273 results about "Active support" 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 power grid active support control method for an offshore wind power low-frequency power transmission system. Real-time response of low-frequency power grid angular frequency to power-frequency power grid angular frequency is realized by using an onshore M3C converter; the active power response of the low-frequency fan to the angular frequency of the low-frequency power grid is realized by utilizing a low-frequency fan side converter and a grid side converter; through cooperative control of the M3C converter and the low-frequency fan, active support of the offshore wind power low-frequency power transmission system for frequency fluctuation of an onshore power frequency power grid can be realized, the system stability is improved, and the method has a good application prospect.

The invention discloses an anti-settlement method and system for a conjoined building with asynchronous foundation construction. The method comprises the following steps: step 1, establishing a multi-stage coupling settlement prediction finite element model of the conjoined building; 2, a settlement active control system composed of a central control unit, a distributed sensor network and a servo hydraulic actuator array is arranged at the structure connection interface of the asynchronous construction areas of the connected building; 3, in the whole construction process, relative settlement data of all the areas are continuously monitored in real time; 4, comparing the real-time settlement data with the prediction model data, and calculating a deviation value; and 5, according to the deviation value, the needed active supporting force is calculated, the servo hydraulic actuator array is instructed to adjust the output force of the servo hydraulic actuator array in real time, and therefore differential settlement in the construction process is actively controlled within the preset minimum threshold value range. According to the invention, the internal stress of the structure is greatly reduced, and a long waiting period required by technologies such as post-cast strips is canceled.

The invention particularly discloses a time-space design method for a railway tunnel active support rock anchoring and shotcreting synergistic effect considering a time-space effect, and relates to the technical field of civil engineering. The method comprises the steps that firstly, expression characteristics of the load time effect, the material time effect, the tunnel face space effect and the rock anchor bearing arch space effect of active supporting are determined, a space-time effect characterization method is established, and then a tunnel active supporting rock anchor and shotcrete synergistic effect space-time calculation model is constructed; then determining calculation parameters of a rock anchor bearing arch and a sprayed concrete layer, and constructing a surrounding rock pressure calculation method and a safety evaluation method considering the advance support effect; and finally, according to a calculation result of the tunnel active support rock anchoring and shotcreting synergistic effect space-time calculation model, safety is judged, and design parameters of a pre-stressed anchor rod and shotcreting concrete are determined. The method can simply, quickly and accurately calculate the internal force distribution and safety of the tunnel rock anchor bearing arch and the sprayed concrete layer under different time, geological conditions and support design parameters, and has good engineering value.

The invention belongs to the technical field of tunnel supporting, and discloses a supporting structure of a long-distance deeply-buried TBM inclined shaft water-rich complex rock stratum and a working method.The supporting structure comprises graded yielding control anchor rods, anchor cables, a steel bar row, a steel bar net and a sprayed concrete layer, and the steel bar row, the steel bar net and the sprayed concrete layer are sequentially arranged on the tunnel surrounding rock surface from outside to inside; the graded yielding control anchor rod comprises a rod body, an outer ring, a yielding sleeve and an inner ring. In an initial state, the rear end of the rod body presses the inner ring on the rear port of the inner cavity of the yielding sleeve through a nut; the front end of the yielding sleeve extends into the drill hole and tightly presses the outer ring on the surrounding rock on the outer side of the drill hole; primary yielding friction fit is formed between the inner ring and an inner cavity of the yielding sleeve; and the front end of the yielding sleeve is in secondary yielding friction fit with the outer ring. The method has the advantages that the bearing capacity of the surrounding rock is fully exerted, and passive support is converted into active support; the graded yielding control anchor rods and the anchor cables are jointly supported, and the supporting structure is good in integrity and high in strength.

The invention discloses an optimal scheduling method, system and device based on active support of a micro-grid, and a medium. The method comprises the following steps: sampling to obtain a plurality of target source load prediction error scenes, scene probabilities and net load scenes; calculating a power grid side active support power demand based on the power grid side frequency variation; constructing a first evaluation equation of the active support power demand of the micro-grid based on the scene probability, the active support power demand of the power grid side and the inertia support form of the micro-grid; taking the plurality of net load scenes as constraint conditions, and constructing a microgrid optimization scheduling model based on a scheduling cost equation and a risk cost equation constructed according to the loss cost, the cyclic energy cost and the first evaluation equation in the microgrid scheduling process; and obtaining a micro-grid active support scheduling scheme based on the micro-grid optimization scheduling model. The method provided by the invention fully considers and utilizes the active support frequency of the micro-grid, remarkably enhances the frequency response capability of the power distribution network, and improves the operation efficiency and stability of the power distribution network.

The invention provides a soft rock roadway large deformation control method, and relates to the technical field of soft rock roadway supporting, and the method comprises the following steps: carrying out a crustal stress test, obtaining a crustal stress distribution rule of a roadway area, and analyzing the relationship between roadway arrangement and a crustal stress field, and the influence of crustal stress on roadway surrounding rock stress distribution; based on a ground stress test result, an anchor net cable, sprayed concrete, U-shaped shed and inverted arch active support system is constructed; according to the method, a series of stress tests and other studies are carried out, a series of relations between crustal stress distribution rules and a coal rock mass structure are obtained, an original passive supporting mode of anchor net and shed erecting is adjusted into active supporting of anchor net cable, concrete spraying, U-shaped shed and inverted arch, efficient cooperative control among different supporting measures is achieved, and the supporting effect is good. The supporting system and the supporting characteristic curve are adapted and matched with the deformation activity state of the surrounding rock, the self-bearing capacity of the surrounding rock and the supporting capacity of the supporting system are exerted to the maximum extent, and the purpose of maintaining the stability of a roadway is achieved.

The invention discloses a doubly-fed wind turbine generator active support capability improvement method under an asymmetric fault, and the method comprises the steps: building a doubly-fed wind turbine generator optimization model with the minimum voltage unbalance degree of a common connection point, and delimiting an optimization problem as two sub-optimization problems: a negative sequence voltage can be eliminated and a negative sequence voltage cannot be eliminated; according to the method, constraint is contracted by using a Kaush-Kuhn-Tuck condition and a geometric analysis method, and an analytical solution form of rotor positive and negative sequence current instructions is obtained, so that the problem of insufficient unbalanced voltage suppression capability under the asymmetric fault of the doubly-fed fan is solved, and the effect of greatly reducing the voltage unbalance degree of the common connection point under the asymmetric fault is achieved. And a reference is provided for improving the active support capability of the doubly-fed fan under the asymmetric fault.

The invention relates to the technical field of civil engineering, and particularly discloses a railway tunnel high-performance active support system design method considering a space-time effect, which comprises the following steps: S1, establishing a tunnel early-strength and high-strength sprayed concrete layer calculation model; s2, determining calculation parameters required by the sprayed layer calculation model according to the tunnel early-high-strength sprayed concrete layer calculation model; s3, influence factors of surrounding rock deformation pressure borne by the tunnel early-strength and high-strength sprayed concrete layer are determined; s4, establishing a surrounding rock deformation pressure calculation method of the tunnel early-strength and high-strength sprayed concrete layer considering the surrounding rock level; and S5, establishing a surrounding rock deformation pressure calculation method of the tunnel early-strength and high-strength sprayed concrete layer considering the rock mass quality index. By adopting the railway tunnel high-performance active support system design method considering the space-time effect, the safety of the tunnel early-strength and high-strength sprayed concrete layer under different time, geological conditions, construction levels and support design parameters can be simply, quickly and accurately calculated.

The invention discloses a network construction type VSG power grid fault active support cooperative control method, and belongs to the technical field of new energy grid-connected control. According to the method, the power grid voltage is monitored in real time, and a cooperative strategy is dynamically triggered: when the voltage drops below a set value, a cooperative control mechanism is started, including (1) self-adaptive active power adjustment based on a power angle stability margin and dynamic correction of a power instruction value to suppress kinetic energy accumulation of a rotor; (2) voltage tracking type reactive compensation is superposed in a reactive control loop, reactive current is increased in real time according to the drop depth, continuous reactive support is provided, and steady-state overcurrent is restrained; and (3) inputting a virtual resistance inductor, and limiting a transient over-current peak value by suppressing a dq-axis coupling current component. When the voltage is normal, the conventional VSG control mode is maintained. According to the invention, power-reactive power-impedance three-dimensional cooperation is realized, power angle stability, current limitation and voltage support are considered, and the stability and active support capability of the network-forming VSG under the power grid drop fault are significantly improved.

The invention relates to the technical field of surgical robots, in particular to an RCM mechanism for cataract surgery and a corresponding surgical robotic.The RCM mechanism comprises a first active supporting rod, a second active supporting rod, a third active supporting rod and a fourth active supporting rod, the first end of the first active supporting rod is slidably arranged on a guide rail, the second active supporting rod comprises a telescopic part and a supporting rod part, and the second end of the telescopic part is hinged to a first base; the first end of the telescopic part is connected with the supporting rod part; the second end of the first driven supporting rod is connected with the first driving supporting rod through a sliding part, the first end of the supporting rod part is hinged to the first driven supporting rod, the second end of the second driven supporting rod is parallel to the first driven supporting rod, and the second end of the second driven supporting rod is hinged to the second end of the supporting rod part; the first end of the driven piece is hinged to the first end of the first driven supporting rod, and the second end of the driven piece is hinged to the first end of the second driven supporting rod; according to the surgical robot provided by the invention, the accuracy and safety of the surgery can be realized, and ophthalmologic surgeries such as cataract and the like can be carried out more quickly and noninvasively.

The invention discloses an anchor rod and grouting combined reinforcement control method for surrounding rock of an argillaceous weak cemented roadway, relates to the technical field of coal mine roadway support, and solves the problems of poor anchoring performance of an anchor rod, insufficient grouting pertinence and poor grouting and anchoring collaboration in the prior art. According to the technical scheme, the method comprises the steps that grouting and supporting parameter collaborative design is conducted; after roadway tunneling, full-section concrete spraying sealing is immediately carried out; deep and shallow hole step-by-step differential grouting is conducted, shallow hole low-pressure permeation is conducted firstly to form a shallow reinforcing ring, and then deep hole high-pressure splitting is conducted to form a deep reinforcing area; and finally, high-pretightening-force anchor rods (cables) are installed to form a cooperative bearing body. The reinforcing ring layer with the reasonable strength gradient is formed, efficient cooperation of surrounding rock modification and active supporting is achieved, and the supporting reliability and the overall stability of surrounding rock are remarkably improved.

The invention relates to an elastic power distribution network planning method considering a new element new industry state active support strategy, and the method comprises the steps: carrying out the layering of a power distribution network, constructing a multi-level elastic index, and combining a typhoon disaster time-space probability model, and quantifying the multi-stage dynamic influence of a typhoon disaster on the fault probability of a power distribution network line; formulating a new element new industry state multi-stage active support strategy of the power distribution network; an elastic power distribution network planning model is constructed, the elastic power distribution network planning model is a planning-operation double-layer model, and an upper-layer planning model takes maximization of elastic indexes of all levels and minimization of power distribution network planning cost as optimization targets; the lower-layer planning model performs operation optimization of each stage in a serial propulsion mode based on the new element new industry state multi-stage active support strategy; and solving the elastic power distribution network planning model to obtain an elastic power distribution network planning scheme. Compared with the prior art, the flexibility of the power distribution network can be effectively improved, and the loss of the power distribution network under typhoon disasters is reduced.

The invention belongs to the related technical field of direct current power transmission of a power system, provides an active support control method and system suitable for an offshore wind power direct current delivery system, overcomes the defect that active power is borne by a hybrid MMC when a traditional flexible direct current system active support control strategy is transplanted to a DR-hybrid MMC topology, and particularly solves the problem that when the hybrid MMC runs at zero direct current voltage, the active power cannot be borne by the hybrid MMC. The hybrid MMC can be prevented from increasing the active power transmitted by the hybrid MMC, the rated capacity of the hybrid MMC is reduced, and the economic benefit of the system is improved. The frequency and voltage supporting capacity of the DR-hybrid MMC series topology direct current sending-out system for the receiving end power grid is effectively improved, and the stability of the power grid is enhanced in the scene that high-proportion new energy is connected into the power grid.

The invention discloses an online active support method and system for following network type new energy equipment under a weak power grid, and relates to the technical field of power systems, and the method comprises the steps: simplifying the system at an equipment access point through employing a Thevenin equivalent circuit; identifying system parameters in real time based on a least square method; deducing a system critical short-circuit ratio and transmission capacity expression by using an equivalent circuit; and optimizing the equipment PQ control parameter value under the constraints of the system transmission capacity and the equipment capacity. According to the method, the Thevenin equivalent circuit parameters of the grid-connected nodes of the equipment are accurately identified on line by adopting the least square method, multi-type equipment parameters and specific control characteristics in the power distribution network do not need to be obtained, and a large amount of manpower and material resources are saved. The system is actively supported by reasonably distributing the capacity of the network-following type new energy equipment, and the transmission capacity of the system and the power injected into the system by the equipment are fully improved. Compared with a reactive power compensation device, the transmission capacity of the system is improved, the economic cost is lower, and equipment control is more convenient and flexible.

The invention relates to a spliced detector assembling and adjusting method based on an active support structure and a gradient descent method, and belongs to the technical field of optical assembling and adjusting, and the method comprises the steps: obtaining the initial point cloud data of each detector which is spliced together in a matrix; calculating the initial flatness of each detector; establishing a thimble adjustment model, and determining a rotation matrix according to the thimble adjustment model; setting an optimization objective function and a constraint condition of the overall flatness of the spliced detector; iteratively solving the optimization objective function by using a gradient descent method to obtain a final optimization result, the final optimization result comprising the optimal rotation angle of each thimble of each detector; and performing in-situ correction and adjustment on each detector according to the obtained final optimization result to obtain the spliced detector with the optimal flatness. On the basis of an active supporting structure, a gradient descent method is introduced, the purpose of achieving the optimal flatness of the spliced detector by trimming the rotation angle of the ejector pin at a time can be achieved, and the assembling and adjusting efficiency and precision are higher.

The invention relates to an energy storage active support control method, device and equipment, a medium and a program product, and the method comprises the steps: carrying out the adaptive adjustment of a first control parameter of a virtual synchronous generator based on the output angular frequency of the virtual synchronous generator, and determining the power grid angular frequency deviation value of a power grid system based on the power grid angular frequency of the power grid system, constructing a prediction equation aiming at the power grid angular frequency deviation value at the future moment, constructing a cost function by taking the power grid angular frequency deviation value at the future moment and the output power compensation value at the current moment as variable parameters, and determining the minimum cost value corresponding to the cost function as an optimization target; and performing optimization solution on the pre-obtained target function based on the first control parameter to obtain an output power compensation value at the current moment, thereby improving the dynamic response capability of the network-building energy storage technology, timely and effectively tracking and compensating system changes, and simultaneously considering the cost adjustment and enhancing the inertia support and frequency adjustment capability of the power system.

The present invention belongs to the technical field of foundation pit support, and in particular relates to an anti-collapse support structure for a deep foundation pit, comprising a foundation pit, a plurality of cast-in-place piles fixedly provided at the bottom of the foundation pit, a plurality of purlins fixedly connected to the side walls of each cast-in-place pile, a plurality of inclined anchor rods fixedly connected to each purlin and the side walls of the foundation pit, a retaining wall fixedly connected to the bottom of the foundation pit, and a plurality of active support mechanisms fixedly installed between the retaining wall and the plurality of cast-in-place piles. The present invention can improve the stability of the pile-anchor support, and can actively strengthen the support according to the pressure of soil collapse, thereby improving the anti-collapse performance of the support. At the same time, it can also be automatically triggered in stages to perform collapse buffering protection at the inner outer edge of the foundation pit, which can not only alert on-site personnel, but also reduce the degree of collapse risk and improve safety.

The invention relates to the technical field of hydraulic supports, and discloses a top plate compensating and crushing device suitable for a hydraulic support, which is used for compensating a gap between a top beam of the hydraulic support and an uneven roadway top plate in the lifting process and crushing the top plate before the lifting process. The top plate compensation crushing device is formed by connecting a plurality of compensation hydraulic cylinders in series through oil conveying pipes, each compensation hydraulic cylinder comprises a cylinder barrel, a piston rod and a rigid spring, and the compensation hydraulic cylinders are installed above a hydraulic support top beam in a bolt fixing mode. When the frame is lifted, the top plate compensation crushing device is always attached to the roadway top plate in the supporting process of the hydraulic support through the rigid spring arranged in the compensation hydraulic cylinder, and the piston rod of the compensation crushing hydraulic cylinder is controlled by the rotary reversing valve to stretch out and draw back at a certain frequency before the frame is lowered, so that the roadway top plate is crushed; the hydraulic support integrates the gap compensation function and the roof crushing function, the active supporting capacity of the hydraulic support on a complex roof is improved, the complexity of equipment is reduced, potential safety hazards of personnel are reduced, the working efficiency is improved, and safe and efficient advancing of a working face is guaranteed.

The invention discloses a wind turbine generator active support control method and system based on frequency adjustment, belongs to the technical field of wind power generation, and solves the problems that a fan linearization model is poor in effectiveness, real-time performance and response speed due to the fact that an existing method cannot effectively extract key features related to frequency vacancy. The method comprises the following steps: acquiring day-ahead wind turbine generator output data and power grid power parameters of a power system, identifying and analyzing the day-ahead wind turbine generator output data and the power grid power parameters based on a frequency situation prediction model, and calculating overspeed control-based reserve capacity at a power fluctuation point by taking energy conversion efficiency and primary frequency modulation as constraints; according to the method, the frequency situation prediction in the prediction period is realized by constructing the frequency situation prediction model, the power fluctuation point in the prediction period and the power fluctuation value at the power fluctuation point are determined based on the frequency prediction set, and key features related to frequency vacancy are effectively extracted. And the primary frequency modulation capability and the response speed of active support control of the wind turbine generator are ensured.

The invention provides a multi-micro-grid cooperative active support control method, which belongs to the technical field of micro-grid cooperative control, and comprises the following steps: classifying micro-grids as energy providers or consumers according to positive and negative net power values of each micro-grid in a micro-grid cluster system; an energy transaction model based on the non-cooperative game is established, the consumer microgrid serves as a participant, the electricity purchase price serves as a strategy variable, and economic benefits serve as an optimization target; designing a dynamic energy distribution rule, and dynamically adjusting an energy distribution proportion according to a supply-demand relationship; obtaining a priority factor of a micro-grid of a provider, and optimizing an energy distribution sequence; judging whether the non-cooperative game energy transaction model has a Nash equilibrium solution or not; and solving the Nash equilibrium solution to obtain an optimal energy scheduling scheme. The method has the advantages that on the basis of the non-cooperative game theory, the N micro-grid energy transaction models are established and gather each other in the bidding process, so that own benefits are maximized, power grid impact can be effectively avoided, and the active supporting capacity and stability of the system are improved.

The invention relates to the field of surrounding rock stability control of deep-buried roadway engineering, in particular to a surrounding rock stability control method based on a rigidity coupling mechanism, which comprises the following steps: measuring rock physical and mechanical parameters, investigating joint fissures in an engineering area, obtaining rock mass quality grades, calculating the deformation modulus of the rock mass in the engineering area, and designing an active support of the rock mass in the engineering area. And calculating the surrounding rock deformation modulus after supporting by combining the rock deformation modulus, and carrying out passive supporting design on the rock in the engineering area according to the surrounding rock deformation modulus after active supporting. By calculating the overall deformation modulus of surrounding rock after supporting and designing parameters such as passive supporting concrete proportion, an active supporting system and a passive supporting system have the same or similar deformation stiffness, and it is ensured that the two supports can synchronously coordinate deformation and share loads together; the risks of stress concentration and one-by-one failure of the supporting units caused by rigidity difference are effectively avoided, and the supporting reliability is improved.

The invention relates to an active support method and device for a grid-connected system under a power grid fault and a storage medium, and belongs to the technical field of smart power grids. According to the invention, when the power grid generates the symmetric fault, the optimal short-circuit current control point is utilized to re-assign the d-axis current reference value and the q-axis current reference value, the short-circuit current response characteristic of the receiving-end converter station to the power grid fault is changed, and the problems that the sea wind-flexible direct current grid-connected system cannot provide voltage support for the power grid and cannot provide voltage support for the power grid are effectively solved. Active power can be continuously output to the power grid, and the problems of frequency stability and synchronous stability are caused; when the power grid generates an asymmetric fault, the converter station actively absorbs negative sequence current to provide active support for the power grid, the unbalance degree of a fault point is reduced, and meanwhile, the positive sequence voltage support capability of the power grid is reserved; the short-circuit current bearing capacity of the flexible DC converter station is improved, and the power grid supporting capacity of the sea wind-flexible DC grid-connected system is improved on the premise that the fault ride-through performance is guaranteed.

The invention discloses a support control method, device and control system under a hybrid wind power plant fault, and belongs to the technical field of wind power generation, and the support control method under the hybrid wind power plant fault comprises the steps: starting an active frequency support when only the frequency variation is greater than a first threshold value, at the moment, the following net type fan adopts the leading fan to actively respond to other fans to actively follow, the limit supporting capacity of the following net type is exerted, and a net type fan active response control scheme is constructed; and when only the grid-connected voltage variation is greater than a second threshold value, the active voltage support is started, and the active support voltage is controlled by adopting a network construction type voltage outer ring to promote the recovery of the voltage. When the frequency variation is greater than a first threshold value and the grid-connected voltage variation is greater than a second threshold value, preferentially starting the active frequency support, and then starting the active voltage support; not only can network construction and network following control capabilities be fully excavated, but also the capability of coping with strong and weak network changes can be improved, and development and utilization of large-scale renewable energy sources are promoted.

The invention relates to the technical field of roadway supporting, and provides a soft rock dynamic pressure roadway supporting method adopting a combined supporting device, which comprises the following steps: S1, prefabricating a connecting piece 5 and a supporting unit; s2, performing double-gradient grouting on the surrounding rock of the roadway; s3, a roadway surrounding rock anchoring system is constructed; s4, mounting a bearing plate on the surrounding rock of the roadway; s5, the connecting pieces and the multiple supporting units are spliced according to the section shape of the roadway to form a rectangular roadway combined supporting device or a three-star-arch roadway combined supporting device; s6, a displacement sensor, a pressure sensor group and a controller are installed; step S7, floor heave construction; and S8, dynamic support regulation and control. According to the combined supporting device, active supporting, real-time monitoring, dynamic compensation and bottom plate reinforcing are integrated, and the problem of multi-dimensional deformation of the extremely soft rock dynamic pressure roadway is solved through structural innovation and construction process optimization.

The invention provides a method for controlling the surrounding rock stability of a weathered and expanded soft rock roadway, and belongs to the technical field of underground mine roadway surrounding rock control. The method comprises the following steps: spraying a macromolecular waterproof material on the whole section of the surrounding rock surface of the roadway to form a water-resisting layer to prevent water vapor from infiltrating into the surrounding rock; a graded supporting structure is arranged in a roadway, and an active supporting layer with shallow anchor rod reinforcement and deep anchor cable suspension cooperating with each other is formed; spraying steel fiber reinforced concrete on the surface of the active support layer of the roadway to form a passive support layer coupled with the active support layer; the bottom face of the roadway is excavated into an arch wave face, a plane corresponding to the arch wave face is an arch plate face, an anti-arch space is defined by the arch wave face and the arch plate face, gravel concrete is poured into the anti-arch space, and an anti-arch structure is formed at the bottom of the roadway. The method can effectively control deformation and instability of the surrounding rock, solves the problems of waterproof failure, support system mismatch and floor heave out-of-control of the easily-weathered expansion soft rock roadway, and realizes long-term safety and stability of the easily-weathered expansion soft rock roadway.

The present invention relates to the technical field of surgical robots, and particularly to an RCM mechanism and a corresponding surgical robot that can be used in cataract surgery, including: a first active support rod, the first end of which is slidably arranged on a guide rail; a second active support rod, which includes a telescopic part and a support rod part, the second end of the telescopic part is hinged to a first base, and the first end of the telescopic part is connected to the support rod part; a first driven support rod, the second end of which is connected to the first active support rod through a sliding part, and the first end of the support rod part is hinged to the first driven support rod; a second driven support rod parallel to the first driven support rod, the second end of which is hinged to the second end of the support rod part; a driven member parallel to the support rod part, the first end of which is hinged to the first end of the first driven support rod, and the second end of which is hinged to the first end of the second driven support rod. The surgical robot provided by the present invention can achieve the accuracy and safety of the surgery, and perform cataract and other ophthalmic surgeries more quickly and non-invasively.

The invention provides an active support self-adaptive control method for a network construction type converter. The active support self-adaptive control method for the network construction type converter comprises the following steps: S01, calculating a frequency difference value and a frequency change rate value of the network construction type converter; s02, calculating an inertia coefficient according to a frequency change degree comprehensive threshold value; s03, calculating a damping coefficient according to the frequency difference threshold value; s04, realizing active support control by simulating the characteristics of a synchronous machine; and S05, performing pulse width modulation on the internal potential through vector control. According to the active support self-adaptive control method for the network construction type converter, main parameters are self-adaptively adjusted according to the external environment of the system to suppress power and frequency fluctuation, the method can be suitable for the operation occasion of a power electronic converter, and particularly, the steady state of the network construction type converter is not influenced by external disturbance; therefore, the active support control performance of the converter is improved.

The application discloses a kind of active support control method, device and medium of wind turbine, it is related to wind turbine active support control technical field, for the problem that current power grid voltage fault cannot identify power grid parameter, and then active support control effect is not good, provide a kind of active support control method of wind turbine.The voltage and current data of grid-connected point before and after power grid failure are collected to determine the parameter change of power grid before and after voltage failure.Furthermore, the short-circuit point position, short-circuit current and transition resistance value are identified, and the determination of all unknown quantities in the wind turbine grid-connected point voltage model after failure is realized.At this time, all parameters in the wind turbine grid-connected point voltage model after failure are known, the equivalent voltage and equivalent impedance of the power grid after failure can be determined, and the power grid parameter identification during failure is completed.Based on the identified power grid parameters during failure, the active and reactive output current optimal proportion of wind turbine can be redesigned, and better support for power grid voltage recovery effect is brought.

This application provides a tunnel boring machine (TBM) and its control method, relating to the field of engineering machinery technology. The TBM includes: a cutterhead; the cutterhead is disposed at one end of a shield; at least one advance support assembly is disposed within the shield, and the advance support assembly has multiple support members; the advance support assembly is configured to, depending on the surrounding rock condition in front of the cutterhead, selectively extend the multiple support members from within the shield to above the cutterhead to form a temporary support zone, or drive the support members to retract from above the cutterhead back into the shield. According to the embodiments of this application, active support for the surrounding rock above the cutterhead is achieved through the advance support assembly based on the surrounding rock condition, and the machine does not need to be stopped during support, enabling continuous and rapid traversal of deformable surrounding rock sections, thus improving the TBM's adaptability to complex terrain, tunneling capacity, and tunneling efficiency.