850 results about "Inner loop" patented technology

Disclosed in the present invention are a grid-connect control method and apparatus for a grid-connect inverter. The method comprises: on the basis of a control structure of a grid-connect inverter in a dp domain, passing a deviation signal of a power outer loop through power outer loop controllers, so as to generate reference values of a current inner loop, and comparing the reference values of the current inner loop with an actual output current, so as to obtain error signals, wherein the control structure comprises a PQ power control outer loop and a current control inner loop, and the actual output current is obtained by means of performing phase tracking, on the basis of a synchronous reference frame phase-locked loop, on the voltage of a point of common coupling; and adjusting the error signals by means of a current inner loop controller, so as to generate modulation signals, performing pulse width modulation (PWM) on the modulation signals, so as to generate an on-off signal of an inverter bridge power semiconductor device, and controlling the state of connection and disconnection between the grid-connect inverter and a power grid on the basis of the on-off signal. In the present embodiment, the connection and disconnection between a grid-connect inverter and a power grid are controlled, so as to improve the stability of the grid-connect inverter in weak power grids.

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 discloses an equipment temperature adjusting method fusing a long short-term memory network, and particularly relates to the technical field of temperature control, which comprises the following steps: determining the deployment position of a sensor through thermal simulation, collecting multi-source heterogeneous data, dynamically adjusting the sampling frequency in combination with the temperature and the load current change rate, and adjusting the temperature of the sensor; after data preprocessing, an attention mechanism enhanced LSTM prediction model is constructed, a time sequence sample data set is divided according to equipment thermal response characteristics, training is carried out, and an optimal model is obtained through early stop mechanism optimization; predictive feedback double-closed-loop regulation and control is achieved based on the optimal model, outer loop PI control is combined with an integral separation mechanism to generate a basic control quantity, an inner loop outputs a correction quantity through fuzzification, reasoning and defuzzification, an actuator is driven after superposition, and safety linkage is triggered synchronously; constructing an incremental data buffer pool to screen effective samples, and adaptively updating model parameters by adopting a layered fine tuning strategy; the temperature regulation and control precision and the long-term self-adaptive capability are obviously improved, and the over-temperature risk of equipment is reduced.

The invention discloses an SLCC control method and system based on similar network type SVF assistance, and the method comprises the steps: generating a first SVF voltage instruction value through an active outer ring and a reactive outer ring, processing the first SVF voltage instruction value through a voltage ring, and obtaining a fundamental frequency reactive compensation current instruction value; processing the LCC output current by using a multi-synchronous rotation coordinate method to obtain a harmonic compensation current reference value; and superposing the fundamental frequency reactive compensation current instruction value and the harmonic compensation current reference value, obtaining a second SVF voltage instruction value in combination with a current inner loop controller, and processing the second SVF voltage instruction value by using a voltage-sharing control strategy and a carrier phase-shifting modulation strategy to obtain a switching signal for controlling the SVF. According to the method, the dependence of the SVF on an alternating current system is reduced, stable and independent operation of the SVF in the SLCC by virtue of the self regulation capability is favorably realized, and the operation reliability and stability of the SLCC are improved.

The invention belongs to the technical field of motor control, and relates to a permanent magnet synchronous motor sensorless control method, system and hardware circuit, angular velocity estimation is designed based on a q-axis current model under a two-phase rotating coordinate system, angular velocity estimation compensation is designed based on a d-axis current model, and a rotating speed correction coefficient is introduced. And dynamic compensation of the estimated angular velocity value is realized. An accurate angular velocity estimated value and an accurate rotor angle estimated value are obtained by constructing a Romberg observer with an angular velocity estimated value and a rotor angle estimated value as outputs based on a dq rotating coordinate system. Taking an angular velocity error obtained by a motor angular velocity given value and a motor angular velocity estimated value as input of an outer ring PI controller, so as to ensure that the angular velocity estimated value tracks the motor angular velocity given value and output a q-axis current reference value; taking the difference value between the q-axis current reference value and the q-axis current sampling value and the difference value between the d-axis current reference value and the d-axis current sampling value as the input of an inner ring PI controller so as to ensure the bandwidth and the influence capability on the load, and outputting a d-axis voltage reference value and a q-axis voltage reference value; and converting the d-axis voltage reference value and the q-axis voltage reference value into voltage reference values under a two-phase static coordinate system based on the rotor angle estimation value so as to divide SVPWM drive circuit sectors, select voltage vectors, calculate action time, control on and off time of a permanent magnet synchronous motor switching device, and control on-off time of the permanent magnet synchronous motor switching device. And the alternating current speed regulation performance of the permanent magnet synchronous motor without the position sensor under the Romberg observer method is ensured.

The invention discloses an autonomous voltage support method and device for a network-constructed converter and a medium, and the method comprises the steps: constructing a converter network-constructed control topological structure, determining a droop control output frequency and a droop control output voltage amplitude according to the topological structure, obtaining the resistance and inductance of a power grid, and the voltage and current of a PCC point, and carrying out the control of the droop control output frequency and the droop control output voltage amplitude. The droop control output frequency and the droop control output voltage amplitude are combined to obtain droop control positive and negative sequence active / reactive reference power, so that an autonomous voltage support strategy is generated to carry out coordinated adjustment of a voltage outer loop / current inner loop, and the real-time impedance measurement is combined with reference power calculation based on autonomous voltage support to obtain the real-time impedance of the droop control output frequency and the droop control output voltage amplitude. According to the invention, accurate voltage support and power adjustment of the grid-forming converter in the weak power grid can be realized, the correctness of the support method is improved, the support capability of the grid-forming converter can be obviously improved, and the power quality and the power supply reliability of the grid-forming converter in the weak power grid with low short circuit ratio and high impedance can be improved.

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention relates to the technical field of computers, in particular to a hyperspectral compressed sensing reconstruction method based on depth double-prior progressive fusion, which comprises the following steps of: 1, shooting to obtain an original compressed measurement image, and normalizing the original compressed measurement image to obtain a normalized compressed measurement image; 2, constructing an objective function based on a compressed sensing reconstruction problem, and optimizing the objective function to obtain a final optimized objective function; 3, establishing a self-supervised learning model for hyperspectral compressed sensing reconstruction according to the normalized compressed measurement image; the self-supervised learning model comprises outer loop iterative optimization and two pieces of inner loop network training; and 4, solving the optimized final objective function by using a self-supervised learning model, and obtaining a final reconstructed image by fusing depth priori items obtained in two internal loop network training processes. The problem that an existing self-supervised spectrum reconstruction method is low in imaging quality is solved.

A low voltage ride through control method for a grid-forming inverter based on dynamic internal potential adjustment comprises the following steps: detecting a voltage per unit value of a grid-connected point in real time, and comparing the voltage per unit value with a threshold value to judge a voltage drop event and trigger low voltage ride through control; dynamically calculating active and reactive power reference values through a reactive compensation equation and an active current limiting equation according to the voltage amplitude and the power reference value before falling during the ride-through period; inputting the active reference value into a virtual rotor motion equation to generate a reference phase, and outputting a phase reference signal in combination with a dual-mode phase compensation controller; superposing the reactive reference value with the reference voltage through a reactive voltage regulating ring to generate a voltage amplitude reference signal; synthesizing an internal potential according to the phase and the amplitude reference signal, and obtaining an inductive current reference value through virtual impedance control and current amplitude limiting; and finally, a driving signal is generated through the current inner loop controller and the modulation module. According to the invention, overcurrent can be effectively inhibited, rapid reactive power support is provided, and synchronous stability and smooth transition in a fault period and a recovery process are ensured.

The invention discloses a dual-ring active-disturbance-rejection trajectory tracking control method for a four-rotor unmanned aerial vehicle, and the method comprises the steps: representing a dynamic coupling effect of the unmanned aerial vehicle caused by the load mass change and dynamic center-of-gravity shift through a six-degree-of-freedom flight dynamic model containing an asymmetric inertia matrix; an outer ring position control loop and an inner ring attitude control loop are constructed on the basis of an active disturbance rejection controller, and the following control cycles are executed in real time on the basis of integrating an extended state observer: the outer ring position control loop generates a position control signal and an attitude expected angle according to an expected track; the inner loop attitude control loop generates a control quantity for driving the unmanned aerial vehicle according to the attitude expected angle, and the two loops cooperatively work through decoupling logic to realize expected trajectory tracking; estimating and compensating unmodeled dynamics and external interference of the unmanned aerial vehicle in real time through the extended state observer; and dynamically adjusting parameters of the active-disturbance-rejection controller by adopting a particle swarm optimization algorithm.

The invention discloses a sensorless control method for a high-speed low-carrier-ratio permanent magnet synchronous generator. The method comprises the following steps: firstly, building a double-loop control system of a controlled permanent magnet synchronous generator comprising a current inner loop and a bus voltage outer loop under the condition of high speed and low carrier wave ratio, selecting an MRAS control strategy as a sensorless control strategy, introducing the MRAS control strategy into the double-loop control system, adjusting parameters of the MRAS control strategy, and controlling the current inner loop and the bus voltage outer loop of the controlled permanent magnet synchronous generator; the double-loop control system is enabled to operate stably; and designing parameters of a controller of the LADRC, and replacing all PI control in a double-loop control system with the LADRC to obtain the sensorless control method of the high-speed low-carrier-ratio permanent magnet synchronous generator based on the LADRC and the MRAS. According to the method, constraint conditions such as high rotating speed, low carrier wave ratio and sensorless control are comprehensively considered, the motor control model when the permanent magnet synchronous motor is used as the generator is constructed, parameter design is carried out in combination with PI control, and a more economical and feasible solution is provided.

The invention discloses a high-precision power supply output correction method based on a digital pre-distortion technology, and relates to the technical field of power electronics, and the method comprises the steps: integrating an electricity-heat-magnetism real-time combined observer, and inputting parameters including a power supply output voltage, a current, a power device junction temperature, a magnetic element surface temperature, an environment temperature, and an input voltage ripple; using a hierarchical memory depth pre-distortion compensator to generate an anti-phase pre-distortion signal containing long time domain thermal constant compensation and short time domain capacitance energy storage compensation based on modeling engine output; based on a double-ring adaptive updating module, an inner ring updates electrical parameters, including on resistance and dead time, by taking a switching period as a reference, and an outer ring updates thermomagnetic parameters, including thermal resistance and a magnetic core saturation point, in a minute-level period; and the DAC is connected in series with a pre-distortion signal output end through an anti-interference execution channel, and comprises a noise shaping DAC and a driving stage for delay matching. According to the invention, through an electric-thermal-magnetic three-field combined observation architecture, the limitation of traditional single physical field monitoring is broken through.

The embodiment of the invention provides an oxidation kettle temperature self-adaptive control system and a control method. The control system comprises a temperature detection module; the self-adaptive control algorithm module is used for dynamically adjusting the output of the heating or cooling device through data provided by the temperature detection module based on a self-adaptive control algorithm of a snow ablation algorithm; the feedback control module compares the output of the temperature detection module with a set temperature, the feedback control module adjusts control parameters and ensures that the temperature reaches a set value, the feedback control module adopts a double-closed-loop PID control system, and the double-closed-loop control structure comprises a self-adaptive PID controller of an outer loop and a rapid PID controller of an inner loop which are combined; and the man-machine interaction module allows an operator to set a target temperature and a control parameter, and displays a temperature change curve in real time. Through dynamic adjustment of PID controller parameters combined with real-time monitoring, intelligent analysis and an intelligent optimization algorithm and design of a double-closed-loop feedback system, quick response and stable control of temperature control are realized.

The invention provides a collaborative suppression method for short-circuit current-subsynchronous oscillation of an offshore wind power flexible direct current system, and the method comprises the steps: 1, determining a common parameter for a broadband coupling problem: determining the common parameter through a system topological structure and theoretical analysis of offshore wind power which is directly connected to a receiving-end power grid through flexible direct current for the short-circuit current and subsynchronous oscillation problem; 3, an upper optimization layer based on the DDQN outputs an optimal adjustment instruction for the generality parameters according to the system state, a lower execution layer receives the adjustment instruction of the upper layer, a new generality parameter value is obtained and output to a current inner loop controller, and a current inner loop controller is constructed; the current inner loop controller generates a modulation signal to control the output of the converter. According to the invention, the dynamic damping controller is designed to optimize common parameters, so that collaborative suppression of short-circuit current and subsynchronous oscillation is realized.

The invention provides a three-phase SVPWM grid-connected inverter harmonic control method based on an improved particle swarm algorithm, and relates to the field of grid-connected control. On the basis of double closed-loop control of a three-phase SVPWM grid-connected inverter, a main circuit topological structure of the grid-connected inverter is firstly provided, and a mathematical model of the grid-connected inverter is determined; then determining a double-closed-loop control strategy based on space vector modulation according to the mathematical model; and aiming at a voltage outer loop and a current inner loop of the double-closed-loop control strategy, an improved particle swarm optimization algorithm is adopted to optimize PI parameters. According to the improved inertia weight, the minimum value, the maximum value and the fitness function of the inertia weight are comprehensively considered, a harmonic suppression performance index is added to the fitness function, and the improved particle swarm optimization algorithm enhances the global search capability and the accurate search capability, so that the probability of falling into a locally optimal solution is reduced. According to the control method, the grid-connected process of the grid-connected inverter can be more stable, the anti-interference capability is enhanced, the static error is reduced, and the electric energy quality is improved.

The invention provides a fault calculation method and system for a power distribution network containing a distributed inverter power supply, and the method comprises the steps: carrying out the complete modeling of a control system, building a coupling model of current inner loop control and a filter circuit, representing the nonlinear characteristics of a control process and the coupling characteristics between state variables, and carrying out the calculation of a fault. An inverter power supply grid-connected system is described as a mathematical form of a discrete function, state variables of the system in the fault process are calculated by solving discrete segments of the state variables of the system, finally, the provided method is used for calculating the state variables of the system before and after the fault in different scenes of single-machine grid connection and multi-machine grid connection, and through simulation comparison, the state variables of the inverter power supply grid-connected system are calculated. And the feasibility and effectiveness of the method are verified. According to the method, the technical problems of high limitation, difficult analysis and the like, and limited applicability and feasibility are solved.

The invention proposes an ultra-wideband power grid simulation method based on improved repetitive control, and the method comprises the steps: carrying out the reconstruction of a repetitive controller from an internal model and a compensator, and obtaining a self-adaptive control inner loop system matched with the compensator through deduction; secondly, a plurality of internal model branches considering the normal deviation of the power grid frequency are connected in parallel, delay parameters of each branch are accurately designed by using a fractional order delay filter, and improvement is performed by using a compensator, so that the requirement of ultra-wideband high-performance output of the power grid simulator is met.

The invention discloses an airborne low-detectability photoelectric long-distance stable tracking and aiming method based on a time-sensitive opposite target, and belongs to the technical field of airborne photoelectric detection and target tracking. The method comprises the following steps: step 1, target detection and miss distance calculation: in a level flight section of an airplane, imaging a target in a field of view, carrying out target detection by adopting an optical flow method, and detecting a moving target by analyzing a motion vector of pixel points in an image sequence; and resolving the deviation amount of the target image relative to the visual axis in real time, namely the target pixel miss distance. 2, designing a stable tracking loop: designing a two-layer control structure for the stable tracking loop, stably inhibiting high-frequency disturbance by a gyroscope of an inner loop, performing tracking correction on low-frequency deviation by an outer loop based on pixel miss distance, and finally realizing high-precision tracking. On the basis of real-time pixel miss distance feedback, a two-layer control structure is designed, the miss distance fed back by an outer ring tracking loop is converted into an inner ring control instruction, and the tracking precision and stability are improved.

The invention relates to the technical field of advertisement marketing analysis, in particular to a data diversity identification advertisement marketing system, which comprises a data diversity identification module, a double-loop control module and a cross-layer information sharing channel module, and is characterized in that the data diversity identification module is used for calculating dynamic diversity indexes of multi-source heterogeneous data in real time; the double-circulation control module comprises an outer circulation strategy optimization layer unit and an inner circulation real-time control layer unit, the outer circulation strategy optimization layer unit operates at an hour-level time scale, a reinforcement learning algorithm is adopted to carry out long-term advertisement marketing strategy optimization, and an optimization objective function of the outer circulation strategy optimization layer unit is fused with a dynamic diversity index; the internal circulation real-time control layer unit operates at a second-level time scale, and adopts a parameter self-adaptive control algorithm to adjust an advertisement putting strategy in real time; and the cross-layer information sharing channel module is used for realizing strategy parameter transmission between the outer circulation and the inner circulation and applying strategy consistency constraint conditions so as to collaboratively optimize an advertisement marketing strategy.

The invention relates to the technical field of motor control, and particularly provides a permanent magnet synchronous motor predictive current control method, which comprises the following steps of: establishing a basic mechanism equation of an inner ring and an outer ring in permanent magnet synchronous motor MPCC control, and introducing a lumped disturbance term and a current ripple term into a cost function of the inner ring, the robustness of the MPCC to mismatch of inductance, permanent magnet flux linkage and resistance parameters is improved; and a strong tracking dimension expansion Kalman filtering torque observer is designed on an outer ring, so that the influence of load torque disturbance and sensor measurement noise on the control performance of the motor is reduced. According to the method, the robustness of the MPCC on disturbance such as model internal parameter mismatch and model external uncertain load torque can be enhanced at the same time.

The invention discloses a VSG control method for oscillation instability, and relates to the technical field of wind power control, and the method comprises the steps: determining the sequence impedance of a VSG grid-connected system according to a VSG inverter structure and a control circuit model; generating and analyzing a Bode diagram according to the sequence impedance of the VSG grid-connected system and the equivalent impedance of the power grids with different intensities to obtain a phase margin set; when at least one phase margin which is corresponding to the power grid intensity meeting the first preset condition and is a negative value exists, voltage and current tracking errors are calculated; calculating a current inner loop control rate according to a sliding mode surface function corresponding to the integral sliding mode surface, the voltage and current tracking errors and an exponential reaching law; when it is judged that the sliding mode surface function meets a second preset condition, an actual current measurement value is obtained; when the actual current measurement value does not conform to a third preset condition, the VSG grid-connected system sequence impedance is deduced again until no negative phase margin exists in the phase margin set; the steady-state error can be effectively eliminated, and the control performance is improved.

The invention discloses a converter grid following-grid construction control mode smooth switching method suitable for wide-range source-grid state change. The method comprises the following steps: constructing a phase-locked loop control loop, a power outer loop control loop and a current inner loop control loop of a grid following type converter based on constant power control; constructing a voltage control loop, a phase control loop and a voltage and current double-closed-loop control loop of the network construction type converter based on the virtual synchronous generator VSG; calculating real-time output active power P and reactive power Q of the converter; constructing a voltage phase synchronization loop switching control loop and a current instruction tracking loop, and realizing smooth switching of dq-axis current instruction values output by a power outer loop of a following network type and a voltage outer loop of a construction network type; and the output dq-axis current instruction value is transmitted to a current inner loop to generate a final voltage signal, and a PWM wave is output to the converter through a modulation link. According to the method, a voltage phase synchronous switching compensation mechanism is adopted, a voltage amplitude and a phase signal are synchronously corrected in the mode switching process, and smooth change of an inner ring current reference signal is achieved.

The embodiment of the invention discloses a converter fault ride-through method and system based on a dynamic virtual impedance parameter, and relates to the technical field of power electronics, and the method comprises the steps: latching the virtual internal potential amplitude of a converter and the angular velocity of a system before a fault when the voltage amplitude of a grid-connected point is detected to be lower than a preset voltage threshold value; calculating d-axis and q-axis fault current components which are expected to flow through the converter by using latch data, a current grid-connected point voltage amplitude, a virtual impedance initial value before a fault and controller output delay, calculating to obtain a three-phase fault current maximum peak value, comparing the three-phase fault current maximum peak value with a maximum current which can be borne by the converter, and determining the current value of the converter. And according to a comparison result, an adjustment coefficient and an impedance proportionality coefficient, a virtual resistor and a virtual inductor are dynamically calculated and updated, new d-axis and q-axis current reference values are calculated together with a latched virtual internal potential amplitude and d-axis and q-axis voltages of the current grid-connected point, and the new d-axis and q-axis current reference values are input into a current inner loop controller to control the output of the converter.

The invention discloses an off-grid and grid-connected smooth switching control method for a virtual synchronous generator based on adaptive parameters, and the method achieves the efficient switching and smooth transition of an off-grid and grid-connected mode through the dynamic adjustment of virtual impedance, rotational inertia and a damping factor based on a virtual synchronous generator control architecture of the adaptive parameters. The control architecture is divided into an inner loop current and voltage control module, an outer loop power-frequency control module and a self-adaptive parameter adjustment module, and comprises virtual impedance design, dynamic rotational inertia adjustment, self-adaptive damping factor switching and parameter optimization and modal analysis. In this way, the concept of virtual impedance is introduced into VSG control to improve the decoupling effect of active power and reactive power; a parameter alternating VSG is provided, singular value decomposition analysis and modal analysis are considered, and better performance is provided in the aspect of suppressing oscillation caused by disturbance by improving control parameters; and stable resynchronization between the converter and the power grid after grid connection and grid disconnection is realized.

The invention discloses a three-level power generation system multi-step prediction control method based on rolling time domain estimation. The method comprises the following steps: establishing a mathematical model under a new topology based on a three-level structure adopted by a machine-side converter and a network-side converter; discretizing the model; sampling current, voltage and speed and performing coordinate transformation; designing an outer ring model prediction speed controller; designing an inner ring model prediction current controller; selecting an optimal voltage vector enabling the cost function value to be minimum according to the constructed cost function; the dq-axis observer is used for estimating dq-axis disturbance information of the system, so that the designed current loop controller has relatively strong suppression on parameter mismatching; estimating state information of the system and disturbance information involved in each step of multi-step prediction by means of a differential GPIO observer, and constructing a new state space model; according to the method, the problem of large calculation amount is solved, and the anti-interference performance of the system is effectively enhanced.

The invention discloses a three-phase hybrid rectifier model predictive current control method based on a variable exponential sliding mode. An inner ring active rectifier adopts a rapid optimal three-vector model predictive controller; the inner ring passive rectifier adopts a three-order extended state observer-model prediction controller; and a voltage outer loop adopts variable exponential reaching law sliding mode control. According to the method, the variable exponential reaching law sliding mode control can effectively restrain violent buffeting caused by large gain. The fast optimal three-vector model predictive controller can determine the optimal vector combination through only two times of optimization, so that the calculation complexity is greatly reduced. According to the input voltage observation method based on the third-order extended state observer, the number of used sensors is reduced, and meanwhile the input current quality is improved. The research of the method has important significance for improving the reliability of the industrial equipment power supply.

The invention discloses a PFC circuit control method, system and device and a readable storage medium. The method comprises the steps of obtaining an output voltage signal of a PFC circuit and an initial reference current signal generated by a voltage outer ring based on the output voltage signal; obtaining a load current disturbance signal by using the output voltage signal and a current signal corresponding to an inductor in the PFC circuit; and obtaining an actual reference current signal of the current inner loop according to the initial reference current signal and the load current disturbance signal. The load of the voltage controller can be reduced, and when the load changes, the feed-forward value can be given quickly, so that the PFC circuit can respond to the load change quickly, and the dynamic response speed is improved.

The invention relates to an intelligent speed control method, device and equipment for an electric scooter and a storage medium. The method comprises the following steps: acquiring and filtering historical riding data of the electric scooter to obtain a time sequence characteristic matrix; constructing a multi-head time self-attention mechanism and a space cross attention mechanism to obtain a time feature vector and a space feature vector; inputting into a multi-feature fusion module for weighted fusion to obtain a fusion feature vector, and generating a target speed sequence through an intention heuristic control module; constructing a state observer to obtain a system state vector; solving and calculating an observer gain matrix through a linear matrix inequality, and constructing an outer loop speed controller and an inner loop current controller to obtain adaptive PID control parameters; and a PWM modulator is input to carry out motor control quantity calculation, a speed control execution instruction is obtained, and a motor driving signal is output. The implementation of the invention ensures the accuracy of motor control, and ensures the safe and reliable operation of the system under various working conditions.

The invention discloses a control method of an interleaved parallel bidirectional DCDC converter. A circuit of the converter comprises three pairs of MOSFET switch tubes, three inductors and an output capacitor. The phase difference of PWM waves of the three pairs of MOSFET switch tubes is 120 degrees, and the phase difference is used for effectively reducing current ripples through staggered complementation of currents of all phases. Double closed-loop control is adopted, the DSP chip is responsible for current inner loop control, and the FPGA chip is responsible for voltage outer loop and power outer loop control. The current sharing precision is high, through flexible configuration of multiple proportionality coefficients and zero points, input fluctuation and load abrupt change interference can be accurately restrained, oscillation is avoided, stable output is ensured, and when load abrupt change or mode switching is carried out, output can be rapidly adjusted, transition time can be shortened, and overshoot can be reduced. And high dynamic response and strong robustness of the system are realized, so that complex and changeable application requirements are met.

The invention discloses a fractional derivative-based virtual inertia control and controller parameter setting method, which comprises the following steps of: obtaining a characteristic equation of a system according to a transfer function from system interference to system frequency response; obtaining a real root boundary curve RRB and a multiple root boundary curve CRB according to a characteristic equation of the system; dividing the virtual inertia-virtual damping plane according to the boundary curve to obtain a stable region in which the system is kept stable in the parameter plane; obtaining an optimal control parameter of a fractional order virtual controller FOVIC according to the stable region; the controller output reference power is obtained according to the optimal control parameters; and according to the controller output reference power, the active power adjustment amount of the primary frequency modulation of the battery energy storage system is obtained through inner loop control of a GFL power converter. According to the method, the frequency deviation can be better suppressed, the robustness of the system is enhanced, and a quick frequency regulation service is provided for a low-inertia power grid integrated with renewable energy sources.