1191 results about "Current loop" patented technology

The present invention relates to the technical field of secondary device monitoring. Disclosed are an online monitoring method for an operating state of a secondary current loop neutral line, and a system. The method comprises: by using a high-precision sensor for collection and a composite filtering algorithm for processing, obtaining a secondary current fundamental component of each neutral line of a transformer substation which is not influenced by harmonic waves and transient states, and uploading the secondary current fundamental component to a protection information master station; retrieving originally configured access protection information master station information to obtain three-phase secondary current loop information of each bay of the transformer substation, summarizing secondary current information of all monitoring ranges, and performing grouping and classification marking on said information by transformer substation, bay and winding; and using the collection information for operation analysis, automatically identifying and confirming an operating state of the line, and on the basis of the operating state, calculating the outlier deviation linearity and the continuous dynamic trend deviation degree of each winding of each bay. The present invention solves the problem that intermittent faults in secondary current loop neutral lines are concealed and are not easily found, realizes comprehensive monitoring for the whole system, and can quickly and accurately position a specific winding and issue an abnormal early warning.

The invention discloses a fault ride-through hierarchical control method for a network-constructed converter, and the method comprises the steps: introducing a virtual resistor formed by fault current negative feedback into the voltage and current inner loop control of the network-constructed converter based on VSG control through a current inner loop dynamic amplitude limiting control layer after the converter enters a fault ride-through state, the size of the virtual resistor is adjusted in real time along with the amplitude of the fault current so as to carry out dynamic current limiting control on the virtual resistor; and the power outer loop dynamic compensation control layer dynamically adjusts an active power instruction value and a reactive power instruction value of the network construction type converter based on VSG control during the fault ride-through period according to the voltage drop degree of the power grid after the converter enters the fault ride-through state. And respectively performing active-frequency control and reactive-voltage control based on the active power instruction value and the reactive power instruction value. In addition, the method also comprises a state coupling and parameter self-adaption module. According to the method, the GFM converter can have better dynamic performance in the fault recovery stage.

The invention relates to the technical field of industrial automation control, and discloses a change gear assembly processing technological parameter intelligent optimization system, which comprises a multi-dimensional data synchronous acquisition unit, an angular domain static map construction unit, a phase lead constraint control unit and an angle trigger execution unit, according to the method, a static angle-load topological graph with a main shaft angle as an index is established, a phase lead angle is calculated by combining inherent physical response lag time of a servo system, and a parameter adjustment instruction sequence is directly injected into a servo current loop at a preset angle window before physical load impact occurs; according to the feed-forward control mechanism based on angular domain reconstruction and phase lead constraint, the problem of physical lag of traditional time domain feedback control in response to high-frequency intermittent cutting is avoided, and zero time difference of periodic load impact and even pre-judgment torque compensation are achieved.

The invention relates to a dual three-phase permanent magnet synchronous generator rectification system and a direct current voltage stabilization control method thereof. Comprising a dual three-phase permanent magnet synchronous generator, a VSD decoupling converter, a load current observer, a dynamic load feed-forward compensator, a voltage closed-loop controller, a dead-beat predictive current controller, a maximum four-vector SVPWM modulation module and a six-phase rectifier. The double-three-phase topological structure adopted by the invention has the advantages of multiple control degrees of freedom, high reliability and the like. A dynamic load feed-forward compensator is constructed to perform dynamic feed-forward compensation on quadrature-axis current of the motor, so that the recovery time of bus voltage is shortened, and the voltage fluctuation amplitude is reduced; the designed dead-beat predictive current controller optimizes the dynamic characteristics of a current loop, improves the torque tracking performance of the motor, and further improves the voltage stabilization regulation capability of the system. The designed load current observer realizes the analysis redundancy of current detection and improves the reliability of the system.

The invention provides a self-adaptive constraint model active mismatch prediction control method based on voltage and current ripple resistance of a power converter in a hybrid energy storage system, and the method comprises the steps: building an island DC micro-grid system model, collecting the voltage and current information of a system, and designing a model prediction control frame of a power loop and a cost function of the model prediction control frame; designing a model predictive control framework of the current loop and a cost function of the model predictive control framework; designing an active model mismatch mechanism to enhance the response capability to dynamic change; determining an optimization problem with a normal value, and designing an adaptive constraint optimization algorithm to dynamically adjust constraint parameters and optimize control performance; and designing a steady-state and dynamic-mode trigger for adapting to the running state of the system. According to the invention, the trajectory tracking precision of the system under dynamic and steady-state working conditions can be significantly improved, current ripples caused by control delay can be effectively eliminated, damage to electrical equipment due to overlarge ripples can be avoided, and the service life of the equipment can be prolonged.

Aiming at the stability problem caused by harmonic resonance of multiple parallel photovoltaic inverters, the invention provides a parallel inverter micro-grid-oriented adaptive virtual impedance remodeling harmonic resonance suppression method, which comprises a virtual impedance remodeling unit of a grid-connected inverter, a parameter adaptive adjustment unit and a power grid impedance online detection unit. The virtual impedance remodeling unit can improve the output impedance characteristic of the grid-connected inverter and inject a certain damping component into the micro-grid; and the parameter adaptive adjustment unit adaptively adjusts control parameters in the virtual impedance remodeling unit and the current adjustment controller according to the impedance parameters of the power grid so as to maintain the stability of a system control loop. The power grid impedance online detection unit provides power grid equivalent impedance as the input of the parameter adaptive adjustment unit. The three units work cooperatively to form a self-adaptive virtual impedance remodeling multi-inverter micro-grid harmonic resonance suppression strategy, so that the characteristics of a current loop are improved, the inverters can be kept stable under various grid impedance conditions, and the reliability of a multi-inverter micro-grid system is improved.

The invention relates to the technical field of motor control, and particularly provides a permanent magnet synchronous motor current harmonic disturbance suppression method and a motor system.The permanent magnet synchronous motor current harmonic disturbance suppression method comprises the steps that firstly, a permanent magnet synchronous motor mathematical model considering harmonic disturbance under the d-q axis of a synchronous rotating coordinate system is constructed, and a theoretical basis is provided for subsequent control strategy design; an improved resonance controller is set and embedded into the extended state observer, comprehensive estimation of d-q axis non-periodic disturbance and periodic harmonic disturbance is achieved, finally, an enhanced current loop active disturbance rejection controller based on the improved resonance-extended state observer is built, unexpected peak values are eliminated, and the disturbance rejection rate of the current loop is improved. And comprehensive suppression of aperiodic disturbance and periodic disturbance is realized. According to the method, aperiodic and periodic disturbance can be suppressed, unexpected peak values are eliminated, system instability caused by noise amplification is avoided, and the steady-state performance and robustness of current control of the permanent magnet synchronous motor are remarkably improved.

The invention provides a controllable SCADA (supervisory control and data acquisition) industrial production control platform based on an industrial internet architecture. The controllable SCADA industrial production control platform comprises a field layer, an edge layer, a communication layer, a cloud / fog computing layer and a data management layer, wherein the field layer is composed of a sensor array, an execution mechanism, a PLC controller and an RTU terminal; the sensor array comprises a temperature sensor, a pressure sensor, a flow sensor and a position sensor, and adopts 4-20mA current loop signal output; the execution mechanism comprises an electric valve, a servo motor and a variable frequency driver, and communicates with the PLC through a Modbus RTU protocol; the PLC controller is provided with a dual-core processor and is provided with 16 digital quantity input / output channels and 8 analog quantity input channels; the RTU terminal is internally provided with a LoRa wireless communication module; the edge layer comprises an edge computing node and a protocol conversion gateway; the edge computing node is provided with an FPGA coprocessor and supports an edge reasoning framework; and multi-protocol conversion is realized through the protocol conversion gateway.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The invention discloses a permanent magnet synchronous motor current dynamic coupling correction method, which comprises the following steps of collecting motor three-phase stator current, performing Clark transformation to obtain a current value under an alpha-beta static coordinate system, and meanwhile, collecting through a position sensor to obtain an electrical angle true value; performing low-pass filtering calculation on the current value under the alpha-beta static coordinate system to obtain a filtering current value, and performing operation through a sliding-mode observer and a PLL phase-locked loop to obtain an electrical angle observation value; calculating to obtain a compensation adjustment coefficient according to the true value and the observed value of the electrical angle, and further calculating to obtain a current value after phase offset compensation; and performing complementary filtering calculation on the filtering current value and the current value after phase offset compensation to obtain a coupling correction current value for current loop calculation, inputting the coupling correction current value into a motor control current loop PID algorithm, and generating a PWM driving signal to drive a motor in combination with vector control. According to the method, the problems of high-frequency interference and phase deviation of current sampling can be solved, so that the motor control efficiency and the dynamic performance are improved.

The invention discloses a hierarchical cooperative control method for a cascaded H-bridge frequency converter, and the method comprises the steps: distributing a disturbance signal following a spiral phase coding rule for each H-bridge unit, and enabling the vector sum of the phase of the group of signals to generate a plurality of energy quasi-zero moments in a preset disturbance period through design; at the quasi-zero moment when the energy is greatly suppressed, synchronously triggering all units to perform high signal-to-noise ratio data acquisition, and accurately identifying transient parameters representing dynamic characteristics of each unit based on the acquired data; and finally, performing closed-loop adjustment on an upper-layer power distribution strategy, a bottom-layer current loop and the like according to the identified transient parameters so as to compensate the dynamic response difference of each unit. According to the method, high-precision online parameter identification can be realized on the premise of not influencing stable operation of the system, and the power balance capability and transient stability of the system are remarkably improved.

The invention discloses an anti-interference resistance detection circuit board and system based on four-wire system measurement, and relates to the technical field of industrial automatic detection. Aiming at the problems of low measurement precision, weak interference resistance and limited channel expansion of a traditional two-wire system, a current loop and a voltage sampling loop which are independently and electrically isolated are adopted, and a lead resistance error is eliminated through Kelvin connection; an EMI filter, a photoelectric coupler and a double-layer shielding cable are integrated, so that the influence of electromagnetic interference and a ground loop is inhibited; a single circuit board supports the parallel connection of at least two measuring units, realizes the cascade connection of multiple boards by combining an EtherCAT bus, and supports 384 channels at most. The measuring error is smaller than or equal to + / -0.1%, the single-channel detection time is smaller than or equal to 10 ms, the requirements of high-density and high-beat scenes such as perovskite photovoltaic glass are met, the method is suitable for 100-100 Momega wide-range resistance measurement, the signal transmission error rate in the industrial strong electromagnetic environment is extremely low, and the detection precision and the system reliability are remarkably improved.

The invention provides a mutual inductor loop resistance dynamic compensation correction method and device, and relates to the technical field of circuit testing, and the method comprises the steps: constructing a structural feature tensor and an environmental interference tensor according to the structural parameter information and environmental parameters of a primary winding and a secondary winding; training a dynamic compensation model based on the structural feature tensor, the environmental interference tensor and historical loop resistance test data; injecting a set direct current into the primary winding, obtaining an initial voltage signal sequence at two ends of the primary winding, and constructing a test state tensor in combination with the current loop current and the real-time environment parameters; inputting the test state tensor into the dynamic compensation model, and outputting a non-target resistance compensation value at the current moment; and based on the non-target resistance compensation value, correcting an initial loop resistance value obtained by calculating the initial voltage signal sequence to obtain a compensation resistance value of the target mutual inductor loop. According to the invention, the accuracy of mutual inductance loop resistance testing can be improved.

The invention relates to the technical field of wireless communication networks, and provides a low-channel electroencephalogram amplification circuit and brain-computer interface equipment oriented to an after-ear electroencephalogram signal, and the low-channel electroencephalogram amplification circuit comprises a dry electrode sensing module which is used for collecting an electroencephalogram signal; the front active amplification module comprises an operational amplifier circuit with high input impedance; the anti-aliasing filtering module is formed by cascading a multi-order passive filtering network and an active filtering circuit, is connected with the output end of the front active amplification module and is used for filtering high-frequency interference signals; the right leg driving feedback module comprises a programmable impedance adjusting circuit and a current limiting protection circuit, the right leg driving feedback module and the front active amplification module form a closed-loop feedback loop, and the output end of the right leg driving feedback module and the human body form a current loop through a protection resistor; the analog-to-digital conversion module adopts an integrated low-power-consumption analog front-end chip; a wireless transmission module; and the power supply management module provides independent power supply for the analog front-end chip, the operational amplifier circuit and the wireless transmission module.

Disclosed in the present invention is a variable coefficient equivalent SISO model based stability analysis method for a grid-connected converter system, comprising the following steps: constructing a variable coefficient equivalent SISO model; obtaining a complex space vector open-loop transfer function on the basis of the variable coefficient equivalent SISO model; and obtaining Nyquist curves under different current loop parameters or phase-locked loop parameters on the basis of the complex space vector open-loop transfer function. If the Nyquist curves surround point (-1,0), the grid-connected converter system is stable; and if the Nyquist curves do not surround point (-1,0), the grid-connected converter system is unstable. The present invention performs small disturbance modeling on the grid-connected converter system, considers the influence of mutual coupling between the phase-locked loop and the inner current loop, and derives a variable coefficient SISO open-loop transfer function capable of characterizing an MIMO system. Compared with the technical solution in the prior art that actual working conditions are not considered, the method disclosed in the present invention can more accurately analyze the system stability of the system under variable working conditions and variable parameters.

The invention discloses a method and device for restraining shaft system torsional vibration of a net-forming type double-fed fan under the variable wind speed. The method comprises the steps that a mathematical model of the electromagnetic torque-rotating speed difference of the net-forming type double-fed fan is constructed; drawing an electromagnetic torque-rotating speed difference Bode diagram according to the mathematical model; according to the mechanical parameters of the wind turbine and the motor, the shafting natural oscillation frequency of the doubly-fed fan is calculated, and stability analysis is conducted on damping of the shafting natural oscillation frequency in combination with the Bode diagram; drawing a small-signal model block diagram according to the mathematical model; analyzing the small-signal model block diagram to obtain an analysis result that a current loop provides a coupling path for the rotating speed and the active power; according to a stability analysis result and an analysis result of the small-signal model block diagram, negative damping brought by an operation area is weakened by reducing current loop bandwidth, so that the risk of torsional vibration of the shaft system is reduced.

The invention belongs to the technical field of industrial control, and particularly relates to a brushless direct current motor high-efficiency control method and system based on an FOC algorithm, and the method comprises the steps: superposing high-frequency sine disturbance in a voltage instruction, extracting a response component, achieving the online identification of the equivalent impedance of a motor, and dynamically solving and updating the estimated values of resistance and inductance; and correcting d-axis and q-axis voltage feed-forward items in real time by using the updated parameters, and correspondingly adjusting a current loop proportion and an integral gain. The method can adapt to the time-varying characteristics of motor parameters in an industrial field, so that the accuracy of feed-forward compensation and the stability of current loop bandwidth are effectively guaranteed, and the robustness and the control precision of a control system under complicated industrial working conditions such as variable temperature and variable load are remarkably improved; and the requirements of high-end industrial equipment on high performance and high reliability of the motor driving system are met.

The invention discloses a charge control method and a digital control system based on a dual-active bridge resonant converter, and belongs to the technical field of dual-active bridge resonant converter control. According to the method, a resettable integrating circuit is used for sampling resonance current and converting the resonance current into integrating voltage which is in a linear relation with charge injection quantity, and an integrating capacitor is discharged and reset before each time of injection; superposing the integral voltage and the ramp voltage; comparing the superposed signal with a threshold voltage output by a current loop through a comparator, and when the superposed signal reaches a threshold value, triggering to generate a PWM signal and switching the working mode of the converter; a switching tube is controlled to act according to a PWM signal, a switching time sequence is dynamically adjusted, effective control over transmission power is achieved, and a digital control system for achieving the method is established. According to the method, rapid dynamic response, efficient power transmission and stable operation of the dual-active bridge resonant converter are realized by controlling resonance current integration and a switching time sequence, and the energy conversion efficiency and the system reliability are effectively improved.

The invention discloses a neural network enhanced active-disturbance-rejection current control method for a flux-adjustable permanent magnet synchronous motor, belongs to the technical field of motor control, and aims to solve the problem of current loop performance deterioration caused by dramatic change of motor parameters in the flux adjusting process of the flux-adjustable permanent magnet synchronous motor. The method comprises the following steps: acquiring the current magnetization state and direct-axis current of the motor; based on the magnetization state and the direct-axis current, time-varying parameters of the motor are predicted online in real time through a neural network, and the predicted time-varying parameters comprise direct-axis inductance, quadrature-axis inductance and permanent magnet flux linkage; calculating a feed-forward compensation voltage based on the predicted time-varying parameter; generating a current instruction value by using the predicted time-varying parameter and the feed-forward compensation voltage; generating an active-disturbance-rejection feedback control voltage based on the predicted time-varying parameter and the current command value; and superposing the feed-forward compensation voltage and the active-disturbance-rejection feedback control voltage to obtain a final voltage given value for driving the motor.

The invention discloses a wiring detection method for an intelligent electric energy meter and a related product, and the method comprises the steps: obtaining the measurement data of a phase line collected by the intelligent electric energy meter in a preset time period, the measurement data comprises phase current data, and each sampling point in the phase current data comprises an A-phase current and a C-phase current; determining the number of sampling points of abnormal phase current in the phase current data; and determining the wiring fault type of the intelligent electric energy meter according to the ratio of the sampling point number of the abnormal phase current to the sampling point number of the effective phase current in the phase current data. By means of the method, wiring errors such as misconnection of the current loop of the intelligent electric energy meter can be accurately recognized.

The invention discloses a loop resistance measuring method and device. The method comprises the following steps: generating a current calibration parameter by adopting a current calibration model, calibrating a current source based on the current calibration parameter, and controlling the calibrated current source to output a measurement current to a loop to be measured; acquiring loop current, loop voltage and loop environment data of the loop to be detected; wherein the loop environment data comprises at least one of temperature, humidity and electromagnetic parameters of the environment where the to-be-detected loop is located; determining an environment compensation coefficient corresponding to the loop environment data based on a corresponding relation between the environment data and the environment compensation coefficient; and determining the loop resistance of the loop to be measured according to the loop current, the loop voltage and the environment compensation coefficient. The method can ensure that the loop resistance measurement process has dynamic adaptability, and improves the accuracy of long-term measurement of the loop resistance.

The invention provides a direct-current group charging control system and a power switching method thereof, and relates to the technical field of electric vehicle charging, and the control system comprises a data interaction controller, a charging module group, a switch module group, a plurality of charging terminals, a direct-current loop module and a direct-current loop controller. According to the method, a data interaction controller controls a switch module group to realize'full matrix 'type dynamic connection between any charging module and any charging terminal according to the real-time requirement of each terminal, and an idle terminal is electrically isolated by combining a direct current loop module; and power switching is carried out by adopting safety strategies such as double-threshold hysteresis control, voltage pre-synchronization and zero-current breaking. According to the invention, the problems of inflexible power scheduling and insufficient idle terminal safety of the existing group charging system are solved, safe, efficient, stable and dynamic distribution of the charging power in a global range is realized, and the utilization rate and the operation safety of the system are improved.

The invention discloses a model prediction control method of a high-speed permanent magnet synchronous motor and a related device, and relates to the field of control, and the method comprises the steps: building a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor based on the position change of a rotor in the same control period, a high control input basic voltage value is obtained by fixing motor parameters and combining a total disturbance parameter of a current loop system and a set stator current tracking target at the next moment at the same time; on the basis of the control input basic voltage value, current loop harmonic voltage compensation is carried out through the control input harmonic compensation voltage value to obtain a control input voltage value, and voltage modulation is carried out according to the control input voltage value to control the high-speed permanent magnet synchronous motor. According to the method, when the stator current equation is constructed, rotor position change parameters in the same control period are innovatively introduced, so that the motor behavior simulation precision is remarkably improved; the defect that the switching frequency is not fixed in a traditional finite set model predictive control algorithm is effectively overcome through the voltage modulation technology.

The invention provides an electric energy quality on-line monitoring device and a cloud platform cooperation system, and relates to the technical field of electric energy quality management, and the device comprises a signal collection unit which obtains three-phase voltage and current signals in parallel through a Rogowski coil and a capacitive voltage divider; the event detection unit is used for synchronously executing harmonic spectrum analysis and transient event capture by adopting a parallel processing architecture realized by an FPGA (Field Programmable Gate Array); the edge processing unit is connected with the event detection unit, and is configured to encode the transient event features into a Gramer angle field image and compress steady state data into feature vectors; the multimode communication unit comprises a 4G / 5G wireless module and an optical fiber Ethernet interface; and the strategy execution interface outputs a treatment instruction to the compensation device through the D / A converter and the current loop. Through collaborative innovation of the device and the cloud platform, the power quality monitoring and treatment efficiency is remarkably improved.

The invention provides an electrical performance calibration device and method for fusing electrolytic hydrogen production and a hydrogen fuel cell. The electrical performance calibration device comprises an upper computer, a first digital sampling voltmeter, a second digital sampling voltmeter, a synchronous data acquisition card, a synchronous inspection switch, a current converter, a voltage converter, an electric pile, a programmable power supply, a self-calibration module and an external calibration signal source, the synchronous inspection switch is used for detecting a single-cell voltage bus of a galvanic pile and feeding back the single-cell voltage bus to a sampling end of the first digital sampling voltmeter, and a feedback end of the first digital sampling voltmeter is connected with a first input end of the upper computer; the current converter is used for detecting a current loop of the galvanic pile; the voltage converter is used for detecting the total voltage of the electric pile; and the programmable power supply is connected with a power supply terminal of the electric pile. According to the invention, the problems of poor synchronism, lack of self-calibration, low impedance measurement precision and incompatibility of two-way metering during electrical performance calibration of electrolytic hydrogen production and hydrogen fuel cells are solved.

The invention relates to the technical field of motor control, discloses a direct current brushless motor control method and system based on current prediction, and aims to solve the problems of large torque ripple, low efficiency and poor stability caused by current loop lag in the prior art. The method comprises the following steps: acquiring a motor operation state signal in real time; determining a sector and an electrical angular velocity based on the rotor position and the rotational speed; inputting related parameters into the mixed current prediction model to obtain a three-phase current prediction value of the next period; a prediction error is calculated in combination with a current instruction, and an optimal voltage vector enabling a cost function to be minimum is solved through a model prediction control algorithm; and finally, a space vector pulse width modulation signal is generated to drive an inverter. According to the method, advanced control is realized by fusing a physical model and a data-driven prediction mechanism, the torque ripple is remarkably reduced, and the energy efficiency and robustness are improved.

The invention provides a motor control PI parameter setting method and a motor control system. The method comprises the following steps: calculating a theoretical current loop PI parameter value according to a parameter when a motor is static; actual motor control is carried out by using the theoretical current loop PI parameter value, a first given current is input to a q axis during the actual motor control so as to acquire a first feedback current, and the first given current is a sinusoidal current with a current loop expected bandwidth frequency; solving a first comparison result of the first feedback current and the first given current; and based on the first comparison result, adjusting the current loop PI parameter value until a new first comparison result obtained by performing actual motor control by using the adjusted current loop PI parameter value meets a first predetermined condition. Therefore, according to the motor control PI parameter setting scheme disclosed by the invention, the PI parameter obtained by theoretical calculation can be adaptively set according to the difference between the actual feedback current and the given current, and optionally according to the difference between the actual feedback speed and the given speed.

The invention provides a smooth switching method of a converter network construction type control mode and a network following type control mode, and relates to the technical field of grid-connected control, and the method comprises the steps: obtaining a short-circuit ratio of a new energy grid-connected system; determining a current power grid type according to the short-circuit ratio of the new energy grid-connected system; under the condition that the current power grid type is determined to be a strong power grid and the converter operates in a network-building type control mode, a converter phase angle, a converter current reference value, an active power reference instruction value and a reactive power reference instruction value are respectively controlled to be switched into corresponding parameters in the network-building type control mode, and integral zero clearing operation is carried out on a converter current loop PI; and the converter is controlled to be switched to a network following type control mode. By means of the method, smooth switching between the network construction type control mode and the network following type control mode of the converter can be achieved.

The invention discloses a feedforward torque compensation control method and system for a photoelectric pod. The method belongs to the technical field of photoelectric pod real-time control. The technical problem that the requirement for high dynamic performance of the photoelectric pod is difficult to meet in photoelectric pod control is solved. The method comprises the following steps: sensor arrangement: arranging accelerometers at each motion axis of the photoelectric pod; signal acquisition and calculation: calculating the angular acceleration of each motion axis through acceleration data output by an accelerometer; calculating the disturbance torque: calculating the disturbance torque of each motion axis through the angular acceleration of each motion axis; calculating a current value of a feed-forward path: calculating a current value required by a motor of each motion shaft to resist the disturbance torque through the disturbance torque of each motion shaft; feed-forward path current and feedback path integration: injecting the current value as a feed-forward signal into a current loop given link in the servo control system, and resisting disturbance of each motion axis by controlling motor current of each motion axis.