79 results about "Integral controller" patented technology

The invention discloses a natural fault-tolerant control method for multivariable combined diagnosis of a symmetric six-phase permanent magnet synchronous motor, and the method comprises the steps: firstly, calculating an electrical angle and a mechanical rotating speed according to a motor encoder signal; secondly, obtaining a d-q plane torque current reference value through rotating speed closed-loop control; thirdly, six-phase current of the motor is collected, and the actual current value of the decoupling sub-plane is calculated; then, a d-q plane voltage reference value is obtained through a proportional-integral regulator; then, x-y plane voltage and a-b plane current are collected in real time, and an output result of the fault diagnosis module is obtained; then, x-y plane voltage reference values in different modes are selected according to output results of the fault diagnosis module; then, a six-phase voltage reference value is obtained through inverse decoupling transformation; and finally, obtaining a driving signal of a six-phase inverter according to comparison between the modulated wave and a set carrier wave, and realizing the natural fault-tolerant control method for the symmetric six-phase permanent magnet synchronous motor without current reconstruction.

Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional / Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

A method is for adaptively controlling a charging module that converts three-phase AC input to DC output with improved power factor correction. The method includes performing Clarke and Park transforms on input three-phase AC voltages to obtain d-q axis components, measuring and transforming boost inductor currents to obtain current axis components, generating control values through current-loop and voltage-loop modules based on target and measured values, and synthesizing PWM signals to control switching operations. The method features adaptive phase angle computation using a proportional-integral controller that responds to load variations in real-time. The control system maintains high power factor under varying load conditions by continuously adjusting the phase reference based on the q-axis voltage error. This approach minimizes power losses, reduces harmonic distortion, and ensures stable operation across the full operating range of the charging module while maintaining unity power factor.

The embodiment of the invention discloses a control method and device of a wireless power transmission system, equipment and a storage medium, the wireless power transmission system at least comprises a transmitting end and a receiving end which are in communication connection, and the method is applied to the receiving end. The method comprises the steps of obtaining an output voltage of a receiving end, an output voltage reference value and an estimated value of a first pulse density instruction of a transmitting end, wherein the output voltage is used for reflecting voltages at two ends of a to-be-powered load; determining an internal control quantity by using the output voltage, the output voltage reference value and a preset proportional-integral controller; determining a second pulse density instruction of the receiving end according to the estimated value and the internal control quantity; and sending the second pulse density instruction to the transmitting end. The power efficiency decoupling control method is realized through the method, the pulse density of the transmitting end can follow the receiving end, the interference of maximum efficiency tracking on voltage control is avoided, and the speed of the MEPT is improved.

This invention belongs to the field of linear motor current disturbance suppression, specifically relating to a method and system for suppressing switching current disturbances in a segmented power supply long stator linear motor. It aims to solve the problems of long switching times and large current fluctuations in existing linear motors. The invention includes: real-time tracking and acquisition of the mover position 's' of the segmented power supply long stator linear motor, and calculation of an adjustment factor 'δ' based on the current mover position 's'; applying the adjustment factor 'δ' to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during thyristor switching, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor switching process. This invention can effectively suppress the cumulative amplification of disturbance errors during the switching process of the segmented power supply long stator linear motor, achieving a rapid decrease in current and a low overshoot with a rapid increase during the switching process.

This invention relates to a high-precision, fast-response thickness control method for a hot strip rolling mill. The hot strip rolling mill includes N sets of roll mechanisms, a reduction system, a frequency conversion system, and a thickness control system. The thickness value of the strip after being rolled by the roll mechanisms is input to the thickness control system. The high-precision, fast-response thickness control method for the hot strip rolling mill includes the following steps performed by the thickness control system: receiving the thickness deviation through a feedforward predictive control regulator F, and calculating the intermediate value K. G And based on the intermediate quantity K G The thickness feedforward estimated adjustment amount is calculated and output. The thickness deviation is received by the thickness feedback proportional-integral controller M. The calculated thickness feedback proportional-integral adjustment amount is then output. The thickness feedforward estimated adjustment amount and the thickness feedback proportional-integral adjustment amount are superimposed by an overlay device to obtain the roll gap adjustment amount ΔG, which is input into the roll adjustment mechanism of the pressing system. This effectively solves the problem of thickness step fluctuation in strip steel caused by uncontrollable factors.

An anti-interference control method for a permanent magnet synchronous motor driving system with output containing measurement noise comprises the following steps: when the permanent magnet synchronous motor driving system is disturbed and current is used as system output to have measurement noise, noise and disturbance suppression is realized through output filtering, an improved equivalent input interference method and control law optimization; the method specifically comprises the following steps: step 1, establishing a permanent magnet synchronous motor driving system state space model considering system state disturbance and output measurement noise; 2, introducing an output filtering strategy, transferring noisy output to a state equation, and combining a filter state and an original system state to form an extension system; 3, a traditional equivalent input interference method is improved, a parameter variable sliding mode observer is constructed to replace a state observer, and the equivalent input interference method is integrated to reduce observation errors; 4, designing a proportional-integral controller, and enabling the expansion system to output tracking reference current; and 5, constructing a Lyapunov function to perform stability analysis, and ensuring that all signals of the closed-loop system are consistent and finally bounded. According to the anti-interference control method for the permanent magnet synchronous motor driving system with the output containing the measurement noise, disturbance and noise are effectively suppressed, and the stability and the control precision of the permanent magnet synchronous motor driving system are improved.

This invention belongs to the fields of AC / DC microgrid "interface converters", energy storage systems and new energy power generation, and active reactive power compensation, and particularly relates to a discrete indirect power control method and device for grid-connected inverters. The control method in this invention is implemented in the αβ stationary coordinate system, eliminating the need for synchronous rotational coordinate transformation calculations. In this invention, the reference value of the grid-connected inverter output current is obtained through calculations using active / reactive power reference values ​​and grid voltage. A current-type pulse train (PT) control method is used to make the output current follow its reference value, thereby achieving the indirect power control objective. Therefore, the control method provided by this invention does not require an error amplifier and its compensation network (proportional-integral controller), the controller parameter design and digital implementation are relatively simple, and it has the advantage of low software cost, possessing certain academic research and engineering application value.

The invention provides a high-stability control method for a power grid simulator, and the method comprises the steps: embedding a virtual impedance feature Zvirref (s) in an integral controller of a voltage controller module, and forming a controller structure of Ki * Zvirref (s) / s; and dynamically adjusting the integral gain Ki according to the virtual impedance generated by the power grid simulator and the physical impedance provided by the impedance network B so as to meet the condition that the amplitude of the virtual impedance is not higher than the amplitude of the physical impedance in the frequency range in which the virtual impedance is presented to be non-passive. Decoupling between internal control dynamic and virtual impedance characteristics of the power grid simulator is realized, and the self-stability of the power grid simulator under different impedance simulation conditions is ensured; the self-adaptive adjustment of the closed-loop transfer function of the power grid simulator is realized, the virtual impedance and the physical impedance are ensured to meet the Nyquist stability criterion, and the interaction stability between the power grid simulator and the tested object is improved.

The application provides an aero-engine integral type constant differential pressure control system and method. In the system, a controlled object control system controls the controlled object based on an instruction oil pressure increment of a disturbance change, an incremental flow area of a metering valve, and a current incremental flow area of an actuating valve output by a stabilizing controller, and outputs an incremental pressure of the metering valve; the stabilizing controller obtains a new incremental flow area of the actuating valve based on a first adjustment difference between the incremental pressure of the metering valve output and an incremental spring cavity pressure of the actuating valve output by an integral controller; and the integral controller processes a second adjustment difference between the incremental pressure of the metering valve output by the controlled object control system and an instruction oil pressure increment input into the system by using a preset integral control algorithm, and obtains the incremental spring cavity pressure of the actuating valve. The system realizes robust servo tracking without static error.

The invention relates to the technical field of power systems, in particular to an event-triggered proportional-integral repetitive controller and method and a related device. Two channels of the event triggering block are respectively provided with two adjusting coefficients, and tracking error signals are respectively input into a repetitive controller and a proportional-integral controller after being adjusted; when a triggering condition is met, two adjustment coefficients of a forward channel of the event triggering block change along with time; the tracking error is increased, the adjustment coefficient of the repetitive control channel is reduced, and the adjustment coefficient of the proportional-integral channel is increased; and after a trigger period, the two adjustment coefficients of the event trigger block are gradually recovered to default values along with the reduction of the tracking error signal. According to the invention, decoupling of the proportional-integral repetitive controller is realized, the dynamic performance is improved, and output distortion of multiple periods caused by mismatching of the dynamic performance of the proportional-integral controller and the repetitive controller is avoided.

A method of operation for a dual mode Phase-Locked Loop (PLL) for phase coherent application includes selecting one of a non-coherent mode and a coherent mode. The non-coherent mode includes controlling a Voltage Controlled Oscillator (VCO) with a first error voltage determined by a first Low Pass Filter (LPF), the first LPF configured to filter a first output of a phase detector, the phase detector configured to determine a phase difference between a reference frequency and a feedback signal derived from a VCO frequency generated by the VCO. The coherent mode includes controlling the VCO with the first error voltage and a second error voltage determined by a second LPF of a Proportional and Integral Controller (PIC) configured to filter the first output of the phase detector and by a time variant proportional gain configured to modify a second output of the second LPF.

The invention provides a permanent magnet synchronous motor sensorless control strategy based on an improved phase-locked loop. The method comprises the following steps: constructing a permanent magnet synchronous motor model driven by a three-leg inverter; rotating speed closed-loop and current closed-loop control is adopted, a rotating speed controller and a current controller both adopt proportional-integral controllers, and a modulation strategy is SVPWM (space vector pulse width modulation); building a Luenberger observer model, estimating a back electromotive force by taking the acquired voltage and current as input quantities, and then filtering out higher harmonics in a back electromotive force signal by adopting a synchronous frequency extraction filter; and building a dual high-order phase-locked loop, and finally obtaining rotor position information and rotating speed information of the permanent magnet synchronous motor by compensating a position estimation error of the phase-locked loop (PLL). The method can effectively solve the problem that a phase-locked loop has a large estimation error when the position of the rotor is estimated, reduces steady-state errors of the permanent magnet synchronous motor during acceleration or deceleration operation, filters out higher harmonic components in counter electromotive force, and improves the precision of a permanent magnet synchronous motor control system.

The invention relates to the field of energy storage, in particular to a virtual torque feedforward-based double-fed gravity energy storage system cooperative control method and system, and the method comprises the steps: obtaining a basic electromagnetic torque reference value based on a proportional integral controller according to the real-time rotor speed of a DFIG; obtaining an electromagnetic torque standard value by using the basic electromagnetic torque reference value and a corresponding mechanical torque ideal value; reactive power feed-forward calculation is performed by using the electromagnetic torque standard value to obtain a cooperative control result of the double-fed gravity energy storage system, predictive compensation of instructions is realized by optimizing a control algorithm, the burden of a feedback controller is significantly reduced, and the dependence of the system on high feedback gain is reduced, so that overshoot or oscillation is effectively weakened, and the cooperative control effect of the double-fed gravity energy storage system is improved. The dynamic response capability of the system is optimized, rotating speed fluctuation caused by heavy object switching can be effectively inhibited, and meanwhile reactive power fed into a power grid is compensated to be stabilized at a designed reference value instruction.

The present application relates to the technical field of harmonic suppression, and discloses a current harmonic suppression method, device, equipment and medium, the method comprises the following steps: determining a target group according to the current operating frequency of a motor; outputting a pre-calculated coefficient group corresponding to the target group to a quasi-resonance controller; obtaining a quasi-resonance adjustment amount output by the quasi-resonance controller based on the input coefficient group; and obtaining a target control amount by combining the quasi-resonance adjustment amount and a proportional integral adjustment amount output by a proportional integral controller, wherein the present application does not require a large number of coefficient calculation processes in the control process, can greatly reduce the calculation amount, avoids a large amount of calculation from occupying the FOC interruption execution time, and can be implemented on a low-cost controller, thereby reducing the control cost.

A method for controlling voltage in a feeder of a distribution system having a plurality of DERs includes executing a feedback control using an integral controller. A voltage signal is generated using measured or estimated voltages at multiple locations along the feeder. An error is determined between the voltage signal and a defined voltage limit. The error is input to a controller including an integrator to generate a control action to counteract the error. The control action is distributed among at least some controllable DERs, from the plurality of DERs, that are capable of responding to the control action by generating actuation signals for absorbing reactive power from or injecting reactive power into the feeder, and / or for reducing active power or increasing active power in the feeder. The control action continues to increase until the voltage signal reaches the defined voltage limit, to thereby control voltage in the feeder.

The application relates to the technical field of communication network measuring instruments, in particular to a MEMS device frequency drift self-compensation method and system. The method comprises the following steps: collecting monitoring parameters of the MEMS device; calculating a temperature disturbance coefficient through the correlation between temperature and frequency, the temperature change rate, the time offset amount of temperature and frequency and the actual frequency difference; calculating a coupling degree factor by constructing a correlation matrix according to the correlation between the remaining parameters and temperature; calculating a lag degree coefficient by combining the time offset amount of the remaining parameters and temperature, the temperature disturbance coefficient and the fluctuation of temperature; calculating a thermal lag compensation factor through the temperature disturbance coefficient and the lag degree coefficient; determining a dynamic compensation amount by using a proportional-integral controller based on the thermal lag compensation factor; and completing compensation by correcting the frequency. The application improves the accuracy and quality of the MEMS device frequency drift compensation.

The invention relates to a nuclear reactor primary loop pressure stabilizing system which comprises a reactor, a main pump, a steam generator, a primary loop pressure gauge, a pressure stabilizing system and a primary loop pressure proportional integral controller. The pressure stabilizing system comprises a spraying head, a pressure stabilizer, a pressure stabilizer spraying pipeline and an electric heater. And the electric heater adopts a variable-power electric heater. The primary loop pressure gauge is connected with the reactor and used for measuring primary loop pressure. The primary loop pressure proportional-integral controller is used for controlling the power of the electric heater according to the pressure measured by the primary loop pressure gauge so as to maintain the primary loop pressure within a first set value, and if the primary loop pressure rises and reaches a second set value, the electric heater is cut off. The second set value is greater than the first set value. The first set value is rated pressure during rated operation of the loop. By adopting the variable-power electric heater and introducing the proportional-integral control rule to adjust the loop pressure, the technical problem of how to prolong the service life of the electric heater is solved.

This invention discloses a method for improving the voltage stability of a flexible DC power grid, comprising the following steps: Before the DC voltage-active power droop-type outer loop controller of the flexible DC converter station; adding a specified lead-lag correction element to the DC voltage sampling signal; ensuring that the equivalent admittance introduced by the droop control approximately exhibits a conductance characteristic with a constant droop gain within the DC voltage control time scale; thereby suppressing overshoot oscillations of the DC voltage under power fluctuations and improving DC voltage stability. Preferably, this invention uses a correction coefficient to transform the equivalent impedance of the flexible DC converter station into a first-order form. Simultaneously, thanks to the increase in the correction coefficient, the sensitivity of the damping ratio to the power magnitude of the flexible DC converter station decreases. Furthermore, this method of correcting the droop admittance is simple and practical. Further, decoupling the droop admittance of the flexible DC converter station from the proportional-integral controller's proportional coefficient makes the tuning of the command feedback loop more flexible.

The embodiment of the application provides a kind of vector control method and system based on multidimensional space, it is related to the technical field of motor technology.The method comprises: obtaining the real-time current error signal of the current loop of motor controller;Based on the real-time current error signal, selective harmonic analysis is performed on the preset key frequency point to construct the multi-dimensional vibration vector representing the vibration state of the system, wherein the key frequency point covers the audible frequency range of human ear;The multi-dimensional vibration vector is first processed to calculate the perceived vibration energy value;According to the deviation between the perceived vibration energy value and the preset target energy value, generate proportional-integral parameter adjustment amount;Based on the proportional-integral parameter adjustment amount, dynamically update the proportional-integral controller parameters of the current loop.Through the application, the problem of low motor control sensing accuracy is solved, and the sensing accuracy is improved.

The application discloses a current-voltage adaptive control method and a control device of a permanent magnet synchronous motor, and the method comprises the following steps: obtaining a current limit frequency protection value, a phase current amplitude, a voltage limit amplitude threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor, and calculating a current limit amplitude attenuation rate and a voltage limit amplitude attenuation rate; superimposing the current limit amplitude attenuation rate to an output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction and a direct axis current instruction; superimposing the voltage limit amplitude attenuation rate to an output of a second proportional integral controller in a current control module to obtain a quadrature axis voltage instruction and a direct axis voltage instruction; performing Park inverse transformation and modulation on the quadrature axis voltage instruction and the direct axis voltage instruction to obtain three-phase voltage output for driving the motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage. The application can perform adaptive control on output voltage or output current of the motor drive based on the voltage limit amplitude attenuation rate or the current limit amplitude attenuation rate, so as to ensure safe and reliable operation of the permanent magnet synchronous motor.

This invention discloses a voltage control system and method for a dual three-phase generator based on multi-step commutation. The control system includes: a voltage sensor, a voltage controller, a proportional-integral controller, a position acquisition module, a step-by-step commutation controller, and a sinusoidal pulse width modulation (PWM) module. The multi-step commutation controller is connected to the proportional-integral controller and the position acquisition module, respectively, and receives voltage control signals and rotor position. Based on the rotor position, the multi-step commutation controller determines two adjacent basic voltage vectors from a set of preset basic voltage vectors to synthesize a target voltage vector. According to the voltage control signal, the controller adjusts the time ratio of the two adjacent basic voltage vectors to synthesize the target voltage vector, thereby generating PWM pulse switching signals to control the first and second rectifiers, thus achieving control of the dual three-phase generator. This invention achieves precise closed-loop control of the DC bus voltage.

The application provides a linear active disturbance rejection control method and a control system of an energy storage converter, the linear active disturbance rejection control method comprising: calculating instantaneous active power and reactive power according to grid voltage components and converter current components; obtaining dq-axis current reference values after adjusting output by a proportional-integral controller after obtaining active power error signals and reactive power error signals; inputting the dq-axis current reference values and the converter current components into a fuzzy neural network, the fuzzy neural network adjusting bandwidth parameters of a linear active disturbance rejection controller through a process of fuzzification, fuzzy reasoning and defuzzification; performing inverse Park conversion on dq voltage instructions output by the linear active disturbance rejection controller to obtain voltage instructions in an alpha-beta coordinate system, and generating PWM signals for driving power switching tubes of the energy storage converter through a space vector pulse width modulation technology based on the voltage instructions. The application solves the technical problems of poor robustness of a conventional PI control and insufficient work condition adaptability of a fixed parameter linear active disturbance rejection control.

A method for controlling the speed of a vehicle (105) comprises the steps of determining (1220) an actual vehicle speed; determining (125) a desired vehicle speed; and controlling (115) an acceleration or deceleration force acting on the vehicle (105) as a function of a difference between the actual and the desired vehicle speed; wherein the force is determined using a reinforcement learning integral controller (205, 210).

The application discloses a current-type SVG control method based on improved DC bus voltage synchronization, which comprises the following steps: based on synchronous outer loop equivalent analysis, the current control type SVG is equivalent to a power synchronization loop based on a phase-locked loop synchronization loop; according to the relationship between the DC bus voltage of the SVG and the output active power, the power synchronization loop is equivalent to a DC bus voltage synchronization loop; on the basis of the DC bus voltage synchronization loop, an improved DC bus voltage synchronization outer loop that integrates a phase-locked loop is designed; a detection method based on the instantaneous reactive power theory is adopted to realize reactive current detection and complete the design of a reactive power compensation loop; a quasi-proportional resonant controller QPR and a proportional integral controller PI are adopted to design a current control inner loop; and the above loop designs are combined to jointly construct a control system of the current-type SVG, so that stable control of the current-type SVG is realized. The application can improve the stability under a weak power grid and help the stable grid connection and consumption of new energy.

The invention discloses a grid-connected inverter oscillation suppression method and system for a three-phase unbalanced system. The method comprises the steps of constructing a state equation of the system according to a third-order nominal model and lumped interference; according to the lumped interference suppression function, constructing a filter structure in which two time-delay filters subjected to phase compensation are connected in series to obtain a series-connected time-delay filter; constructing a vector proportional-integral controller formed by combining a proportional-integral controller and a resonance controller; and according to control signals output by the series time-delay filter and the vector proportional-integral controller, the control signals are converted into switching tube driving signals for controlling the inverter. The influence of three-phase imbalance and background harmonic waves of the power grid can be effectively suppressed, and the control accuracy of the network access current is improved.

The invention discloses a micro-grid secondary control method based on a consistency algorithm, and relates to the field of micro-grid control and intelligent agent algorithms, and the method comprises the steps: carrying out the power distribution and compensation of a distributed power supply for a micro-grid, and calculating the power of each bus of the micro-grid; creating a communication connection matrix among the distributed power supplies; inputting the physical information of the micro-grid into a power controller, and generating a control signal in combination with the communication connection matrix; updating the positive gain of the power controller through a proportional-integral controller, and optimizing the transient response of the power controller by using a back propagation algorithm to form an adaptive controller; inputting a control signal into the self-adaptive controller, and integrating an output value to obtain a secondary control variable; the primary controller receives the secondary control variable and generates a pulse modulation signal to the inverter through the reference voltage generator, the proportional resonance controller and the pulse width modulation controller in sequence. According to the invention, the distributed power supply power in the micro-grid can be rapidly and reasonably distributed.

The invention discloses a method, a system, equipment and a medium for adaptively improving an inertial response effect and frequency damping based on a phase-locked error, and relates to the technical field of power grid inertial response, and the method comprises the following steps: representing the phase-locked error through a q-axis voltage component obtained through coordinate transformation of a grid-connected point three-phase voltage signal; inputting the q-axis voltage component into an inertia control link to obtain an additional torque or active power instruction value; adaptively adjusting the damping coefficient T based on the absolute value of the q-axis voltage component; superposing the additional torque or active power instruction value with active power or torque instruction values generated in other links to obtain a target instruction value at the next moment; and d-axis and q-axis components of the excitation voltage are calculated through a proportional-integral controller, and a control signal of the rotor-side converter is generated through inverse coordinate transformation. A q-axis component in three-phase voltage of a grid-connected point is extracted to accurately represent a phase locking error, and in combination with adaptive damping adjustment, rapid identification and active response to power grid frequency disturbance are realized.

The invention relates to the technical field of power electronic equipment stability and optimization control research, and provides a novel networking control method for improving the synchronous stability of a current converter. The method comprises the following steps: acquiring an active power measurement value output by a common coupling point converter, inputting the active power measurement value into an active synchronization ring, and generating a common coupling point voltage phase reference value; obtaining an active power difference value between the output active power measurement value and the active power reference value, and inputting the active power difference value into a proportional controller to obtain an output current d-axis component reference value; obtaining a reactive power difference value between a reactive power measurement value output by the common coupling point converter and a reactive power reference value, and inputting the reactive power difference value into a proportional-integral controller to obtain an output current q-axis component reference value; acquiring a d-axis component measured value and a q-axis component measured value of the output current, and inputting a d-axis component reference value and a q-axis component reference value of the output current of the converter into a vector current controller, so as to obtain a d-axis component reference value and a q-axis component reference value of the output voltage of the converter; and performing Parker inverse transformation on the d-axis component reference value of the output voltage and the q-axis component reference value of the output voltage to generate a modulation signal, and finally generating a PWM signal of the converter through a triangular carrier modulation mode.