to issue a position step response instruction. The variable pitch controller 200 is configured to acquire the position step response instruction and current position information of the wind turbine blade, and obtain a control instruction according to the position step response instruction and the position information. The driver 300 is configured to feed back the position information and receive the control instruction, and drive the motor to operate based on the control instruction.

[0038] In the wind turbine variable pitch system, the main controller 100 collects a large amount of sensor data such as wind speed, wind direction, generator speed, power, power grid state, nacelle vibration, and calculates the target position required by each blade of the wind turbine according to the current operating state (start-up, grid connection, normal power generation, power limitation, shutdown, fault, etc.) and the preset control strategy (power curve, load optimization, power grid scheduling instruction, etc.), and sends the target position to the variable pitch controller 200 in the form of a position step response instruction. The variable pitch controller 200 receives the target position required by each blade of the wind turbine from the main controller 100. The driver 300 is a power device for driving the rotation of the wind turbine blade. In addition, the driver 300 can also acquire the current position information of the wind turbine blade and send it to the variable pitch control system. The variable pitch control system compares the target position with the actual position of the blade, calculates the control instruction required by the driving motor, and sends it to the driver 300, and then the driver 300 is responsible for ensuring that the blade quickly, accurately and smoothly tracks the target position. Optionally, the control instruction comprises at least one of a position instruction, a speed instruction or a torque instruction. The main controller 100, the variable pitch controller 200 and the driver 300 constitute an efficient, reliable and safe variable pitch control system through high-speed information interaction, strict closed-loop control logic and independent safety chain mechanism, so that the wind turbine can intelligently adjust the blade angle with the wind speed, maximize energy capture while ensuring structural safety and power grid stability, which is the core of wind power technology.

[0039] In an embodiment of the present application, in the pitch system, accurate and reliable detection of the position information of the current wind turbine blade is the basis for closed-loop control and safe operation. When the driver 300 needs to obtain the current blade position, a high-precision absolute encoder can be relied on to achieve this. The absolute encoder can be installed on the wind turbine, and optionally, the absolute encoder can be directly installed on the pinion of the blade pitch bearing or the output shaft of the drive motor, or at the rear end of the pitch motor. The driver 300 can directly receive the signal from the main absolute encoder that measures the blade position (received in parallel with the pitch controller 200 or shared through a bus) for implementing a high-level servo control loop with final position feedback inside; or the driver 300 can use the built-in encoder feedback of the motor connected thereto to calculate the estimated blade position / speed and report it to the pitch controller 200; the present application does not limit this.

[0040] The pitch controller 200 is in communication connection with the main controller 100 through a CANopen bus, that is, standard CANopen communication is performed between the main controller 100 and the pitch controller 200. The driver 300 is in communication connection with the pitch controller 200 through a CAN bus, that is, private CAN communication is performed between the pitch controller 200 and the driver 300. The private CAN communication between the pitch controller 200 and the driver 300 can improve the data transmission efficiency.

[0041] The standard CANopen solves the system integration and operation standardization problem. The private CAN is a microsecond-level deterministic control implemented at the execution layer, which directly improves the response time. In the present embodiment, the hybrid architecture of standard CANopen communication between the main controller and the pitch controller + private CAN communication between the pitch controller and the driver is a design that takes into account standardization and high performance. The core advantage of this communication strategy lies in the layered optimization of communication efficiency and real-time performance. It not only meets the requirements of wind farm compatibility, but also releases the limit performance of the pitch system, laying a foundation for accurate power control and load optimization in high-turbulence wind conditions.

[0042] The main controller 100, the pitch controller 200 and the driver 300 have a double-thread communication mode (not shown in the figure); the first thread is used to run the target code; wherein the priority of the first thread is higher than that of the second thread. Without affecting the communication quality and communication load, the target code and other codes are run in two threads with different priorities, and the priority of the first thread running the target code is higher than that of the second thread running other codes. Therefore, the pitch controller 200 runs the target code in the first thread with the highest priority, which can preferentially transmit response instructions, thereby improving the response time of the pitch system, helping to respond to the main control instructions in real time and reducing the risk of wind turbine overspeed.

[0043] In an embodiment of the application, the scanning period of the first thread can be 1 ms, and the priority can be 0 (the highest priority).

[0044] In an embodiment of the application, the scanning period of the first thread can be 10 ms, and the priority can be 1.

[0045] In an embodiment of the application, the pitch controller 200 comprises a control operation module, which is configured to obtain a control instruction according to the position step response instruction sent by the main controller 100 and the position information fed back by the driver 300. It can be understood that, when the pitch controller 200 receives the position step response instruction sent by the main controller 100 and the position information fed back by the driver 300, the pitch controller 200 feeds back the position step response instruction and the position information to the control operation module inside the pitch controller 200, and then the control operation module performs PID operation according to the position step response instruction and the position information, so as to obtain the control instruction. Subsequently, the pitch controller 200 sends the control instruction to the driver 300.

[0046] In an embodiment of the application, the target code comprises at least one of the position instruction sent by the main controller 100, the position information of the current wind turbine blade fed back by the driver 300, the control instruction sent by the pitch controller 200, and the target threshold position instruction. It can be understood that the CAN, CANopen hardware port scanning code, and the logic code related to the position and speed of the pitch controller 200 are run in the first thread, and other codes are run in the second thread.

[0047] Example method of improving wind turbine generator system pitch system response time

[0048] As a second aspect of the application, the application provides a method for improving the response time of a wind turbine pitch system. The method is applied to the first thread of the wind turbine pitch system described in the above embodiments. FIG. 2 As shown in the figure, the method for improving the response time of the wind turbine pitch system comprises the following steps. FIG. 2 As shown in the figure, the method for improving the response time of the wind turbine pitch system comprises the following steps.

[0049] S11: The main controller 100 sends a position step response instruction through the CANopen bus.

[0050] S21: The pitch controller 200 obtains the position step response instruction from the CANopen port.

[0051] S31: The driver 300 feeds back the position information of the current wind turbine blade through the CAN bus.

[0052] S22: The pitch controller 200 acquires the current position information of the wind turbine blade fed back by the driver 300 through the CAN port.

[0053] S23: The pitch controller 200 obtains a control instruction according to the position step response instruction and the position information.

[0054] S24: The pitch controller 200 sends the control instruction to the driver 300.

[0055] S32: The driver 300 receives the control instruction and drives the motor to operate based on the control instruction.

[0056] S25: The pitch controller 200 updates the target threshold position through the CANopen port and feeds back to the main controller 100.

[0057] S12: The main controller S1 refreshes the target threshold position, and the main controller calculates the corresponding time of the pitch system according to the time when the main controller receives the target threshold position and the time when the main controller issues the position step response instruction through the CANopen bus.

[0058] The target threshold position can be the 0.01deg position of the blade, and the 0.01deg position of the blade in the wind power pitch system refers to the control accuracy of the blade pitch angle reaching 0.01 degrees (°).

[0059] Based on the above steps, in an embodiment of the present application, the method can be understood as follows: the main controller 100 issues the position step response instruction through the CANopen bus, and at this moment, the main controller 100 is timing t1; at this moment, the pitch controller 200 should first acquire the position step response instruction sent by the main controller 100 from the CANopen port every 1ms, and take the position step response instruction as the first input of the PID control; the pitch controller 200 further acquires the current position feedback of the driver 300 through the CAN port every 1ms, and takes the current position feedback as the second input of the PID control. FIG. 3 A control operation module communication topology diagram provided by an embodiment of the present application is shown in FIG. 1. FIG. 3 After the PID operation in the pitch controller 200, the PID output control instruction is sent to the driver 300 through the CAN private protocol; after receiving the control instruction, the driver 300 drives the motor to operate after a series of signal conversions; after N 1ms cycles (1*N), the pitch controller 200 updates the target threshold position through the CANopen port and feeds back to the main controller 100, and the main controller 100 refreshes to the target threshold position feedback moment t2, so the response time of the pitch system is t=t2-t1.

[0060] FIG. 4 Fig. 13 shows a diagram of an effect curve of improving the response time of a pitch system according to another embodiment of the present application. FIG. 4 As shown in Fig. 13, in the pitch control system of a wind turbine generator, the response time of the pitch system is defined as the time length from the time when the position step response instruction is sent by the main controller 100 to the time when the actual target threshold position of the blade of the wind turbine generator is reached and the position signal is successfully collected and verified by the main controller 100 (as shown by t_delay_time in Fig. 13). FIG. 4 The response time of the typical pitch system in the current industry is generally in the order of 100-120 ms (based on the fixed sampling period architecture of 10 ms). By using the standard CANopen communication between the main controller and the pitch controller, the private CAN communication between the pitch controller and the driver, and the two threads of the wind turbine generator pitch system, the response time of the system is successfully shortened to 60-80 ms, and the performance is improved by more than 40%. The realization of the response time of 60-80 ms marks the dynamic performance of the pitch system entering a new stage. The faster pitch angle regulation capability enables the wind turbine to maintain stable power output under turbulent wind conditions, significantly reduces the impact of extreme loads, and this breakthrough has double positive effects on improving the service life and power generation benefits of the wind turbine.

[0061] Example electronic device

[0062] Next, as a third aspect of the present application, the present application further provides an electronic device. Referring to FIG. 5 to describe the electronic device according to the embodiment of the present application.

[0063] FIG. 5 Fig. 13 shows a diagram of an effect curve of improving the response time of a pitch system according to another embodiment of the present application.

[0064] As FIG. 5 shown, the electronic device 60 includes one or more processors 601 and a memory 602.

[0065] The processor 601 can be a central processing unit (CPU) or other forms of processing unit having data processing capability and / or instruction execution capability, and can control other components in the electronic device 60 to perform desired functions.

[0066] The memory 602 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk drives, solid state drives, and / or the like. The computer-readable storage media can store one or more computer program instructions implementing the wind turbine generator unit pitch system and method of improving response time of various embodiments of the present application described above and / or other desired function.

[0067] In one example, the electronic device 60 can further include an input device 603 and an output device 604, which are interconnected via a bus system and / or other form of connection mechanism (not shown).

[0068] When the electronic device is a stand-alone device, the input device 603 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0069] In addition, the input device 603 can further include, for example, a keyboard, a mouse, and / or the like.

[0070] The output device 604 can output various information, including the determined distance information, direction information, and / or the like, to the outside. The output device 604 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and / or the like.

[0071] Of course, in order to simplify, FIG. 5 Only some of the components of the electronic device 60 related to the present application are shown in the block diagram of FIG. 6, and components such as a bus, an input / output interface, and / or the like are omitted. In addition, the electronic device 60 can further include any other appropriate components according to the specific application.

[0072] As a fourth aspect of the present application, the present application provides a computer-readable storage medium storing a computer program for performing the steps of the wind turbine generator unit pitch system and method of improving response time of various embodiments described above.

[0073] The computer-readable storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable storage medium or a computer-readable signal medium. The computer-readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0074] In addition to the above method and device, the embodiments of the present application can also be a computer program product, which includes computer program information, and the computer program information makes the processor execute the steps in the wind turbine unit variable pitch system and method for improving response time of various embodiments of the present application when the processor is running.

[0075] The computer program product can be written in any combination of one or more programming languages for executing the operations of the embodiments of the present application, and the programming languages include object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0076] The basic principles of the present application are described above in combination with specific embodiments, but it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and are not limited, and these advantages, advantages, effects, etc. cannot be considered as the must-have of each embodiment of the present application. In addition, the above-mentioned specific details are only for the purpose of example and for the purpose of understanding, and are not limited to the above-mentioned specific details, and the above-mentioned specific details do not limit the present application to be realized by the above-mentioned specific details.

[0077] The block diagrams of the devices, apparatuses, equipment, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. These devices, apparatuses, equipment, systems can be connected, arranged, configured in any way as those skilled in the art will recognize. Words such as "include", "contain", "have", etc. are open-ended words, mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0078] It is also necessary to point out that in the devices, apparatuses and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalents of the present application.

Claims

1. A wind turbine pitch control system, characterized in that: include: Main controller, used to issue position step response instructions; a pitch controller, communicatively connected to the main controller via a CANopen bus, the pitch controller being configured to obtain the position step response instruction and the current position information of the wind turbine blades, and to obtain a control instruction based on the position step response instruction and the position information; A driver is connected to the pitch controller via a CAN bus, and is used to feedback position information and receive the control instructions, and drive the motor to operate based on the control instructions; There is a dual-thread communication mode between the main controller, the pitch controller and the driver; The first thread is used to run the target code; wherein the priority of the first thread is higher than that of the second thread.

2. The wind turbine generator set pitch control system according to claim 1, characterized in that: The pitch controller includes a control calculation module, which is used to obtain a control instruction according to a position step response instruction sent by a main controller and position information fed back by a driver.

3. The wind turbine pitch control system according to claim 1, characterized in that: The target code includes at least one of: a position instruction sent by a main controller, current position information of the wind turbine blade fed back by a driver, a control instruction sent by a pitch controller, and a target threshold position instruction.

4. The wind turbine pitch control system according to claim 1, characterized in that: The scanning period of the first thread is 1 ms.

5. The wind turbine pitch control system according to claim 1, characterized in that: The scanning period of the second thread is 10ms.

6. The wind turbine generator set pitch control system according to claim 1, characterized in that: The control instruction includes at least one of a position instruction, a speed instruction and a torque instruction.

7. A method for improving the response time of a wind turbine pitch control system, applied to the wind turbine pitch control system according to any one of claims 1 to 6, characterized in that: The method is run on a first thread; the method includes: The main controller sends position step response instructions through the CANopen bus; The pitch controller obtains the position step response instruction from the CANopen port; The pitch controller obtains the current position information of the wind turbine blades fed back by the driver through the CAN port; The pitch controller obtains a control instruction according to the position step response instruction and the position information and sends the control instruction to the driver; The driver receives the control instruction and drives the motor to operate based on the control instruction; The pitch controller updates the target threshold position through the CANopen port and feeds it back to the main controller; The main controller updates the target threshold position; The main controller calculates the pitch system response time according to the time when the main controller receives the target threshold position and the time when the main controller sends the position step response instruction through the CANopen bus.

8. The method for improving the response time of a wind turbine pitch control system according to claim 7, characterized in that: The pitch controller obtains a control instruction according to the position step response instruction and the position information and sends it to the driver, including: a control operation module in the pitch controller performs PID operation on the position step response instruction and the position information to obtain the control instruction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to claim 7.

10. 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 claim 7 are implemented.

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