373 results about "Differential protection" patented technology

The invention discloses a phase-adjustable large-current generator, and the generator comprises a main circuit module, and a topological structure of the main circuit module employs a multi-stage IGBT inverter; the phase control module inputs a power grid voltage signal through a voltage transformer, adopts an SOGI-PLL structure to improve signal tracking precision, and combines a virtual synchronous machine technology to enhance system balance and a self-adaptive control strategy to dynamically adjust an output signal so as to realize phase control and synchronization; the electromagnetic compatibility optimization module adopts a layered shielding design and is combined with an optical fiber to transmit a control signal, so that the electromagnetic compatibility of equipment is improved; a relay protection test integration module, wherein the relay protection test integration module comprises a differential protection test mode and a distance protection test mode; according to the invention, the problems of low phase adjustment precision, poor synchronization stability and insufficient electromagnetic compatibility of a large current generator in a new energy grid-connected environment are solved.

The invention provides a power distribution network differential protection data compression method, device and equipment and a medium, and the method comprises the steps: obtaining the sampling data of a power distribution network, carrying out the feature classification of the sampling data at an edge node of the power distribution network according to the protection demands, and obtaining a fundamental current vector, high-frequency transient energy and an accurate timestamp; acquiring a real-time network bandwidth and a fault risk assessment result of the power distribution network, and selecting a compression mode according to the real-time network bandwidth and the fault risk assessment result; according to a compression mode, sequentially carrying out characteristic grading compression on the fundamental wave current vector, the high-frequency transient energy and the precise timestamp to obtain a characteristic data packet of the power distribution network; and transmitting the characteristic data packet to the master station side module through a hybrid communication network. The sampling data is divided into the fundamental component, the high-frequency transient component and the precise timestamp, the compression priority is distributed according to the differential protection requirement, the performance bottleneck caused by the fixed compression rate is broken through, and the redundant data volume during differential data compression is effectively reduced.

A protection method for a voltage flexible control circuit applied to a photovoltaic power station comprises the steps that a multi-layer electrical signal fusion criterion system comprising an abnormal working condition triggering layer, a fault area recognition layer and a fault type judgment layer is constructed, firstly, overcurrent and overvoltage signals are collected through the abnormal working condition triggering layer, and protection logic starting is triggered; the fault area identification layer is used for distinguishing whether the fault exists inside or outside the AC-DC-AC converter; and finally, the fault type judgment layer is used for accurately identifying the faults of the AC-DC-AC converter, the series coupling transformer, the line and the far-end line. By introducing differential protection action chains and hierarchical response mechanisms corresponding to different fault types, accurate isolation of a fault area is realized, and meanwhile, the problems of system mistaken switching and excessive protection caused by extensive protection actions are effectively prevented.

The invention provides a method for suppressing internal misfire caused by turn-to-turn short circuit of a dry-type air-core reactor, and belongs to the technical field of dry-type air-core reactors. A turn-to-turn short circuit fault detection device combining differential protection and infrared thermal image detection is established to form a three-dimensional turn-to-turn short circuit feature vector, a four-dimensional internal misfire minimum ignition vector is obtained, and a fire development prediction model is established based on an Arrhenius equation. A double-layer game model for minimizing the upper-layer fire loss and minimizing the lower-layer fire extinguishing cost is constructed to optimize five-dimensional suppression vector parameters, and coordinated actions of suppression equipment such as power-off protection, forced ventilation, temperature suppression and inert gas release are controlled in real time through a suppression vector parameter adjustment function. The technical problem of fire suppression measure starting lag or excessive response caused by difficulty in accurately predicting the opportunity and degree of development of the turn-to-turn short circuit fault of the dry-type air-core reactor into the internal fire disaster is solved.

The invention relates to a differential protection closed-loop simulation method based on a high-performance full-electromagnetic transient simulation platform. The method comprises the steps of model construction, data interaction, closed-loop simulation and performance evaluation. According to the method, modeling is carried out based on a Cloud PSS platform, and full electromagnetic transient elements of a primary model and a secondary model can be considered. Under the background that differential protection of a novel power system and a new-generation ship power supply system faces an adaptability problem, the method can comprehensively and efficiently establish a differential protection closed-loop simulation model, and detailed description of differential protection action performance is achieved; according to the scheme, the influence of primary model modeling granularity on differential protection is fully considered, and accurate description and evaluation of the differential protection adaptability problem under the background of a novel power system and a novel ship power supply system can be realized.

The invention discloses an improved flexible direct current fault control method for improving current differential protection adaptability, and belongs to the technical field of power system relay protection and new energy power generation system grid-connected control. The method comprises the following steps: detecting a voltage drop abrupt change signal and a negative sequence voltage signal of a flexible DC output end, and starting a control strategy when the signals are satisfied; detecting a terminal voltage signal and active power of a new energy sending-out terminal, and calculating a new energy side current phase angle and a power angle; calculating a flexible DC side current phase angle control value and a negative sequence dq axis current reference value based on the parameters; and controlling the flexible DC side to output a negative-sequence current corresponding to the negative-sequence dq-axis current reference value, so as to actively adjust the current phase of the flexible DC side, reduce the phase angle difference between the fault current of the flexible DC side and the fault current of the new energy side, and discriminate the internal and external faults of the region through traditional current differential protection. According to the invention, the degree of freedom is controlled and the current phase is adjusted by using the flexible direct-current side negative-sequence current to reduce the phase angle difference of the two sides, so that the problem that the current differential protection adaptability in the double-end weak feedback system is reduced is solved, additional hardware is not needed, and the power grid safety and the new energy stable grid connection are ensured.

The invention discloses a protection control method for a differential mechanism of a pure electric vehicle, which relates to the technical field of electric vehicle driving, and comprises the following steps: acquiring wheel speed signals of wheels on two sides of a vehicle driving shaft, and calculating the rotating speed difference of the wheels on two sides; according to the rotating speed difference, a protection torque upper limit value and a protection torque lower limit value under the current rotating speed are determined through a preset rotating speed and protection torque threshold value mapping table; judging whether the motor request torque exceeds the upper limit value or the lower limit value of the protection torque; if the time exceeds the preset activation delay time, activating the differential protection function; and in the state that the differential protection function is activated, the actual output torque is controlled to be between the protection torque upper limit value and the protection torque lower limit value. Abnormal abrasion or impact damage of internal elements of the differential mechanism caused by excessive slip of a single-side wheel can be effectively avoided, so that the service life of the differential mechanism is greatly prolonged, the maintenance cost is reduced, and intense driving control and power requirements are met.

The invention discloses a distributed bus protection device for a hydropower station and a bus differential protection method, the distributed bus protection device comprises a host, the host is in communication connection with a plurality of sub-machines, and the host and the sub-machines are in single-channel or dual-channel optical fiber connection; the bus is provided with a plurality of branches, and the sub-machines are connected with the branches; wherein the branch circuit is provided with a plurality of circuit breakers used for controlling the on-off of the branch circuit, the branch circuit is also provided with a current transformer used for carrying out current sampling on the branch circuit, and the circuit breakers and the current transformer are connected with the sub-machine. The distributed topology design of cooperation of the host and the plurality of sub-machines can be adapted to various different bus systems, and a dual-channel optical fiber redundancy communication mechanism is matched to effectively overcome the fatal defect of protection failure of the whole station caused by a single-point fault of a centralized device. And when the host single board fails, the sub-machines can still realize cross-interval collaborative tripping through the preset local / opposite side identification codes.

The invention discloses a vehicle differential protection method and device, a medium and a vehicle. The method comprises the steps that the current differential power of a differential is obtained, and the current temperature of lubricating oil in the differential is obtained; according to pre-measured relational data, a first power threshold value matched with the current temperature is determined, and the relational data is a reverse relation representing the relation between the lubricating oil temperature and the power threshold value; and if the current differential power is larger than the first power threshold value, the differential mechanism is triggered to be protected. The performance of the differential mechanism is not limited.

The invention provides an optical fiber differential protection decision-making method and system based on adaptive multiple transmission lines, and the method comprises the steps: collecting the real-time optical signal waveform data of each line in the multiple transmission lines, and extracting a differential current feature set corresponding to each line, generating a joint feature sequence, inputting the joint feature sequence into a pre-trained adaptive multi-transmission line model, and obtaining protection priority parameters corresponding to each line; based on the matched differential protection threshold corresponding to each line, generating a self-adaptive trigger condition of each line; the actual differential current value of each line is monitored in real time, and if it is detected that the actual differential current value of the target line reaches the corresponding self-adaptive triggering condition, the differential protection action for the target line is activated; and according to priority parameters output by the adaptive multi-transmission line model, monitoring frequencies of other lines which do not trigger protection actions are adjusted. According to the invention, when the optical fiber differential protection is carried out, the fault positioning precision and the system operation stability can be improved.

The invention provides a double-bus differential protection processing method, device and equipment. The method comprises the following steps: acquiring state information of a bus coupler switch and polarity requirement information of a bus coupler current transformer; according to the polarity requirement information, input information in a functional soft pressing plate of the protection device is obtained; obtaining a bus coupler current coefficient of each bus according to the state information and the input information; according to the bus coupler current coefficient of each bus, obtaining a small-difference action current of each bus; and performing control protection processing on each bus according to the small difference action current of each bus and a preset setting value. According to the scheme, polarity self-adaption of the protection device can be realized, the calculation accuracy of small-difference action current of each bus is ensured, the protection device is prevented from generating abnormal differential current to give an alarm or even malfunction, a secondary wiring mode of the current transformer does not need to be changed, and the reliability is high. The workload of technical improvement work of the transformer substation is reduced; and the working safety and the working efficiency are improved.

The embodiment of the invention provides a differential relay protection device, equipment, system and method and a storage medium, the differential relay protection device comprises a clock module, the clock module is configured to create a first clock for the differential relay protection device, the first clock is configured in a precision time protocol domain, and the clock module is configured to create a second clock for the differential relay protection device, the second clock is configured in a precision time protocol domain; the second clock and the first clock operate independently; a power data obtaining module configured to obtain power data collected based on a second clock; and a processing module configured to perform a differential relay protection function through the first clock. According to the differential relay protection device disclosed by the invention, an independent precise time protocol domain can be configured for a differential relay protection function, so that power data synchronization is realized in a mode of low hardware cost, low system framework complexity, high flexibility and high operation stability, and the differential relay protection function is realized.

The invention discloses a differential protection function test method and system based on remote data synchronization, and relates to the technical field of power system relay protection tests.The method comprises the steps that host and slave test devices are deployed remotely, and communication is established through standby optical fibers; the host test device responds to the configuration parameters to generate two-dimensional test data, synchronizes the two-dimensional test data to the slave test device and calculates channel delay; based on the FPGA logic architecture and channel delay, the two test devices synchronously output test data to the differential protection device; the system comprises a remote testing device, a differential protection device and a standby optical fiber link, the testing device is integrated with a plurality of functional units such as an FPGA, the method supports fault-tolerant recovery, multi-scene expansion and result analysis, the remote synchronous testing problem is solved, the testing accuracy and comprehensiveness are improved, and the testing efficiency is improved. The method is suitable for substation differential protection function verification.

The invention discloses a phasor differential protection method and system based on regulation and control characteristics of a low-frequency converter, and belongs to the technical field of relay protection. The method comprises the following steps: calculating negative-sequence current and positive-sequence voltage at two sides of a protected line based on three-phase voltage and current phasors; judging whether the drop depth of the positive sequence voltage meets a three-phase fault criterion, if so, not adjusting a braking coefficient, and if not, adjusting the braking coefficient through the amplitude ratio of the negative sequence current, and calculating a self-adaptive braking coefficient based on the regulation and control characteristics of the low-frequency converter based on the adjusted braking coefficient; and constructing a phasor differential protection criterion based on the adaptive braking coefficient, obtaining fault current vectors at two sides of the protected line, and starting phasor differential protection for the protected line when the fault current vectors meet the differential protection criterion. According to the method, protection sensitivity and reliability can be considered, and the sensitivity of main protection of the flexible low-frequency power transmission line is improved.

The invention relates to the technical field of fire sensing, and discloses an electrical fire state sensing system and method for a low-voltage distribution line, and the method comprises the steps: setting a first monitoring point at a wire inlet end of a distribution loop, setting a second monitoring point at a load access end, setting a differential protection region, and calculating a first on-resistance; performing moving average processing on the first on-resistance to obtain a second on-resistance, calculating a first reference on-resistance according to the second on-resistance, and performing temperature correction on the first reference on-resistance to obtain a second reference on-resistance; according to the method, the on-resistance deviation rate, the on-resistance growth rate and the on-resistance fluctuation coefficient are calculated, whether the on-resistance is in an early warning state, an alarm state or a dangerous state is judged, the on-resistance of the section is calculated in real time according to the ratio of the differential voltage drop to the current, and the technical problem that a fault section cannot be accurately positioned through traditional whole-line monitoring is solved.

The application relates to an adaptive current differential protection method based on a communication noise fault-tolerant mechanism. Real-time current information transmitted via a non-ideal communication channel at both ends of a protected line is acquired; the amplitude ratio and phase angle difference of a current operating point on a rho plane are calculated; absolute braking zone boundary conditions and absolute action zone boundary conditions are set according to the signal-to-noise ratio of a current communication channel; the adaptive amplitude boundary and adaptive phase boundary of a noise adaptive zone are calculated in the form of a sine function according to the phase angle difference of the current operating point; the current operating point is compared with each boundary condition to determine the region to which the current operating point belongs, wherein the action condition of the noise adaptive zone is that the amplitude is less than an adaptive threshold or the phase absolute value is less than the adaptive threshold; and corresponding protection actions are performed according to the determination result. By introducing the noise adaptive zone with the dynamically sine-adjusted boundary of the phase angle difference between the traditional action zone and the braking zone, the noise resistance of the differential protection under the non-ideal communication condition is significantly improved.

The application relates to the technical field of differential protection, in particular to a power distribution network distributed differential protection method and system suitable for a 1.4GIGS communication network, which comprises the following steps: based on the current and voltage parameters of each node of the power distribution network, real-time data is extracted and analyzed, the difference between the nodes is calculated, the nodes meeting the conditions are screened out by analyzing the difference values, signal receiving monitoring is carried out, and a list of key monitoring nodes is generated. In the application, the node signal transmission path is optimized through a power distribution algorithm, the time-frequency resource distribution of the signal is dynamically adjusted, the efficiency and stability of signal transmission are realized, the bit error rate in the signal transmission process is effectively reduced, the response speed and accuracy of the power distribution network differential protection system are improved, the interference information in the signal is processed through a particle swarm optimization algorithm, the frequency spectrum structure of the signal is optimized by rearranging and rotating the interference signal, the transmission parameters of the signal are adjusted, and the stability and anti-interference ability of signal receiving are greatly improved.

The invention discloses a current differential protection adaptability analysis method for an alternating current line of a new energy network flexible direct output system, and belongs to the technical field of power system relay protection. Establishing a system fault equivalent model based on a low-voltage ride-through control strategy of power electronic equipment at two sides of the outgoing line; according to different asymmetric fault types and a fault point boundary condition equation, deriving mathematical models of positive-sequence, negative-sequence and zero-sequence currents on the two sides of a fault phase line; calculating a differential current and a braking current, and establishing a function relationship between the differential current and the braking current and the VSG internal potential reference value, the transition resistance and the current sequence component ratio; and the action sensitivity of protection under different working conditions is judged by comparing the current differential protection ratio braking coefficient setting value with the current differential protection ratio braking coefficient setting value. The association rule of the current differential protection refusal risk and the low-pass control parameters under the high transition resistance fault is disclosed, a basis is provided for protection setting and control strategy optimization of a network construction flexible direct output system, and the problems that a protection adaptability analysis method is weak and the influence rule of the control parameters is not clear yet are solved.

The invention relates to the technical field of electric driving systems of electric automobiles, in particular to a differential protection method and device and a vehicle. The method comprises the steps that the current wheel speed difference of driving wheels on the two sides corresponding to a differential is obtained; if the current wheel speed difference is larger than the preset wheel speed difference, the actual demand torque of a driving motor corresponding to the differential mechanism and the duration of outputting the actual demand torque are obtained; and executing a protection action on the differential mechanism according to the actual demand torque and / or the duration. Therefore, the problems that in the prior art, the protection strategy setting reasonability of the differential mechanism is poor, frequent starting is prone to occurring, and the service life of the differential mechanism is shortened are solved.

The present invention discloses a recording file synchronization method and system for multi-terminal differential protection co-adjustment of a line. The method comprises: obtaining recording files at both ends of a faulty line, extracting the three-phase voltages from the recording files at each end and performing wavelet decomposition, then reconstructing each layer after the wavelet decomposition to obtain a reconstructed signal layer, and finally selecting sampling points at the moment of the fault mutation in each reconstructed signal layer and calculating the average value of the sampling points at the moment of the fault mutation corresponding to the same end to obtain the fault moment at both ends of the faulty line; if the error in the fault moment at both ends of the faulty line is greater than a preset threshold, calculating a compensation value based on the difference in distance from the two ends of the faulty line to the fault point, the propagation speed of the fault traveling wave, and the sampling frequency of the recording file, and using the compensation value to compensate for the fault moment at the end with a relatively delayed fault moment. The present invention can effectively reduce the synchronization error of the recording files obtained at both ends of the line during multi-terminal differential protection co-adjustment of the line.

The utility model discloses a differential protection device for a power distribution network, and relates to the technical field of power grid facilities, in particular to the differential protection device for the power distribution network, which comprises a device body, an adjusting bin is arranged on the back of the device body, a connecting shaft rod is arranged in the adjusting bin, and a transmission gear is arranged on the outer surface of the connecting shaft rod. A connecting rack is arranged on the outer surface of the transmission gear, a connecting plate is arranged at one end of the connecting rack, a connecting sliding rod is slidably connected into the connecting plate, one end of the connecting sliding rod is arranged on the inner wall of the adjusting bin, a limiting piece is arranged at one end of the connecting sliding rod, and an adjusting sliding groove is formed in the back of the device body. According to the differential protection device for the power distribution network, the transmission gear, the connecting rack, the connecting plate, the limiting clamping block, the positioning plate, the control ring, the limiting plate, the first spring, the limiting hole and the limiting column are arranged in a matched mode, so that the differential protection device for the power distribution network has the effect that the protection device can be conveniently and rapidly mounted and dismounted.

The invention discloses a line current differential protection false information detection method based on a delay observer, and is applied to the technical field of line current differential protection. Comprising the following steps: establishing a distribution parameter model of the power transmission line, and discretizing the distribution parameter model to obtain a discrete model of the power transmission line; constructing a delay observer based on the discrete model of the power transmission line, solving a parameter matrix of the delay observer, and estimating a negative sequence voltage predicted value at the current moment; reading a negative sequence voltage measured value at the current moment, and calculating an error between the negative sequence voltage predicted value and the negative sequence voltage measured value; and if the error is greater than a preset error threshold value, judging that the line current differential protection system is attacked by false information injection. According to the method, false information injection can be effectively identified by monitoring the negative sequence voltage prediction error, and the reliability of current differential protection and the safe operation level of a power grid are improved.

Embodiments of the present disclosure provide a data alignment method, a differential protector and a differential protection system. The data alignment method comprises: at a first time node, obtaining first sampled current data from a first sampling device; at the first time node, receiving a second message from a second differential protector, the second message comprising second sampled current data and a sampling time mark thereof, first time information about a receiving time difference of the second differential protector from receiving a first message to the second time node, and second time information about a second sending processing delay of the second differential protector from the second time node to sending the second message, the second time node being a time point at which the second sampling device obtains the second sampled current data; when time synchronization is maintained, calculating and storing a time calculation deviation between a third time node and a first calculation value of the second time node; when time synchronization is lost, determining the third time node according to the stored time calculation deviation.

The present application relates to the technical field of power system relay protection, and particularly relates to a kind of offshore wind power through flexible low-frequency transmission system sending out line protection method, offshore wind farm is connected with modular multi-level matrix converter after being sent out by low-frequency through booster transformer, and is incorporated into large power grid after being frequency converted by M3C. When M3C of offshore wind farm fails, negative sequence current suppression and positive sequence current limiting strategy are adopted for fault ride-through, and relay protection devices are installed at both ends of low-frequency sending out line and communicate. The current sampling values before and after the fault on both sides of the line are reconstructed in phase space, and the difference between the permutation entropies is used to construct a protection scheme, which overcomes the problem of sensitivity reduction of traditional current differential protection for sending out line, reduces the amount of data interaction, and reduces the pressure of protection communication and the requirement of data synchronization. It is not affected by the control strategy of wind turbine and modular multi-level matrix converter at both ends of the line, fault ride-through mode, transition resistance and fault location, and has high reliability and good speed.

The application discloses a kind of dynamic response 5G communication differential protection data transmission method, so that the differential protection service based on 5G communication is widely applied in low-voltage distribution network field, promote the development of new technology of power grid relay protection, solve the protection terminal of traditional low-voltage power grid not dependent on channel cannot give consideration to speed and selectivity requirement, by using advanced 5G communication technology, with the high bandwidth of 5G communication network, low latency and high reliability wireless communication environment, realize the large-scale application of longitudinal differential protection in closed-loop operation low-voltage power grid, improve the protection level of power grid.The application applies dynamic response transmission mode in the communication process of distribution network transmission line differential protection based on 5G communication, meets the rapidity requirement of relay protection, reduces 5G communication transmission flow, saves communication resources and reduces communication cost.

This invention discloses a power line carrier-synchronized 5G differential protection synchronization method for power distribution networks, comprising: a master carrier transmitter sending synchronization signal pulses, and a carrier receiver receiving the synchronization signal pulses simultaneously; the carrier receiver counting each time it receives a synchronization signal pulse; when the count value reaches a set value, the carrier receiver sending a synchronization signal to the data acquisition module of the intelligent power distribution terminal equipment; the data acquisition module receiving the synchronization signal and entering an interrupt to directly calibrate the AD sampling pulses, thereby achieving synchronization. This invention achieves a low-cost, high-synchronization, and delay-free differential protection function through power line carrier, enabling rapid fault location and timely repair in case of faults; it has broad feasibility and ease of use.

The invention discloses a multi-terminal differential protection control method and device for automatic identification of a topological structure and a storage medium, and belongs to the technical field of electricians, the method comprises the following steps: enabling each single-terminal device in a multi-terminal differential protection device to communicate through a multi-terminal differential channel, and enabling a data frame transmitted in the communication process to be used for identifying a communication state; recording a communication state between each single-ended device and other single-ended devices through the single-ended device, and sending the communication state to the other single-ended devices; judging a topological structure of a multi-terminal differential channel according to the communication state of each single-terminal device and the received communication states of other single-terminal devices; according to the differential protection method and device, the corresponding differential logic calculation is carried out according to the topological structure judgment result, the corresponding differential protection is executed according to the calculated differential logic, and the differential protection is locked when the topological structure is invalid, so that the risk that the differential protection quits and has no protection due to the fact that the differential channel is abnormal is avoided or reduced, and the utilization rate of the differential protection is improved.

The application discloses a kind of current transformer wire breakage fault positioning processing method and system, method includes: in protection device, additional redundant current transformer;With current mutation variable, real-time calculation N line and current amplitude and N line and current mutation variable amplitude;Set criterion, judge N line and current amplitude whether greater than flow threshold value, identify whether the stable CT wire breakage occurs outside protection device;And, judge N line and current mutation variable amplitude whether greater than mutation variable threshold, identify whether the intermittent CT wire breakage occurs outside protection device;According to the discrimination condition of conventional differential protection CT wire breakage, and in combination with criterion distinguishes wire breakage position, again in combination with three-phase CT sampling balance and distinguish result, determine the phase of specific CT wire breakage and position.The application has less demand to hardware resource, can distinguish whether CT wire breakage occurs in device CT primary side or secondary side, and according to fault position, provide corresponding processing mode.Improves the reliability of differential protection.

The application discloses a hand-automatic high-voltage power distribution cabinet protection pressing plate, which comprises a shell, a pressing plate assembly and a driving assembly. The shell is communicated at both ends. The pressing plate assembly comprises a pressing plate located in the shell, a movable rod located on the upper part of the pressing plate and a first electrode located on the upper part of the pressing plate. A second electrode is arranged in the shell and located on both sides of the first electrode. The driving assembly is rotationally arranged with the movable rod. On the basis of the traditional pressing plate, the use of the frequency converter can realize the input and cut-out of the differential protection in the protection pressing plate through the state signal point of the frequency converter.

The invention discloses a differential protection control method, device and equipment based on a steering wheel rotation angle and a rotation angle rate, and a storage medium, and relates to the technical field of automobile transmission control. Acquiring a current steering wheel angle and system time; obtaining a current steering wheel rotation angle rate according to the steering wheel rotation angle and the system time; a target torque threshold value is obtained according to the current steering wheel rotation angle, the current steering wheel rotation angle rate, the steering wheel rotation angle-torque limiting relation and the steering wheel rotation angle rate-torque limiting relation; and limiting the output torque of the vehicle driving shaft according to the target torque threshold value. The differential mechanism can be effectively protected against damage caused by too large mechanical torque difference or sudden change of torque, the reliability and safety of the vehicle are improved, and meanwhile the control performance and driving experience of the vehicle are optimized.