1414 results about "Integrator" patented technology

The embodiment of the invention provides a grid-connected inverter control mode switching method and device, equipment, a medium and a product, and is applied to the technical field of electrical control. The method comprises the following steps: acquiring a control mode switching signal of the grid-connected inverter, and determining a switching direction of a control mode based on the switching signal; when the switching direction indicates that the current control mode is switched from the GFL mode to the GFM mode, setting an initial value of an integrator of a power synchronization loop of the GFM mode as a phase angle value of a phase-locked loop corresponding to the GFL mode; switching the control mode from the GFL mode to the GFM mode based on a first preset path and a step-by-step switching mode; when the switching direction indicates that the current control mode is switched from the GFM mode to the GFL mode, acquiring a power steady-state output value of the GFM mode, and setting a power reference value of the GFL mode as the power steady-state output value; and switching the control mode from the GFM mode to the GFL mode based on the second preset path and the step-by-step switching mode. The technical effect of improving the control mode switching fluency is achieved.

The invention discloses a three-level inverter dual-tracking model prediction control method and an inverter, and the method comprises the steps: constructing an integral sliding mode observer, and obtaining a current prediction value and a lumped disturbance estimation value through the integral sliding mode observer; calculating a voltage error of the inverter, and substituting the voltage error into the PI controller to obtain a voltage tracking control item; based on the voltage tracking control term, a switching state that minimizes the cost function is selected to control the inverter. The integral sliding mode observer is configured to calculate a current prediction error between a current prediction value of a current control period and a system output current, introduce an integrator to track the current prediction error, and generate an error function based on an output result of the integrator and the current prediction error. And feeding back a current predicted value and a lumped disturbance estimated value of the next control period through an error function. According to the invention, the method can achieve the quick estimation of the operation state of the inverter and the robust compensation of disturbance, reduces the steady-state tracking error, and reduces the total harmonic distortion of the inverter.

The invention discloses an adaptive virtual inertia control method for an inverter based on an Andronov-Hopf oscillator, and relates to the technical field of network-forming inverter control. The invention aims to solve the problem that the stability and reliability of a power system can be damaged by control based on an oscillator. According to the invention, the difference between the output current of the inverter and the reference current is obtained, and the difference passes through an inertia link to obtain an input current error signal of the oscillator; the difference between the active power reference value and the actual value of the inverter is obtained, and the difference is subjected to active-frequency control with self-adaptive virtual inertia to obtain the angular frequency of the oscillator; the reactive power reference value and the actual value of the inverter are subtracted, and the difference value is subjected to reactive-voltage control with a PI controller to obtain the voltage amplitude of an oscillator; the voltage generated by the Andronov-Hopf oscillator is calculated through the Andronov-Hopf oscillator, the voltage passes through the integrator to obtain SVPWM reference voltage, the three-phase voltage source inverter is modulated, and grid-connected control is achieved.

A transient stability control method for an islanding system with parallel heterogeneous networking inverters comprises the following steps: when a symmetric short-circuit fault occurs in a common line, collecting a grid-connected point voltage effective value of a droop control inverter and a frequency output value of a droop control and virtual synchronous generator; calculating a fault degree based on the voltage effective value, and determining a relative frequency by combining droop control and a VSG frequency difference value; generating a transient stability improvement coefficient according to the fault degree; the lifting coefficient and the relative frequency are fused through an integrator, and adjusting power is generated; injecting the adjusting power into the droop control equation to obtain an improved droop control equation; and combining the improved droop control equation and the VSG control equation to obtain an equivalent synchronous motion equation of the heterogeneous network-building type inverter parallel system during the fault period. According to the method, the power distribution is dynamically adjusted, the power transmission limit of the system during the fault period is improved, the transient stability under the serious fault is ensured, and an effective control scheme is provided for the micro-grid containing the heterogeneous inverter.

The invention discloses a self-adaptive harmonic current suppression method for harmonic waves of a photovoltaic inverter, which belongs to the technical field of power quality control of a power system and comprises the following steps of: compensating a control strategy through a self-adaptive harmonic component of the photovoltaic inverter by adopting a'detection-reverse injection 'framework; the difference between the residual apparent capacity of the inverter after fundamental wave power supply and the borne harmonic power is used as an adaptive quantity, and the total harmonic distortion rate of the grid-connected point is reduced to the maximum extent on the premise of no overload; the method comprises the following steps: firstly, constructing a real-time harmonic detector based on a cascade generalized integrator; secondly, an inverter impedance model is established from the aspect of impedance stability, and a control parameter stability boundary is determined; then, a self-adaptive harmonic control strategy is introduced into the single-inverter grid-connected system, and a reasonable parameter setting method is provided on the basis of considering stability limitation; afterwards, a capacity-matched harmonic power distribution algorithm is provided for a multi-inverter parallel system, and the efficiency and operation stability of a photovoltaic grid-connected power generation system are improved.

The invention relates to an energy storage converter control method and system based on variable universe fuzzy PID. A double-second-order generalized integrator accurately tracks and locks a grid-connected voltage amplitude and a phase; the data acquisition module takes the deviation e and the deviation change rate ec as input signals; the control domain module obtains an input scaling factor alpha (x) and an output scaling factor beta (x) according to an input signal; and the fuzzy control module performs fuzzy domain processing on the input signal to obtain error values delta kp, delta ki and delta kd of PID parameters. And the PID control module adjusts the alternating current side power. Through the arrangement, the phase and the amplitude of the power grid are accurately locked by adopting the double-second-order generalized integrator phase-locked loop, and meanwhile, the output power of the energy storage system is quickly adjusted to tend to a stable value. And meanwhile, adaptive adjustment of PID parameters is realized by applying a fuzzy reasoning method, dynamic and stable control of the power grid in a complex environment is realized by using fewer parameters, and a constant-power discharge effect of the energy storage system is realized.

A flexible direct-current fault ride-through control method and apparatus, a storage medium, and a device, which relate to the technical field of power system control. The method comprises: acquiring an alternating-current side terminal voltage of a converter valve and an externally transmitted power of a flexible direct-current converter station; if the alternating-current side terminal voltage is lower than a low-voltage ride-through threshold, triggering low-voltage ride-through, and acquiring an active power instruction value during a fault period; determining a second integrator coefficient during the fault period according to the difference between the active power instruction value and the externally transmitted power; switching an integrator coefficient of a voltage outer-loop controller from a pre-fault first integrator coefficient to the second integrator coefficient; the difference between the active power instruction value during the fault period and the externally transmitted power having a negative correlation relationship with the second integrator coefficient; acquiring an alternating-current side terminal voltage in real time; and if the real-time value of the alternating-current side terminal voltage is higher than the low-voltage ride-through threshold, executing fault recovery, and switching the integrator coefficient of the voltage outer-loop controller to the first integrator coefficient. The present application can improve the stability of an isolated island system that transmits new energy by means of flexible direct current.

The invention discloses a cross-domain cluster system distributed safety formation control method in an urban interference environment, and the method comprises the steps: constructing a distributed elastic observer to estimate the state of a virtual leader, and providing a formation output reference for cooperative formation tracking control; the augmentation system of the air-ground unmanned cluster system is constructed by combining the state data of the distributed elastic observer and the state data of the air-ground unmanned cluster system, and a control gain matrix is constructed by using a feedforward-feedback control method. Initial excitation is applied to an augmentation system of the air-ground unmanned cluster system, when operation time meets an initial excitation condition, state data of operation of the air-ground unmanned cluster system is collected, optimal formation tracking control is determined by using an online double-integrator reinforcement learning method, and optimal formation tracking control of the air-ground unmanned cluster system is realized. According to the method, the optimal safe formation tracking control of the cross-domain air-ground unmanned cluster system can be realized under the conditions that the dynamic model of the system is unknown and the distributed denial of service is attacked.

The invention discloses a mass spectrometer electrometer based on a capacitance integrator, and belongs to the technical field of electrometers. Comprising a capacitance integrator, the capacitance integrator is connected with a voltage holding circuit, the voltage holding circuit is connected with an acquisition control circuit and an amplification circuit, and the amplification circuit is connected with the acquisition control circuit; and the acquisition control circuit controls electric signals input into the capacitance integrator, the voltage holding circuit and the amplifying circuit through an I / V conversion control method, so that I / V conversion is completed. The capacitance integration is used for completing I / V conversion, the problem of high-resistance forbidding can be solved, meanwhile, compared with high-resistance conversion, the capacitance integration is adopted, the temperature stability of the electrometer is improved, and noise is reduced.

The invention discloses a discrete time increment type analog-to-digital converter and a control method thereof, the analog-to-digital converter comprises a modulator and a digital filter, and the modulator comprises an integrator module, a single-bit quantizer, an FIR feedback digital-to-analog converter, a first compensation path and a second compensation path. The control method comprises the following steps: carrying out noise shaping processing on an input signal and an output signal of a single-bit quantizer to obtain a preliminary output signal; and the digital filter is used for filtering the preliminary output signal to obtain an output signal of the analog-to-digital converter. According to the analog-to-digital converter, hardware consumption and digital power consumption can be reduced, the conversion precision of the analog-to-digital converter is improved, and the signal distortion degree of the analog-to-digital converter is reduced. The circuit can be widely applied to the technical field of mixed signal circuits.

The invention provides an energy storage converter low-voltage ride-through control method and an energy storage converter, and relates to the field of low-voltage ride-through control, and the method comprises the steps: obtaining a three-phase line voltage of a power grid; based on the three-phase line voltage, calculating a coordinate transformation angle by using a phase-locked loop method of a second-order generalized integrator to obtain a first coordinate transformation angle; based on the three-phase line voltage, calculating a coordinate transformation angle by using a phase-locked loop method of BC phase line voltage zero crossing point detection to obtain a second coordinate transformation angle; calculating an absolute value of a difference value between the first coordinate transformation angle and the second coordinate transformation angle to obtain a transformation angle difference value; judging a power grid voltage drop condition; and determining a target coordinate transformation angle and target reactive current positive sequence and negative sequence component given values according to the power grid voltage drop condition and the transformation angle difference value. According to the method provided by the invention, the low-voltage ride-through requirements under different power grid voltage drop conditions can be met, and the low-voltage ride-through capability and the system stability of the energy storage converter are improved.

A dual path PLL provides excellent output phase stability over PVT variations, without implementing a high accuracy TDC. A digital integral path employs a binary phase detector, comparing the reference and feedback signals, and an integrator to generate an oscillator control input to lock the long-term output phase to the reference signal. An analog proportional path employs a linear (e.g., edge triggered) phase detector and a charge pump and filter to generate an oscillator control input to mitigate phase noise in the output signal. The feedback signal to the proportional path is delayed, which has the effect of increasing the width of phase error pulses, and moving the charge pump operating point away from the zero point where it generates both positive and negative currents, which are difficult to match. A second linear phase detector in the proportional path compensates for the increased phase error pulse width by comparing the delayed and non-delayed feedback signals, and generating pulses in the opposite direction.

The invention provides a dynamic residual amplification circuit based on charge sampling, and relates to the technical field of integrated circuits, the dynamic residual amplification circuit comprises an integrating circuit, a logic circuit, a charge pump and a zero-cross detection circuit, the integrating circuit is connected with the logic circuit and the zero-cross detection circuit, the integrating circuit converts a sampled input differential signal into a constant current, and the constant current is connected with the charge pump. The output node is continuously charged or discharged, so that the input differential signal is converted into a current integral quantity; the zero-cross detection circuit monitors the output voltage of the integrating circuit in real time, and when the output voltage is greater than or equal to the common mode voltage VCM, the moment when the output voltage is equal to the common mode voltage VCM is converted into a digital clock edge; the logic circuit is connected with the charge pump and outputs digital pulses to the charge pump according to the digital clock edge so as to control the reset time sequence of the whole dynamic residual amplification circuit; the charge pump is configured to output a residual voltage modulated by the digital pulse in response to the digital pulse. The application helps to improve the linearity of the residual signal.

The invention discloses a carrier rocket application-oriented adaptive augmented controller frequency domain analysis method, which comprises the following steps of: further simplifying a nonlinear damping module of an improved AAC controller to obtain a frequency domain model of the AAC controller, inputting a sine characteristic signal into the frequency domain model to obtain an analytical solution of an output value of the AAC controller, and removing high-order harmonics from the analytical solution to obtain a frequency domain model of the AAC controller. Obtaining an output signal with the same frequency band as the input signal; frequency domain response of an integrator at a low frequency band is used as an integral filter to simplify an output signal, and a linear part of a result is used as a frequency domain analysis model of the AAC controller; the precision and the application range of the AAC controller frequency domain analysis model are evaluated through a frequency sweep test, and the application range of the AAC controller is given; the obtained AAC controller frequency domain analysis model is integrated into a carrier rocket control model, and the frequency domain margin of a carrier rocket control system is improved at high frequency and low frequency by adjusting control parameters.

The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a diagnosis-free adaptive fault-tolerant control method and system for a six-phase permanent magnet synchronous motor under an open-circuit fault, and discloses the following steps: S1, converting the voltage and current of the six-phase permanent magnet synchronous motor from a three-phase static coordinate system to a two-phase static coordinate system through Clark conversion, voltage and current in the two-phase static coordinate system are converted into a two-phase synchronous rotating coordinate system through Park conversion; s2, acquiring a current relation between q-axis current of the six-phase permanent magnet synchronous motor and the two-phase static coordinate system according to the two-phase synchronous rotating coordinate system, and further acquiring two-phase static coordinate system reference current for realizing fault tolerance under an open-circuit fault; and S3, optimizing the control signal of the reference current through a phase-locked loop of a second-order generalized integrator. According to the method, diagnosis-free adaptive fault-tolerant control under the open-circuit fault of the six-phase permanent magnet synchronous motor can be realized, and the problems of misdiagnosis and time delay are reduced.

The invention discloses an equivalent circuit of a second-order magnetic control memristor and a chaotic circuit, and belongs to the field of memristors, a first resistor in the equivalent circuit can simulate the resistance characteristic of the second-order magnetic control memristor, a power supply can provide voltage, an integrator can integrate the output voltage of the power supply and generate a magnetic flux characterization signal, and the magnetic flux characterization signal is used for representing the magnetic flux. The multiplier can multiply the output voltage of the power supply by the magnetic flux characterization signal, so that the current meeting the target characteristic (the voltage and current characteristic of the second-order magnetic control memristor) is generated in the equivalent circuit, namely, the equivalent circuit of the second-order magnetic control memristor has the resistance characteristic of the second-order magnetic control memristor. The equivalent circuit is simple in structure, so that the size and the implementation cost of the equivalent circuit are reduced.

The invention discloses a fault diagnosis method for an oil-immersed current transformer under an extremely small sample condition. According to the method, in the aspect of data preprocessing, data of a source domain and data of a target domain are loaded, and the data are prepared through a data standardization and ANOVAF feature selection method; in the aspect of core evaluation, target domain leaving-one cross validation is adopted, in each compromise, for each sample of a target domain, a feature weighting strategy and a target random oversampling method for a specific rare category are used, and a proper integrator is selected for training according to the type of a test sample; in the aspect of model training, a collector is combined with a simplified domain adaptive neural network and various traditional machine learning classifiers to perform hybrid integration, adversarial training between a source domain and a target domain is realized through a gradient inversion layer, and meanwhile, a prototype network is adopted to perform few-sample learning; and finally, calculating and summarizing each performance index. According to the invention, an effective method is provided for fault diagnosis of the current transformer.

The invention relates to an integrator circuit for eliminating thermal noise and a Delta-sigma modulator, and belongs to the technical field of electronic signal processing, the modulator comprises at least two stages of integrators, a quantizer, a feedback DAC and an adder; the integrator comprises an integrator circuit, and the integrator circuit comprises a sampling module for sampling an input signal source; the double-path multi-phase clock control pre-amplification auxiliary storage circuit module alternately samples and stores thermal noise voltage and offset voltage; the integral amplifier is used for amplifying a signal output by the double-path multi-phase clock control pre-amplification auxiliary storage circuit module; and the integrating capacitor is connected between the integrating amplifier and the two-way multi-phase clock control pre-amplification auxiliary storage circuit module, and feeds back the signal after integration processing to the two-way multi-phase clock control pre-amplification auxiliary storage circuit module to realize signal modulation and noise shaping. The thermal noise introduced in the sampling process is effectively reduced, and the area of the whole chip is reduced while the signal-to-noise ratio is improved.

The invention provides a VCO digital circuit control method and system with temperature compensation, and relates to the technical field of circuit control, and the method comprises the steps: obtaining VCO output frequency and real-time temperature, and calculating an initial frequency deviation; correcting the frequency deviation based on the temperature compensation coefficient, and generating a temperature-frequency deviation characteristic curve; an optimal compensation factor is determined through Monte Carlo sampling; calculating a compensation parameter adaptive weight by using Bayesian iteration, and dynamically adjusting a compensation factor; and a control signal is generated through the digital integrator to realize frequency calibration. According to the invention, the high-precision frequency stability of the VCO under the temperature change condition is realized, and the circuit reliability is improved.

The invention provides a diagnosis method and system suitable for magnet current in a quasi-ring symmetrical star simulator, and relates to the technical field of star simulators, and the method comprises the steps: setting a target voltage range, and finally outputting the mutual inductance coefficient, total number of turns and sectional area parameters of a coil; utilizing an electromagnetic induction conversion algorithm to generate an original measurement signal; an original measurement signal is input into an integrator through a shielded wire to obtain a proportional voltage which is strictly proportional to the current, and the proportional voltage is transmitted to a data acquisition interface; performing analog-to-digital conversion on the proportional voltage received by the acquisition interface to generate a discrete sequence, calculating a conversion coefficient by combining a target mutual inductance coefficient and a fixed time constant, and finally restoring a digital current signal; and inputting the digital current signal to an upper computer to realize dynamic waveform display, and outputting key boundary parameters to a plasma experiment module. The method has the advantages that the method can adapt to complex changes of magnet current, and enough measurement precision and response speed can be provided in a low-parameter experiment.

A digital microphone includes at least one integrator; a state detection and parameter control component directly coupled to an output of the integrator; and a signal processing component coupled to an output of the state detection and parameter control component, wherein a parameter of the signal processing component includes a first value in a first operational mode and a second value in a second operational mode different from the first operational mode.

Aspects of the disclosure provide an integrated circuit. The integrated circuit includes an ADC with a continuous time integrator. The continuous time integrator includes an amplifier having an amplifier input and an amplifier output, a capacitor coupled between the amplifier input and the amplifier output, and a resistor. The resistor provides a first current for an integration in response to an analog input. The ADC also includes a DAC configured to generate a second current at an DAC output based on a digital output of the ADC and includes a switch circuit with a first switch circuit terminal coupled with the DAC output and a second switch circuit terminal coupled with the amplifier input. The switch circuit is configured to couple the DAC output with the amplifier input for a summation of the second current with the first current for the integration based on an integration control signal.

The invention relates to a full-dynamic exponential increment type low-delay high-precision analog-to-digital converter, which comprises a loop integrator used for receiving an ith-round input signal, and sequentially performing addition processing and integration processing on the ith-round input signal and a feedback signal calibrated by an (i-1) th round to obtain an ith-round integration signal; the first-order exponential increment error feedback noise shaping SAR quantizer is used for carrying out addition processing and multi-bit quantization on the ith round integral signal and the double (i-1) th round residual signal to obtain an ith round quantization signal; the digital-to-analog conversion module is used for sequentially performing format conversion, mismatch calibration and digital-to-analog conversion on the (i-1) th round of quantized signals in the process of processing the ith round of input signals to obtain feedback signals after the (i-1) th round of calibration; and the digital decimation filter module is used for carrying out digital filtering and down-sampling processing on the ith-round quantized signal to obtain an ith-round Nyquist rate output signal. The system can realize higher significant digits in shorter conversion time.

The invention discloses a six-degree-of-freedom multi-spacecraft control experiment platform and method based on semi-physics-virtuality, belongs to the technical field of spacecraft system and control system simulation, and constructs a multi-spacecraft system composed of semi-physics spacecrafts and pure virtual spacecrafts. The attitude of the semi-physical spacecraft is simulated by a simulator mounted on a three-dimensional attitude air floating table, is acquired by a sensor and is converted into a rotation matrix form, and a translation part of the semi-physical spacecraft is virtually calculated through a simulation integrator; the pose of the virtual spacecraft is virtually simulated by an SE (3) integrator with high-guarantee geometric characteristics; the system takes the ROS as a communication framework, and realizes state and instruction release by adopting a custom message; and ensuring that the time system of each spacecraft is consistent with the real time through a time synchronization mechanism. The platform supports cooperative operation of a semi-physical spacecraft and a pure virtual spacecraft, and has the characteristics of flexible structure, high simulation precision and good expandability.

The invention provides a grid-connected inverter stability control method and system suitable for an extremely weak power grid, and the method comprises the steps: adding a reactive power synchronization link in a phase-locked loop of a grid-connected inverter control system for an extremely weak power grid environment; the additional reactive power synchronization link comprises the following steps: acquiring a reactive power measurement value of the inverter and a set reactive power reference value, and calculating a difference value; the difference value is input into a proportional controller or a proportional-integral controller, and the angular frequency variable quantity is output; superposing the angular frequency variation to the angular frequency output by the phase-locked loop; and outputting a synchronous phase angle of the phase-locked loop through an integration link of the integrator. The reactive power synchronization link is added in the phase-locked loop of the grid-connected inverter control system under the extremely weak power grid environment, so that the oscillation stability of the grid-connected inverter is remarkably improved under the extremely weak power grid condition, the original control structure is slightly changed, the basic dynamic performance of the grid-connected inverter is not influenced, and the method is suitable for large-scale popularization and application. And a powerful guarantee is provided for safe and reliable operation of a new energy power generation system.

The present invention discloses a fault prediction model, method, device and medium for a cooling device of a numerically controlled machine tool, including: an input feature extractor for extracting spatial features of operation data of the cooling device of a numerically controlled machine tool; a data fusion unit for fusing the operation data and the spatial features to obtain the current hidden state; a dynamic feature analyzer for estimating the evolution trend of the operation data according to the hidden state, a comprehensive feature integrator for adaptively fusing the results of different features output by the dynamic feature analyzer, and a final prediction output generator for converting the fused hidden state into a specific prediction output. The probability of failure of a numerically controlled machine tool can be predicted, thereby achieving preventive maintenance and improving production efficiency and equipment service life.

The invention provides a three-phase grid-connected phase-locked loop two-stage filter and a filtering method thereof, and belongs to the related technical field of effective detection and extraction of power grid voltage phase signals. The invention provides a three-phase grid-connected phase-locked loop two-stage filter and a filtering method thereof in order to solve the problem that a traditional phase-locked loop filter cannot completely filter harmonic waves and direct-current offset voltage due to insufficient filtering capacity under a non-ideal power grid condition. In order to enhance the anti-interference capability of a phase-locked loop filter, the invention designs a mixed-order generalized integrator and constructs a double-mixed-order generalized integrator. Meanwhile, the double-mixed-order generalized integrator serves as a first-stage filtering unit, and a Parker transformation unit and a comb filter are introduced to serve as a second-stage filtering unit, so that a double-stage filter is formed through combination. By applying the filtering method in the phase-locked loop, it is proved that the method can effectively filter interference in a power grid. The method is mainly used for the grid-connected phase-locked loop filtering process under the non-ideal power grid condition.

A system and method for measuring mutual inductance between adjacent first communication transmission line and second communication transmission line is disclosed. The system includes a mutual inductance measurement circuit that includes a coupling generator which biases the first communication transmission line with a current ramp signal; a sample and hold circuit which captures an induced voltage on the second communication transmission line using a switched capacitor storage element; a switched capacitor integrator configured to integrate the induced voltage onto an output voltage node; and a comparator configured to switch states once the switched capacitor integration has surpassed a reference trippoint.

A comparator compares a differential voltage between a voltage to be converted as an analog input voltage and a comparative voltage generated by a D / A converting unit with a comparison reference voltage. A switching circuit selectively connects a capacitor, associated with the analog input voltage selected as the voltage to be converted, to an output terminal of an integrator. The integrator integrates the differential voltage in a state where an A / D converting section has performed conversion operation on a least significant bit. A comparison reference voltage generating unit uses, as the comparison reference voltage, a charge voltage for the capacitor associated with the analog input voltage selected as the voltage to be converted.

The invention discloses a motor adaptive harmonic suppression system and method fused with LSTM prediction, and belongs to the technical field of power electronic control. Comprising a harmonic feature extraction module, a trapezoidal angle prediction module, an integral adjustment module and a trapezoidal voltage compensation module. The harmonic feature extraction module converts the three-phase current into dq-axis current; the trapezoidal angle prediction module establishes a model for predicting an optimal initial trapezoidal angle based on a long short-term memory neural network according to the d-axis harmonic current, the motor rotating speed and the bus voltage; the integral adjusting module adjusts a trapezoidal angle on line by inputting a harmonic error; and the trapezoidal voltage compensation module is used for modulating trapezoidal compensation voltage and outputting compensation voltage required by an alpha axis and compensation voltage required by a beta axis. According to the invention, prediction of the long-short-term memory neural network and online adjustment of the trapezoidal angle and modulation of the trapezoidal compensation voltage of the integrator are fused, the harmonic current of the permanent synchronous motor control system can be effectively inhibited, the torque ripple of the motor is reduced, and the performance of the motor is improved.