45 results about "Eulerian method" patented technology

According to the real-time path planning method for the arm end mechanism of the humanoid robot, all joints of the mechanical arm of the humanoid robot can be controlled to rotate through path planning, and therefore the purpose that the end executing mechanism of the humanoid robot reaches the designated position is accurately achieved. According to the algorithm, a target point which a robot end execution mechanism needs to reach, an iteration stopping distance and a stopping number in iteration are determined according to engineering requirements, the L2 norm of a target position posture and a current position posture error is minimized through a Newton-Euler method, and the optimal position at the next moment and the corresponding iteration joint angle are solved. And through repeated iterative calculation, the tail-section executing mechanism of the mechanical arm can reach the target point accurately finally. The target passes mathematical simulation verification, and finally, when the tail end of the mechanical arm reaches the target point through planning, the position error reaches the order of magnitude of 1e-10m, and the high-precision planning effect is displayed. The algorithm planning precision is high, and the method has a good application prospect.

The invention discloses a series industrial robot external force estimation method, and the method comprises the following steps: S1, constructing a series industrial robot kinetic equation model incorporating a kinetic residual error through a Newton-Euler method; s2, fitting the dynamic residual error and noise of the robot by using a variational approximate Gaussian process; s3, constructing an external force estimation discrete state equation; s4, constructing an adaptive Kalman filter; and S5, solving the external force through Kalman iteration. The external force applied to the robot can be estimated, the external force and collision applied to the robot can be detected under the condition that the robot is not provided with a six-dimensional force or torque sensor, the detection precision and response speed of external force estimation are improved, and the method can be used for industrial scenes such as robot assembly and polishing.

The invention discloses a battery network state calculation method and device, equipment, a medium and a product, and relates to the technical field of battery network state calculation. The method comprises the following steps: firstly, constructing a dynamic reconfigurable network of a battery system based on a topological structure of the battery system; dividing the dynamic reconfigurable network into a plurality of sub-networks; then respectively constructing a state space equation of each sub-network; and then solving the state-space equation of each sub-network based on an improved Euler method to obtain the state quantity of each sub-network at different time steps. According to the method, the dynamic reconfigurable network is divided into a plurality of mutually independent sub-networks, the overall state calculation of the battery network is converted into the state calculation of the plurality of sub-networks, the calculation amount and the calculation complexity are effectively reduced, the Euler calculation of two stages is used for evaluation, and the accuracy of a numerical solution is improved.

The invention discloses a dynamical model error compensation method based on an SSA-LSTM neural network model, and relates to the technical field of robots, and the method comprises the steps: building a pre-uncompensated dynamical model of a robot through employing a Newton-Euler method or a Lagrange method according to a robot structure, and obtaining a predicted output torque under a minimum inertia parameter set; and calculating an uncompensated predicted torque for the original displacement, speed and acceleration data by using the uncompensated kinetic model. According to the method, through physical prior and sequence residual learning, the output of the physical dynamics model is used as a part of network input, data requirements are reduced, maintenance of interpretable physical components is improved, meanwhile, the problem of compensation of non-analytic items is solved, convergence is accelerated, generalization and physical consistency are improved, and the method is suitable for large-scale popularization and application. Under the condition of limited test data, lower residual errors and more stable online compensation performance can still be obtained, and control robustness is enhanced.

The invention provides an anisotropic large-scale structure attitude adjustment trajectory planning method which specifically comprises the following steps: firstly, carrying out dynamic modeling on an attitude adjustment mechanism by adopting a Newton-Euler method so as to calculate driving force of each shaft of a positioner during attitude adjustment of a large-scale structure; dividing the attitude adjustment track into an acceleration section, a constant speed section and a deceleration section, fitting the attitude adjustment track by using a quartic polynomial, and calculating track parameters of the large structure in different directions; and finally, constructing a positioner driving force and speed constraint model, and performing attitude adjustment duration search by adopting a dichotomy, thereby improving the efficiency of attitude adjustment of the large-scale structure. According to the method, different time parameters (the proportion of a constant-speed section) are adopted for planning the motion trails of the large-scale structure in different directions, the performance of a servo control system can be brought into full play, and therefore the attitude adjustment efficiency of the large-scale structure is improved.

The invention belongs to the technical field of automatic driving automobile speed tracking, and particularly relates to an automatic driving automobile speed tracking cooperative control method based on hierarchical MPC and fuzzy PID, comprising the following steps: S1, constructing a longitudinal dynamic model of an automatic driving automobile; s2, designing a fuzzy rule; s3, obtaining a discrete system state equation by using a forward Euler method; s4, determining that the output of the system at the future moment is expressed in a matrix form; s5, converting an MPC problem and a quadratic programming problem; s6, the execution control layer converts the expected acceleration into throttle valve and brake master cylinder pressure control quantity through fuzzy self-adaptive PID; and S7, switching logic is adopted to judge driving / braking control, and speed tracking control is carried out. According to the method, buffeting can be effectively suppressed on the premise of ensuring that the system can reach a stable state, high robustness to external disturbance is achieved, and speed tracking of the self-driving automobile is ensured.

The application relates to a collaborative robot dynamic error modeling and compensation method, which comprises the following steps: step one: a kinematics model of the collaborative robot is established by using an M-DH method; step two: a dynamics model of the collaborative robot is established based on a Newton-Euler method by considering the influence of robot self-weight, inertial force and load on joint torque, so that joint driving torque during robot operation is obtained; step three: a collaborative robot end dynamic error model is established according to the relationship between dynamic force and joint torsional stiffness, and the influence of supplementary stiffness on the end dynamic error is considered; and step four: the end dynamic error is converted to the joint space, and dynamic error compensation is carried out on the collaborative robot. The application establishes a collaborative robot dynamics model considering factors such as gravity, inertial force and end load, and further establishes an end dynamic error model considering supplementary stiffness, so that the end dynamic error compensation problem under the action of dynamic force is solved.

The invention relates to the technical field of aero-engine transition state characteristics and control process temperature calculation, in particular to a cooling-considered aero-engine transition state turbine rotor and stator temperature calculation method. An independent differential equation is established by introducing a hot side fuel gas and cold side cooling air double-heat-source model, and the method is suitable for an aero-engine scene with a complex cooling structure; a lumped parameter method is adopted to reasonably simplify a three-dimensional heat conduction equation, on the premise that the engineering precision of a component with the small Bi number is guaranteed, temperature distribution is simplified into a uniform field, the calculation dimension is remarkably reduced, in combination with an explicit Euler method numerical integration method, rapid discrete solving of a differential equation is achieved, the real-time requirement of an airborne model for transition state calculation is met, and the calculation efficiency is improved. And the time step length is adaptively adjusted to guarantee the numerical stability. By outputting the rotor / stator temperature of the turbine in real time, the dynamic heat exchange effect of the metal component and the airflow in the transition state can be accurately evaluated, and engine control law design and stability optimization are supported.

The application discloses a general reconfigurable simulation system of a power electronic converter, comprising: a dynamic element module, which is used for solving a dynamic element state equation according to a forward Euler method to obtain a dynamic element state variable, and sending the dynamic element state variable to a switch module according to a preset selection instruction; the switch module is used for constructing a general matrix model for a bridge arm switch of the converter, processing the dynamic element state variable through the general matrix model, and generating a switch voltage and a switch state instruction; a neutral point voltage solving module, which is used for constructing a neutral point voltage model for a three-phase rectification or inversion circuit according to the switch voltage and the switch state instruction, and solving to obtain a neutral point voltage; and a power supply module, which is used for providing different power supply voltages for the neutral point voltage solving module, wherein the power supply voltages include three-phase alternating voltages and a direct current voltage. The technical problems that the simulation adjustment flexibility is poor in different scenes, the modeling is complicated due to the increase of system element complexity, and the simulation compilation is time-consuming in the prior art are solved.

This invention provides a simulation method for test equivalent signals based on the Euler discrete model. It primarily solves the problem of equivalent generation of gyroscope angle signals in test equivalent converters, enabling high-precision reproduction of the complex dynamic angle changes of an aircraft during flight. This overcomes the difficulty of accurately simulating gyroscope angle signals during ground testing. First, using predetermined aircraft pitch channel altitude trajectory data, a fast differentiator is used to solve for the differential data of the altitude and horizontal trajectories, thereby solving for the aircraft pitch angle and pitch velocity data. Then, the Euler method is used to establish a discrete measurement model of the gyroscope, solving for the measured value of the pitch velocity. Considering the influence of error drift, integration is performed to obtain the gyroscope's measurement signal of the pitch angle. This outputs a high-precision result of the gyroscope angle changes during high-altitude flight. This method has the advantages of high simulation accuracy and good agreement with reality.

The invention discloses an unmanned tracked vehicle trajectory tracking method based on H infinity model prediction hybrid control, which comprises the following steps: firstly, establishing a tracked vehicle dynamics model, and discretizing through a forward Euler method; an H infinity and MPC double-controller parallel computing architecture is adopted, and an MPC controller combines a reference trajectory and a prediction state to generate an optimal control quantity of an adaptive constraint through rolling optimization to minimize a tracking error and a control cost; multi-source interference is introduced into the H infinite controller, and disturbance compensation control quantity is generated through interference modeling, linear processing and Riccati equation solving; and the optimal control quantity and the disturbance compensation control quantity are fused, a crawler executing mechanism is driven, a new state is fed back, and closed-loop feedback control is achieved. The method not only has the dynamic optimization capability of the MPC controller, but also has the strong anti-interference capability of the H infinite controller, realizes synchronous consideration of optimization and robustness, and ensures that the system always keeps trajectory tracking precision and stability under complex working conditions through closed-loop feedback control.

The application discloses a kind of gas-solid two-phase flow self-adapting simulation prediction method, system, medium and product, belong to the field of digital simulation of fluid dynamics, the method is: obtaining industrial equipment geometry, particle and fluid data, constructs gas-solid two-phase flow CMPPIC model;Wherein, continuous phase is with Euler method, discrete phase is with Lagrange particle bag representation;Perform time advance iteration to termination condition, output result, wherein each round of iteration includes mapping particle bag data to Euler cell, obtaining particle statistical information and marking fixed state particle according to rules;Freeze fixed cell particle volume fraction, calculate porous medium parameter, reconstruct its continuous phase momentum conservation equation;Based on reconstruction and unreconstructed equation, update flow field, while updating the particle motion of unmarked fixed state cell. By implementing the application, the problem that calculation efficiency and physical precision are difficult to consider in simulating fixed particle structure in the prior art can be solved.

The invention discloses a fluid-solid coupling calculation method for predicting the vortex-induced motion response of an underwater single anchor system, and the method comprises the steps: dividing a flow field calculation domain based on a multi-region overlapping grid technology, and achieving the data transmission through boundary point interpolation; establishing an anchor chain discrete dynamical model by adopting a concentrated mass method, and iteratively solving an anchor chain form and tension distribution; a six-degree-of-freedom rigid body dynamic model of the mooring body is established by applying a Newton-Euler method, and constraint conditions such as hydrodynamic force and anchor chain tension are integrated; a flow field is solved through a computational fluid dynamics method, and bidirectional data exchange of fluid load, anchor chain tension and structural motion is realized by using a custom function. The method has the advantages that the problem of large-displacement motion simulation of the mooring system is effectively solved through a multi-region overlapping grid and a cross-platform collaborative architecture, the six-degree-of-freedom vortex-induced motion response of the mooring body can be predicted in a high-precision mode, and whole-process visualization of dynamic changes of a flow field is achieved.

The application discloses a nine-switch converter flexible interconnection system and a switching loss control method and device thereof. αβ The method comprises the following steps: firstly, 27 voltage space vectors are obtained by constructing a nine-switch converter mathematical model; secondly, a system Coordinate system mathematical model is established, a prediction model is obtained through forward Euler method discretization processing, and a weight coefficient value function is designed to accurately track the current; then, voltage vectors are selected and inserted into zero vectors, and a fixed switching frequency switching sequence is designed; finally, the action time of the voltage vector is determined through duty cycle modulation, and the optimal voltage vector is periodically and alternately selected. The application effectively solves the problems of the existing system, such as unfixed switching frequency, uneven loss, large current harmonic and heavy calculation burden, balances the power device loss, prolongs the service life of the device and improves the system stability. The application can realize the bidirectional power flexible interconnection between two three-phase power grids and guarantee the system operation stability and power quality.

The invention provides an urban pavement rainfall runoff particulate matter transmission rate calculation method based on a control layer concept, and the method comprehensively considers the influence of raindrop splashing and runoff shearing composite driving effect on particulate matter transmission by establishing a double-layer conceptual model comprising a static control layer and a dynamic runoff layer. The particulate matter concentration change process under the action of different driving forces is solved through a mass conservation equation, a slope rainfall runoff analytical solution equation is combined, an improved Euler method is adopted for numerical solution, and accurate calculation of the urban pavement particulate matter transmission rate is achieved. According to the method, traditional empirical parameters are converted into variables with clear physical significance, the problems that an existing model is unclear in physical mechanism and low in prediction precision are solved, a scientific basis can be provided for urban runoff pollution load calculation and accurate prevention and control, and the method has the advantages of being clear in physical significance, high in calculation efficiency, good in prediction precision and high in engineering applicability.

This invention provides a robotic arm pose tracking control method for moving targets, relating to the control of autonomous moving bodies in three-dimensional space and the field of robotics. The control method includes: establishing the second-order pose dynamics equation of the target rigid body according to the Newton-Euler method; establishing the second-order pose dynamics equation of the robotic arm end effector according to the Lagrange equation; obtaining the relative pose dynamics equation based on the second-order pose dynamics equations of the target rigid body and the robotic arm end effector; and designing a robust adaptive controller for the relative pose dynamics equation, enabling the robotic arm end effector to complete the pose tracking control task of the moving target rigid body.

The application belongs to the technical field of hybrid electric propulsion aircraft, and discloses a modeling method, system and terminal for an electric propulsion aircraft power conversion system, four working modes of parallel power converters are determined; the circuit is discretely linearized by using a binary resistance method, and a discrete linearization model of boost and bidirectional DC / DC converters is constructed; node voltage transient equations are listed and written, and the electrical coupling characteristics of the parallel circuit are expressed by state variable coupling; the node voltage transient equation and the electrical coupling characteristic expression are solved by using a numerical method, a matrix equation is obtained, and iterative calculation is completed, and then the mathematical model of the electric propulsion aircraft power conversion system is obtained, and the working state simulation of the converter is realized. The application is based on linear discretization of the circuit and electrical state decoupling, and uses an implicit Euler method to solve the rigid differential equation, so that the accuracy and stability of the solution are obviously improved, and the application has good applicability. The application is supported by a master's postgraduate practice and innovation ability cultivation fund of Northwest Polytechnic University.

The invention provides a water drop collection coefficient calculation method based on an Euler method streamline, and the method comprises the steps: carrying out the modeling of a simulated aircraft part, and carrying out the grid division of a calculation domain; setting boundary conditions, and solving a steady-state air flow field; establishing a steady-state non-conservation form water drop momentum equation by using an Euler method to obtain steady-state water drop velocity field distribution; reading each surface node of the wall grid of the aircraft component, judging the surface node of a water drop impact area according to the water drop velocity field, and solving along the reverse direction of the water drop velocity by taking the node coordinate of the impact area as a starting point and taking the far-field boundary of the computational domain as an end point to obtain a water drop streamline; and sequentially calculating water drop collection coefficients of the wall grids according to the water drop streamlines, and outputting a water drop collection coefficient distribution result of the aircraft component. Compared with a traditional Lagrangian method, the method does not need to determine a water drop release position, and has better applicability and calculation efficiency on a complex surface; compared with a traditional Euler method, the calculation convergence is better, and the calculation of the water drop collection coefficient is more accurate.

The application discloses a complex system simulation solving method based on a hybrid gradient search, and aims at the high-performance simulation solving demand of a system model under a mixed modeling strategy of an explicit mechanism and an implicit model. Under a mechanism description specification based on data and mechanism mixing, three main steps of an automatic optimization step of a solving path based on constraint qualitative information, an automatic transformation step of a differential term based on a robust Euler method and a gray-box system solving step based on a hybrid gradient search are adopted to adaptively establish a solving path of a system-level mechanism model, and high-precision gray-box solving guarantee is provided for a simulation task of the mixed modeling strategy.

The application discloses a multi-harmonic suppression method for a dual three-phase permanent magnet synchronous motor, and comprises the following steps: S1, a model of a dual three-phase permanent magnet synchronous motor driving system is established; a six-dimensional voltage vector is constructed through a switching state generated by a voltage source inverter, and a stator voltage vector is decomposed by adopting a vector space decomposition method to establish a voltage equation; S2, multi-source harmonic distortion characteristics are analyzed; current harmonic components caused by phase group asymmetry, non-sinusoidal distribution of counter electromotive force and nonlinearity of the inverter are respectively identified and analyzed; S3, a harmonic suppression controller based on an online neural network assisted linear extended state observer (ONN-assisted LESO) is designed; a super-local model is constructed to describe stator current dynamics; an auxiliary neural network compensator is introduced; a weight adaptive law is designed in combination with Lyapunov stability analysis, a forward Euler method is adopted to realize discretization control, and a voltage reference value is generated to realize real-time suppression of multi-harmonics. The application can effectively realize multi-harmonic suppression under different operating conditions, and meanwhile, fast dynamic response and robust current performance are maintained.

This invention discloses a flexible interconnection system with a nine-switch converter and its switching loss control method and device. The method first constructs a mathematical model of the nine-switch converter to obtain 27 voltage space vectors; secondly, it establishes the system... αβ A coordinate coefficient mathematical model is discretized using the forward Euler method to obtain a prediction model, and an unweighted coefficient value function is designed to accurately track the current. Then, a voltage vector is selected and a zero vector is inserted, and a fixed switching frequency switching sequence is designed. Finally, the voltage vector's action time is determined by duty cycle modulation, and the optimal voltage vector is periodically selected alternately. This invention effectively solves the problems of inconsistent switching frequencies, uneven losses, large current harmonics, and heavy computational burden in existing systems. By balancing power device losses, it extends device lifespan and improves system stability. It enables bidirectional flexible power interconnection between two three-phase power grids and ensures system operational stability and power quality.

The invention relates to the field of racing car dynamics optimization, and discloses an electric formula racing car dynamic performance optimization method and system, a storage medium and equipment. A Newton-Euler method is adopted to construct an eight-degree-of-freedom vehicle dynamical model including vehicle body longitudinal, transverse, yawing and roll degrees of freedom and four-wheel rotation degrees of freedom, and then a vehicle body mechanical equilibrium equation set, a four-wheel load calculation equation and a four-wheel slip rate and slip angle calculation equation are obtained; based on a car body mechanical equilibrium equation set, a four-wheel load calculation equation and a four-wheel slip rate and slip angle calculation equation, an optimal control problem is determined, the optimal control problem is converted into a nonlinear programming problem and solved, and an optimal racing car track driving control sequence is obtained; and setting particle vectors of vehicle parameters including wheelbase, wheel track and braking force distribution coefficient, and performing iterative optimization on racing track time by adopting a particle swarm algorithm. According to the method, the calculation complexity can be reduced, and the optimization efficiency is improved.

A numerical modeling method for an underwater complete axial symmetry space three-wave coupling sound field belongs to the field of nonlinear acoustics, and comprises the following steps: carrying out simple harmonic hypothesis on sound waves, and substituting the sound waves meeting difference frequency three-wave frequency matching conditions into a KZK equation to obtain a difference frequency three-wave coupling equation set; decomposing the equation set into a diffraction equation, a dissipation equation and a nonlinear equation by using a second-order Strong operator splitting method; a diffraction equation is solved by using a chasing method, a dissipation equation is solved by using an accurate analytical solution, and a nonlinear equation is solved by using an explicit Euler method; and setting boundary conditions, and calculating an underwater complete axial symmetry space three-wave coupling sound field. According to the method, a three-wave coupling sound field model is established based on a KZK equation, efficient solving of a three-wave coupling equation set is achieved by utilizing a second-order Strong operator splitting method and combining finite difference and an explicit Euler method, and the three-wave coupling sound field in the underwater complete axial symmetry space is accurately calculated. According to the invention, the calculation complexity is reduced, the calculation efficiency is improved, and the calculation result is accurate.

This invention discloses a wave compensation system control method based on LQR-LADRC. The control method includes: Step 1) performing kinematic modeling on a shipborne Stewart six-DOF platform to obtain the motion relationships and velocity Jacobian matrices of the upper platform, lower platform, and drive chains; Step 2) establishing a dynamic model of the drive chains using the Newton-Euler method within a natural orthogonal compensation framework; Step 3) measuring the six-dimensional attitude of the ship's deck using a pose sensor, calculating the link lengths of each drive chain using inverse kinematics, and obtaining the rotation angles of each drive chain based on the linear relationship between link lengths and rotation angles; Step 4) establishing a position loop control model for a permanent magnet synchronous servo motor; wherein a three-loop control strategy is adopted for the permanent magnet synchronous servo motor, and the outer position loop uses a controller combining LQR-LADRC. This invention has the advantages of easy adjustment of controller parameters, high compensation accuracy, and strong decoupling and anti-disturbance performance.

This invention discloses a simplified power point tracking (PPT) control method for NPC rectifiers, comprising: calculating the grid-side complex power S and the differential expression of the negative conjugate complex power based on the mathematical model of the three-level NPC rectifier and instantaneous power theory; discretizing the negative conjugate complex power at time k+1 in the dq rotating coordinate system using the forward Euler method; calculating the power error of the negative conjugate complex power under zero vector action at time k+1; performing preliminary vector pre-selection based on the sector where the power error is located; reducing the number of pre-selected vectors in each group in step four to four; cyclically calculating the predicted active and reactive power values ​​and the cost function J at time k+1, and determining the optimal vector. This invention simplifies the computational workload in the vector selection process of a three-level midpoint clamp rectifier by reducing polling pre-selection vectors, and introduces power point tracking error correction on the basis of traditional PI, thereby achieving accurate power point tracking control.

The application provides a modeling method of a robot surface treatment contact force control model based on variable impedance, which comprises the following steps: step 1, a dynamic model of a robot in an ideal state is established according to Newton Euler method, and a control rate model for calculating torque is designed; step 2B, robot end position variables in a Cartesian space are mapped into a joint space; step 3, the influence of impedance parameters on control performance is analyzed to determine output parameters in a variable impedance control algorithm based on TD3; step 4, according to simulation results, the output parameters in the variable impedance control algorithm of TD3 are determined as impedance parameters; and step 5, the TD3 algorithm is improved. The application combines the traditional TD3 algorithm with a position-based impedance control algorithm, and no longer directly carries out strategy learning on robot end position or joint displacement, but instead utilizes the exploration characteristics of a reinforcement learning algorithm to dynamically adjust impedance parameters, so that the purpose of indirectly realizing force control is achieved.

The application discloses a robot friction torque online prediction method and device and a computer readable storage medium. For a joint type serial industrial robot to be identified, a dynamics model of the robot considering friction is established by using a Newton-Euler method, the dynamics model is linearized, five-term finite Fourier series are used to design an excitation trajectory, joint motion data of the robot under the excitation trajectory are collected to establish a regression equation set, the regression equation set is solved to obtain overall dynamics parameters to be identified, and the friction torque of the robot is calculated online according to the overall dynamics parameters to be identified, so that the friction torque of the robot can be predicted online.

The invention provides a steering and torque distribution integrated control method for a four-wheel independent drive vehicle based on nonlinear predictive control, which comprises the following steps of: firstly, establishing a nonlinear state-space equation of the four-wheel independent drive vehicle, and establishing an optimal control problem based on the state-space equation; and then the optimal control problem of the original continuous time system is converted into a nonlinear optimization problem by using a forward Euler method and a multiple targeting method, and the singularity of the nonlinear optimization problem is effectively eliminated and the convexity of the nonlinear optimization problem is improved by adding a regular term in an optimization target. Finally, a moderate-scale sequential quadratic programming mode is designed, and compared with the prior art adopting hierarchical nonlinear predictive control, an open source solver IPOPT and the like, the control precision and the solving speed can be effectively improved.

This invention discloses a model predictive control method, device, and medium for an electro-hydraulic servo system, relating to the field of electro-hydraulic servo model prediction technology. The method includes: acquiring data based on the electro-hydraulic servo system; defining a state variable vector based on the resultant force formed by the equivalent chamber pressure difference; discretizing the vector using the forward Euler method; constructing a piston force balance equation; updating the state variable vector data; setting the relationship equation between the valve core opening and the control voltage in the electronic control domain; updating the flow rate of the hydraulic cylinder into the upper and lower chambers; and reconstructing and updating the state variable vector. The method of this invention, through the combined use of the force balance equation in the mechanical domain and the compensation signal in the electronic control domain, allows the voltage change issued by the controller to be equivalent to direct control of the output force. Through the integrated fusion of static mapping functions and dynamic compensation functions, the compensated voltage drive signal can maintain ideal linearity in steady state and correct hysteresis errors in real time during dynamic changes.

The invention discloses a power electronic circuit real-time simulation method based on an LC switch and a reverse Euler method and related equipment, and the method comprises the steps: modeling a target power electronic circuit, modeling a switch element in the target power electronic circuit as an LC switch with equal capacitance admittance and inductance admittance, and obtaining a circuit model; discretizing dynamic element characteristics of each element model in the circuit model by adopting a reverse Euler method, and determining an inverse branch admittance matrix of each branch in the circuit model; based on this, according to the invention, through the admittance constant characteristic in the LC switch, the disadvantage of admittance matrix element mutation during switch state switching is eliminated from the modeling level; according to the invention, the FPGA can be adopted, and the branch state of the circuit model is updated based on the inverse branch admittance matrix. Therefore, according to the power electronic circuit real-time simulation method based on the LC switch and the reverse Euler method, a single simulation step length is shortened by integrating multiple dimensions, and the power electronic circuit real-time simulation method based on the LC switch and the reverse Euler method can meet the real-time simulation requirement of a high-dynamic power electronic circuit.