1063 results about "Speed regulator" patented technology

The invention relates to the technical field of power generation equipment control, and discloses an intelligent control method and system for a hydroelectric generating set speed regulator, and the method comprises the steps: employing an introduction variable structure and variable parameter control technology, and dynamically adjusting the control parameters of a power closed loop and an opening closed loop; real-time calculation and feedback control are carried out, and a speed regulator responds to a power grid frequency modulation Operating data of key parts of the speed regulator are collected in real time through a sensor, feature extraction and mode recognition are conducted on the data in combination with an artificial intelligence algorithm, and the operating state and potential faults of the speed regulator are recognized; constructing a fault tree model based on the speed regulator state monitoring parameters, carrying out hierarchical analysis on the speed regulator, and positioning the specific position and reason of the fault; and verifying and optimizing the fault diagnosis result, and generating a targeted fault processing suggestion. The system comprises a dynamic adjustment module, a state evaluation module and a fault analysis module. According to the invention, the operation efficiency and safety of the hydroelectric generating set speed regulator in a complex power grid environment are obviously improved.

The invention discloses an optimization control method and system for an ultra-large fan intelligent speed regulator, and relates to the technical field of fan intelligent control, and the method comprises the steps: obtaining the current operation environment parameters of a fan, including but not limited to a wind speed signal, a motor input current, a voltage, a power factor, a rotating speed, an environment temperature and atmospheric pressure; monitoring whether the wind speed fluctuation amplitude exceeds a set threshold or not in a continuous sampling period; judging whether the current system enters a critical hysteresis zone state or not, wherein the critical hysteresis zone state is a working condition when the wind speed data of the sensor does not have stability and fan output has current fluctuation abnormity and a differential pressure rapid change trend; when the system enters a critical hysteresis zone state, the collected wind speed signal is paused as a speed regulation basis, an air volume estimation model based on current, voltage, rotating speed, temperature, humidity and air pressure is constructed, and equivalent air volume is output as a pseudo feedback signal; the problem that the fan speed regulation accuracy and the system stability are reduced in the plateau low-pressure environment is solved.

The invention provides a self-adaptive algorithm and system for improving frequency measurement precision and response speed of a speed regulator. The method comprises the following steps: Step 1, signal acquisition and preprocessing; step 2, dynamically adjusting filtering parameters, and suppressing power grid signal noise; 3, extracting frequency characteristics in real time, and improving the frequency measurement resolution; 4, a synchronous clock is adopted as a reference frequency source, a clock reference value is periodically and automatically corrected, and long-term drift is eliminated; 5, a nonlinear dynamic model of the hydroelectric generating set is constructed, the nonlinear relation between the valve opening degree and output of the speed regulator is compensated in real time, and the frequency modulation precision is improved; and step 6, outputting the instantaneous frequency. According to the scheme, through the self-adaptive frequency measurement algorithm, high-precision clock calibration, a hardware acceleration mechanism and a nonlinear compensation strategy, a multi-dimensional optimization system is constructed, high-precision frequency measurement is carried out, a rapid effect can be achieved, and a hydroelectric system has long-term stability and high adaptability.

A hydroelectric generating set AGC and primary frequency control adjustment collaborative control method, comprising: introducing a governor primary frequency control action guide vane control deviation YPFC into a monitoring system of a hydroelectric generating set, incorporating the corresponding relationship between active power and guide vane opening under different working heads of the hydroelectric generating set into an AGC power control algorithm, performing AGC to track real-time the working head of the set and performing power-guide vane opening conversion and guide vane opening-power conversion on the basis of the working head of the hydroelectric generating set. The function of hydroelectric generating set AGC and primary frequency control in stabilizing the system load frequency can be fully but not excessively exerted. By means of the method, the function of AGC and primary frequency control in ensuring safe and stable operation of the system can be fully exerted, and faster adjustment of the unit can be achieved, thereby reducing guide vane servomotor fluctuation and active power frequency fluctuation during AGC and primary frequency control, reducing the operational intensity of control machinery of the set and the consumption of governor operating oil pressure, significantly reducing the maintenance costs, and reducing the risk of active power frequency oscillation in the system.

The invention discloses a power system load frequency control method considering disturbance compensation and a related device, and belongs to the technical field of power system regulation and control. The method comprises the following steps: respectively carrying out frequency modulation characteristic analysis on a speed regulator, a prime mover and a generator-load of the power system, and establishing a subsystem nominal model of the multi-region interconnected power system; designing a disturbance observer to observe external unknown disturbance to obtain a disturbance estimation value, and further obtaining a subsystem load frequency control model containing disturbance compensation information; based on a distributed model prediction control strategy, a distributed model prediction controller considering disturbance compensation is designed according to the subsystem load frequency control model containing the disturbance compensation information; when a certain area in the interconnected power system is disturbed, the frequency deviation of each sub-area is adjusted to be zero through a distributed model prediction controller considering disturbance compensation, and it is ensured that power exchange between connecting lines in the sub-areas and the interconnected areas of the connecting lines is kept in a zero steady state.

The invention provides a hydrometeorological unmanned ship based on a visual inertia laser radar and an SLAM navigation method thereof.The unmanned ship comprises a ship protection cover, a ship shell, the laser radar, a depth camera, an IMU module, an intelligent development board and the like, and the laser radar, the depth camera and the IMU module are connected with the intelligent development board; the unmanned ship further comprises a Beidou positioning module, a sensor module, an STM32 driving board, a brushless motor driving module and an electronic speed regulator, the unmanned ship can achieve precise positioning and path planning of a ship body, environment monitoring and sampling and has the functions of automatic cruise, obstacle avoidance and the like, laser radar information and binocular vision IMU attitude estimation are fused through tight coupling, and the navigation precision is improved. According to the SLAM front-end attitude estimator, a VILO front-end attitude estimator is formed, and laser radar observation is added to further limit the attitude, so that the accuracy and robustness of the SLAM front-end attitude estimator in indoor and outdoor environments are improved.

The invention discloses a hydraulic turbine set governor internal oil leakage detection method and system, and the method comprises the steps: S1, obtaining the historical oil leakage state data of a hydraulic turbine set governor oil pressure device, and building the oil leakage risk evaluation data of the oil pressure device; s2, preprocessing the oil leakage risk assessment data of the oil pressure device to obtain an oil leakage risk assessment data set; s3, constructing an oil leakage comprehensive prediction model according to the oil leakage risk assessment data set; and S4, detecting the oil leakage amount of the target hydraulic turbine set speed regulator through the oil leakage comprehensive prediction model, constructing an oil leakage comprehensive prediction model by collecting historical oil leakage state data of the hydraulic turbine set speed regulator oil pressure device, and calculating the oil leakage amount of the target hydraulic turbine set speed regulator by searching the weight and the threshold of the minimum error of the BP neural network real oil leakage amount and the prediction output result. According to the method, the accuracy of predicting the predicted oil leakage amount of the target hydraulic turbine set speed regulator is improved, workers do not need to conduct field detection in the process, and the time and energy of the workers are greatly saved.

The utility model provides a powder assembly production line for eye shadow production, which comprises a support, a conveying mechanism arranged on the support, a plurality of eye shadow boxes arranged on the conveying mechanism in a linear array, and a plurality of powder assembly work stations arranged along one side of the conveying mechanism in a linear array. The powder assembling work station comprises a cabinet, a mechanical arm mechanism arranged in the cabinet, a conveying assembly arranged close to the mechanical arm mechanism and an upper computer arranged on the cabinet, and eye shadow powder blocks are arranged on the conveying assembly; the conveying mechanism is controlled through a speed regulator, the conveying assembly is controlled through a PLC, the mechanical arm mechanisms are all connected to the upper computers through doMot ion controllers, and the conveying mechanism and the upper computers are all connected to the main computer. According to the powder combining production line for eye shadow production, eye shadow powder blocks of different colors and types can be automatically placed in the eye shadow box, time and labor are saved, the production efficiency is greatly improved, and the production cost is reduced.

The invention belongs to the field of control of electric vehicles, and discloses a compatible control device and method for stable micro-motion and quick start of a sightseeing vehicle. A vehicle feedback speed value and an accelerator given speed value are collected in real time; the accelerator given speed value after acceleration rate limiting processing is output as a motor correction speed value; the feed-forward curve processes the accelerator given speed value and the rotating speed deviation value to obtain a motor control signal, and the smaller one is taken as a feed-forward control signal to be input into a speed regulator; after the rotating speed deviation value is adjusted through PI parameters of the speed adjuster, the rotating speed deviation value serves as a compensation control signal to be overlapped with the feed-forward control signal to control the motor, so that when the vehicle runs at a low speed, the feed-forward control signal plays a small role, the smaller PI parameters and the compensation control signal set in the speed adjuster play main roles, and when the vehicle runs stably and needs to be started quickly, the motor is controlled. The feed-forward control signal plays a major role, and the vehicle can be quickly started, so that the vehicle can be quickly started while meeting stable micro-motion.

The invention provides a driving structure of a crawler belt of a stretcher crawler, and belongs to the technical field of the stretcher crawler, the driving structure of the crawler belt of the stretcher crawler is provided with a dual-driving system, and a crawler belt assembly surrounds two driving wheels and a supporting wheel to form a complete transmission path. Crawler tension changes can be detected in real time, and the rotating speed of the second driving motor can be automatically adjusted. When the front-section resistance of the track is increased, the tension detection device senses the change, and the mechanical speed regulator reduces the rotating speed of the second driving wheel through the centrifugal block and the transmission gear set to form a rotating speed difference to increase the front-section tension of the track so as to provide larger traction force. The whole system follows the constraint relation that delta n = n1-n2 = k * delta T + C, it is ensured that the rotating speed difference linearly corresponds to the tension change, and accurate dynamic adjustment of the crawler tension is achieved through coordinated operation of the double driving wheels.

Systems and apparatus are provided for a high-power microwave sensor using an unmanned aerial vehicle. The unmanned aerial vehicle may include a central body, at least one electric motor, and a barometric pressure feedthrough. The central body may include a first enclosure housing a plurality of low voltage components, a voltage feedthrough connector, and a second enclosure housing a plurality of high voltage components. The low voltage components may include a first signal processing system, a first radio transceiver, a flight controller, a second signal processing system, a second radio transceiver, and a navigation system. The high voltage components may include a plurality of electronic speed controllers, a power distribution module, an input power interface, and a plurality of high power filters. The components of each enclosure may be segregated such that the high voltage components do not create electromagnetic interference with the low voltage components.

Methods, systems, and apparatus for a speed regulator. A casing comprises a plurality of flat shutters, the casing configured to protrude in an extended configuration and to lay flat in a retracted configuration. A plurality of plates are configured to rotate between the extended configuration and the retracted configuration, and configured to configure the plurality of shutters in the extended configuration and the retracted configuration.

The invention relates to an electro-hydraulic speed regulator testing device, and relates to the field of diesel engine speed regulator testing equipment, the electro-hydraulic speed regulator testing device comprises a speed regulator testing table for driving an output shaft of a to-be-tested piece to rotate, the speed regulator testing table is provided with a torque loading motor, and a motor shaft of the torque loading motor is opposite to the to-be-tested piece. A motor shaft of the torque loading motor is oppositely connected with a to-be-tested piece through a torque connecting assembly, the torque loading motor loads the to-be-tested piece, one side of the speed regulator test bench is provided with a control assembly, and the control assembly is in signal connection with the torque loading motor and the to-be-tested piece. The device can shorten the time for assembling the device on a diesel engine to carry out a reliability test so as to save the cost; and corresponding test parameters can be configured according to actual application working conditions, so that the developed durability and reliability test is closer to the actual application working conditions.

The application provides a permanent magnet eddy current governor for constant torque load heavy load starting and a control method thereof, and belongs to the technical field of permanent magnet eddy current transmission speed regulation. The permanent magnet eddy current governor comprises a conductor cylinder, a magnet disc, a transmission shaft and a magnet disc axial traction mechanism. The conductor cylinder is connected with a motor input shaft, the inner wall of the conductor cylinder is fixed with two groups of annular conductor sleeves, the annular conductor sleeves are divided into starting zones and rated working zones in the axial direction, and the two groups of starting zones are separated by an idle zone. The transmission shaft passes through the rear end of the conductor cylinder, the front end is located in the conductor cylinder, and the rear end is connected with a load output shaft. The magnet disc is installed on the shaft rod of the transmission shaft located in the conductor cylinder, and the outer ring surface of the magnet disc is uniformly distributed with permanent magnets. The magnet disc axial traction mechanism is used for driving two magnet discs to synchronously approach or move away from the center of the idle zone. The application can be used for motor idle starting, heavy load controllable starting, load balancing, speed regulation operation and unloading overload protection of constant torque load.

The invention discloses a flow cooperative operation control method for cascade hydropower stations in series connection, which comprises the following steps of: responding to a planned load adjustment instruction from a power grid, obtaining unit guide vane opening degrees in a stable state by a load distribution method of each unit based on a cascade hydropower station flow cooperative principle, and taking the unit guide vane opening degrees as target guide vane opening degrees; then the current unit guide vane opening degree is opened / closed to the target guide vane opening degree in a linear mode; or unplanned load disturbance from a user side is responded, a proportional regulation module is added in the PID speed regulator, and the opening degree of the guide vane of the unit is regulated in real time according to the flow deviation of the upper-level hydropower station and the lower-level hydropower station, so that the output of the unit is regulated. The method is used for maintaining the flow collaboration among the cascade power stations after planned load adjustment / unplanned micro load disturbance occurs in the cascade power stations, and it is guaranteed that the power stations can meet the requirement for flow collaboration during normal operation.

The invention provides a magnetic energy circulation type lotus rotary opening device which comprises a base, a rotary disc, a vertical shaft, a plurality of lotus petals, a direct-current motor and a control circuit. The direct-current motor is arranged in the base, the output end of the direct-current motor is connected with the vertical shaft, and the upper portion of the vertical shaft is fixedly connected with the rotary disc. The control circuit comprises a phase-change switch K2, a speed regulator TS, a battery E0 and a carbon brush, the input end of the speed regulator TS is connected with the battery E0, the output end of the speed regulator TS is connected with a direct current motor through the phase-change switch K2, the output end of the direct current motor is connected with the carbon brush, and the electric push rod is connected with the wiring ends S1 and S2 of the carbon brush through a slip ring. The direct-current motor is adopted to drive the vertical shaft, so that the lotus petals rotate at a low speed, the push rod is linked with the pull rod to slowly open and close the lotus petals, a fixed shape is changed into a movable shape, and the ornamental value and interestingness are increased.

The invention relates to the technical field of mechanical equipment monitoring and diagnosis, in particular to an analysis method and system for intelligent early warning of a speed regulator oil pressing device. The method comprises the following steps: collecting oil pressure, oil temperature and flow data of a speed regulator oil pressing device in real time; performing mode matching of real-time data by using a dynamic time warping method, detecting local abnormal data in combination with a local abnormal factor algorithm, identifying abnormal conditions of the device, and introducing a feedback loop to dynamically adjust a mode matching threshold value; according to a damped oscillation model principle, an oil pressure and flow dynamic model is constructed, relative changes of oil pressure and flow are analyzed, and device faults are analyzed in combination with system energy loss and a damping effect; and calculating a fault occurrence probability, carrying out grade division on risks, and generating early warning information. According to the intelligent early warning analysis method and system for the speed regulator oil pressing device, a dynamic time warping and local abnormal factor algorithm is introduced, and a damped oscillation model and a dynamic coupling model are combined to accurately early warn a fault.

The invention discloses a new energy minimum inertia demand calculation method for a power system. The method comprises the following steps: acquiring data information of a target power system; performing equivalence on a speed regulator and a prime mover model of each generator set in the target power system; constructing a new energy minimum inertia demand mathematical model considering the lowest frequency point of the target power system; and calculating the minimum inertia demand value of the new energy of the target power system based on the constructed mathematical model. The invention also discloses a system for realizing the new energy minimum inertia demand calculation method for the power system. According to the method, through system equivalence and model construction, calculation of the minimum inertia demand of the new energy of the power system is achieved, the optimization problem can be conveniently embedded and implemented, and the method is high in reliability, good in accuracy, convenient to apply and high in efficiency.

The invention discloses an unmanned aerial vehicle anti-wind disturbance controller and a control method, and belongs to the technical field of unmanned aerial vehicle flight control. The method runs on an independent processing module which is connected in series between a main flight controller and an electronic speed regulator of the unmanned aerial vehicle, a dynamic reference is constructed by collecting motor current in real time, deviation is calculated, and wind disturbance equivalent disturbance torque is estimated in a prospective mode through a third-order linear extended state observer (LESO) with bandwidth parameterization design; in combination with a'user operation state + flight mode 'two-dimensional intelligent decision compensation strategy, a'look-ahead wind resistance + attitude backup' dual-redundancy channel is matched, so that the wind disturbance is compensated in advance, and the flight stability in a complex scene is ensured. A corresponding controller adopts a standardized independent hardware design, the adaptability is high, the integration cost is low, and the method can be widely applied to high-precision operation scenes of various multi-rotor unmanned aerial vehicles.

The system comprises a main distributing valve displacement sensor, a guide vane displacement sensor, a servo valve feedback signal detection device, a unit frequency detection device and a speed regulator, and the speed regulator comprises a CPU module and an analog quantity input module. Wherein the CPU module pre-writes corresponding no-load opening degrees of a unit under different water heads, and is used for carrying out main and distribution operation refusing fault judgment according to each received analog quantity input signal; and under the conditions that the unit frequency is larger than a preset frequency threshold value, the main distributing displacement signal is larger than a signal corresponding to the middle position of the valve element, the feedback signal of the proportional servo valve is smaller than a closing action signal, and the opening degree of the guide vane is larger than the corresponding no-load opening degree under the current water head, it is judged that the main distributing valve refusal operation fault occurs. According to the system, the main distribution refusing fault can be accurately judged, the signal false alarm risk is reduced, and the accuracy, reliability and intelligence of main distribution refusing judgment are improved.

The invention discloses an intelligent early warning method, system, equipment and medium for a speed regulator oil pressing device of a hydropower station, and belongs to the technical field of intelligent early warning of speed regulators of hydropower stations. Calculating the total oil amount of the oil pressing system according to the liquid level data and the cross sectional area of the corresponding oil storage equipment; recording the change data of the total oil amount in the monitoring period to form an oil amount historical curve; comparing the total oil amount change of the current time period with an oil amount historical curve; when the reduction of the total oil amount in the current time period relative to the reference value of the oil amount historical curve exceeds a judgment threshold value, judging that an oil leakage condition exists and generating early warning information; wherein the judgment threshold values are respectively set according to different operation conditions of the speed regulator oil pressing device. According to the invention, the oil leakage condition of the hydropower station governor oil pressing device is accurately judged, the abnormal operation condition is timely identified, leakage and leakage are intelligently detected, and meanwhile, the accuracy and timeliness of early warning are improved.

The present disclosure relates to a method for an elevator safety system, and to a computer-readable medium therefor. Provided is an abnormal sign-detecting elevator that can prevent safety-related accidents by means of various sensors, the elevator (20) comprising an elevator car (21), a governor (22), and a rope (23), wherein the elevator car (21) can move vertically along guide rails (25), the governor (22) comprises an upper sheave (22a) and a lower sheave (22b), and the rope (23) winds around the upper sheave (22a) and lower sheave (22b).

The utility model discloses a poultry breeding central egg collecting buffer device which comprises a buffer main plate, the buffer main plate is a main body for fixing other parts of a buffer mechanism, the length and the width of the buffer main plate correspond to the size of a lap joint egg collecting line, the buffer main plate is arranged on the upper portion of the egg collecting line, and adjusting supports are arranged on the two sides of the front end and the rear end of the buffer main plate. Guide grooves are formed in the lower portions of the left side and the right side of the buffering main plate, transmission chains are arranged in the guide grooves, transmission chains are arranged on the left side and the right side and arranged on a motor, the motor is connected with a buffering speed regulator, and buffering brushes are arranged on the upper sides of the two transmission chains. According to the device, eggs can be quickly, stably and safely collected and put in storage in the poultry breeding center egg collection process, and the egg collection line body is cleaned in the transportation process; in addition, the egg collecting device is high in egg collecting efficiency and labor-saving.

The invention discloses a pumped storage power station governor parameter optimization method and system, and relates to the technical field of pumped storage power station control, and the method comprises the steps: constructing a multi-dimensional evaluation system, and defining seven indexes of a unit safety class, a rotating speed response class and a power response class, which are used for comprehensively evaluating the power regulation performance; based on historical operation data of the power station, the occurrence probability of each initial working condition and load change is counted, a weighting factor matrix is generated, and weight contributions of high-frequency and extreme working conditions to an optimization target are quantified; and parameter optimization and decision making: simulating the performance of different speed regulator parameter combinations (KP = 0.1-1.9, KI = 0.1-0.7) under 30 typical working conditions by adopting a water-electro-mechanical coupling model, carrying out normalization and comprehensive scoring on simulation results based on a TOPSIS algorithm, and screening a parameter scheme with the highest total score. According to the method, the problems of single index and insufficient working condition adaptability in parameter selection of a traditional speed regulator can be solved, and collaborative improvement of unit safety and regulation stability is realized through multi-dimensional evaluation and probability-driven optimization.

The invention provides a hydraulic power plant system oscillation fault processing method and device, and relates to the technical field of power grid fault processing, and the method comprises the steps: monitoring the operation data of a hydraulic power plant, and determining an oscillation state according to the operation data; determining an oscillation type and an oscillating unit in response to oscillation represented by the operation data; determining oscillation reasons and implementing corresponding emergency measures, and adjusting operation parameters of a speed regulator, an excitation system and an auxiliary engine system in the target unit; and rechecking the target unit to determine the running state. Oscillation is found in time by monitoring operation data of the hydraulic power plant, corresponding fault processing measures are taken, effective monitoring and management of the power plant are achieved, normal operation of the power plant is prevented from being affected by faults, and operation safety of the power plant is improved.

The invention provides an integrated intelligent verification system and method for a diesel generator speed regulation system. The system comprises a mechanical speed regulation testboard, an electronic speed regulation testboard and an intelligent verification device. The intelligent verification device comprises an upper computer device and a lower computer device. The upper computer equipment is used for simulating and outputting the working mode of the diesel generator and providing test working parameters for the electronic speed regulator and the mechanical speed regulator based on the working mode of the diesel generator; the lower computer equipment is respectively connected with the upper computer equipment, the electronic speed regulator, the mechanical speed regulation control box and the detection equipment, and is used for correspondingly sending test working parameters to the electronic speed regulator and the mechanical speed regulator, and collecting working state parameters of the electronic speed regulator and working state parameters of the mechanical speed regulator to the upper computer equipment in real time; and the upper computer device displays and analyzes the working state parameters so as to verify the electronic speed regulator and the mechanical speed regulator. According to the invention, off-line test verification can be carried out on the diesel generator speed regulation system.

The invention provides a speed regulator control method and system for coping with ultralow frequency oscillation, and the method comprises the steps: obtaining the frequency data of a hydropower system in real time, and carrying out the filtering processing based on the original frequency data, thereby obtaining the filtering frequency data; constructing a first discrimination vector based on the filtering frequency data, determining a current oscillation occurrence probability based on the first discrimination vector, and determining whether to start an additional damping controller of the speed regulator based on the current oscillation occurrence probability; predicting frequency data of a plurality of time points in the future based on the current original frequency data, constructing filtering frequency data corresponding to each time point based on the predicted frequency data of the plurality of time points in the future, and constructing a second discrimination vector corresponding to each time point based on the filtering frequency data of each time point; and determining oscillation occurrence probabilities at multiple time points based on the multiple second discrimination vectors, and determining whether to start an additional damping controller of the speed regulator based on the oscillation occurrence probabilities at the multiple time points.

The invention discloses a motor locked-rotor detection method and device, and an electronic speed regulator, and relates to the technical field of motor fault identification, the disclosed motor locked-rotor detection method and device, and the electronic speed regulator determine a locked-rotor state by integrating multi-dimensional parameters of motor input power, rotating speed and efficiency, and combine a dynamic threshold adjustment and temperature compensation mechanism, so that the motor fault identification efficiency is improved. The problems that traditional single parameter detection is high in false alarm rate and poor in adaptability are effectively solved, the detection precision can be effectively improved, the thermal damage risk can be reduced, and the service life of equipment can be prolonged.

The invention discloses a motor speed regulation method and device, a rotating speed regulator, a storage medium and a program product, and relates to the technical field of motor control, and the method comprises the steps: obtaining an actual rotating speed, a rotational inertia parameter and a target rotating speed change rate of a vehicle motor under a working condition of a vehicle, and a current target rotating speed of a current rotating speed sampling period; determining control parameters for adjusting the rotating speed of the vehicle motor according to the rotational inertia parameters; determining a correction amount corresponding to the target rotating speed change rate, and correcting the current target rotating speed according to the correction amount to obtain the latest target rotating speed of the current rotating speed sampling period; and determining a target torque value of the vehicle motor based on the actual rotating speed, the latest target rotating speed and the control parameters. The technical problems that an existing motor speed regulation method is poor in speed regulation effect and cannot meet speed regulation indexes under different working conditions, and consequently the whole vehicle performance is low can be solved.

The present invention relates to the technical field of pumped-storage units, and particularly to a starting control method for a full-power variable-speed pumped-storage unit converter, including: when the unit starts, keeping the grid-side circuit breaker and the machine-side circuit breaker in the off state; controlling the excitation device to generate an initial excitation current; controlling the guide vane opening through the governor to control the speed increase of the motor, and judging the currently required operating state. If it is the power generation state, the machine-side converter enters the power control mode to complete the start; if it is the pumping state, closing the guide vane, the machine-side converter enters the braking and decelerating state. After the motor speed drops to 0, it drives the pump-turbine to increase speed in the reverse direction and enters the pumping working condition mode to complete the start. Through this control method, the additional DC capacitor charging circuit of the traditional full-power converter can be omitted, reducing the unit cost.