3644 results about "Synchronous control" patented technology

The invention relates to the technical field of multi-axis servo systems, and discloses a synchronous control method, device and equipment for a multi-axis servo system, and the method comprises the steps: measuring a mechanical coupling relation parameter, a motor dynamic characteristic parameter and a sampling delay time parameter of the multi-axis servo system, and substituting the parameters into a state equation modeling formula, calculating to obtain a discrete time system state matrix; performing Z transformation processing on the discrete time system state matrix and calculating frequency response characteristics to obtain a transfer function matrix and a target coupling axis pair set; executing hierarchical optimization to obtain a preliminary control instruction; a trajectory tracking error and an inter-axis synchronization error are calculated and substituted into the optimization objective function for sampling delay compensation processing, and a compensation control instruction is obtained; the compensation control instruction is processed in real time, synchronous control signals are output to the servo shafts to achieve multi-shaft coordinated movement, and the synchronous control precision in the multi-shaft servo system is improved by accurately recognizing the key coupling shaft pairs and the sensitive frequency points.

The invention relates to the technical field of energy storage systems, in particular to a source network load storage coordination control method for multi-configuration network type energy storage coordination operation. According to the technical scheme, the source-network-load-storage coordinated control method for multi-construction-network-type energy storage coordinated operation comprises the following steps: generating a new energy output and load change trend through a dynamic prediction model based on historical power data, real-time load requirements and meteorological information; optimization is carried out to obtain a power generation plan containing a clean energy consumption target and economical efficiency constraints; decomposing the power generation plan into a photovoltaic power adjusting instruction, an energy storage charging and discharging instruction and a load control instruction according to the power grid safety priority, wherein the emergency control instruction is executed prior to the economic dispatching instruction; and controlling parallel operation of a plurality of pieces of networking type energy storage equipment, and realizing multi-machine power distribution and circulating current suppression through a virtual synchronous control technology. And through layered optimization scheduling and multi-machine cooperative control, the new energy consumption capability is remarkably improved, and the phenomenon of abandoning light and wind is reduced.

The invention relates to the technical field of new energy grid-connected converter control, in particular to a grid-connected converter control method based on grid-following and grid-construction hybrid control, which flexibly adjusts the characteristic proportion of grid-following and grid-construction by constructing a self-adaptive hybrid synchronous control model, ensures the smooth and efficient grid-connected process, and improves the grid-connected efficiency. A voltage and current double-loop control model is constructed to accurately regulate and control output voltage and current, the high-standard electric energy quality requirement of a power grid for new energy power generation is met, meanwhile, power grid impedance estimation is introduced for virtual impedance control, and the anti-interference capability and the response speed of the system are further enhanced. In conclusion, according to the grid-connected converter control method based on grid following and grid construction hybrid control, the adaptability and stability of the system to the complex power grid environment are remarkably improved, and the overall operation efficiency and reliability of the system are improved.

The invention discloses a multi-mechanical-arm space-time synchronization control method for coiled pipe welding, and belongs to the technical field of automation control, and the method comprises the steps: in a primary laser and TIG hybrid welding execution stage, carrying out real-time data acquisition on a welding area of a workpiece, carrying out real-time deviation detection, and once real-time welding deviation is detected, carrying out time-space synchronization on the welding area of the workpiece; a local correction mechanism is triggered immediately, and deviation is prevented from being accumulated in the single welding process; after one-time welding is completed, the workpiece enters a transition area, global contour reconstruction is conducted on a welded section of the workpiece through three-dimensional scanning equipment, global deviation recognition is conducted, and unprocessed hysteresis deformation and accumulative errors are covered and corrected in real time; on the basis of the analysis result of the global deviation recognition, double correction is conducted on secondary welding, and cooperative control over space track correction and technological parameter adaptation is achieved; and after secondary welding is completed, the correction effect is evaluated through a double-layer evaluation mechanism, and the stability of the correction process is ensured.

The invention relates to the technical field of cooperative control, in particular to a multi-machine cooperative control method and system for a bridge cable hoisting device, and the method comprises the following steps: collecting tension change characteristics through a distributed sensor array, extracting indexes through a sliding window algorithm to generate a response time window, and generating a cooperative time window through time sequence overlapping and speed trend adjustment. Calculating a compensation value by combining inertial parameters and acceleration to generate a trigger window, detecting tension and displacement difference, inputting the tension and displacement difference into a dynamic threshold function for screening and fusion, outputting a synchronous trigger condition, and generating a synchronous control instruction by encoding a device number and a tension change rate after timestamp alignment. According to the method, multi-node tension synchronous acquisition and normalization processing, dynamic response generation through a sliding window, boundary matching action triggering adjustment through an overlapping algorithm, response lag correction through inertia compensation, tension and displacement difference real-time detection, dynamic threshold screening and triggering condition fusion and timestamp alignment packaging instruction consistency are carried out; and the cooperation precision and the system robustness are improved.

The present application relates to a virtual synchronous control method and apparatus for an energy storage system, a device, and a storage medium. The method comprises: controlling an output voltage of a direct-current energy storage valve on the basis of an output electrical signal measurement value of a direct-current side of a voltage source converter and an output voltage reference value of the direct-current energy storage valve; further, controlling an output signal of an alternating-current side of the voltage source converter on the basis of a grid connection point electrical signal measurement value and a grid connection point electrical signal reference value of the voltage source converter. It can thus be seen that the embodiments of the present application implement a virtual synchronous control method independently controlling a voltage source converter and a direct-current energy storage valve in an energy storage system, so that the method can be applied to virtual synchronous control of a high-voltage direct-current direct-mounted energy storage system. In addition, by means of independently controlling the voltage source converter and the direct-current energy storage valve in the energy storage system, the voltage source converter does not need to be configured to take into account both direct-current side control and alternating-current side control, so that the complexity of a control loop of the voltage source converter can be simplified.

The invention discloses an intelligent cooperative switching control system and method for multi-path valve runners, and the method comprises the steps: collecting all-condition operation data of a multi-path valve system, extracting valve switching characteristic parameters, and building a runner mapping relation between paths; a cascade action chain containing time sequence dependence is constructed based on the mapping relation and the switching characteristics, and the action sequence and the trigger condition of each drift diameter are determined; by analyzing the pressure distribution and the flow velocity change in the cascade action chain, predicting the water hammer strength and designing a reverse pressure wave parameter, and generating a water hammer counteracting control instruction; high-low pressure area distribution in the flow field is identified, a flow field complementary cooperation scheme is constructed, and a pressure balance control strategy is generated; analyzing a pressure wave propagation path to determine a superposition elimination point, extracting pressure pulse resonance characteristics and generating time sequence control parameters; and the sequential control parameters are matched with the cascade action chain, synchronous control nodes are determined through delay compensation, and a time-sharing control sequence is generated to achieve intelligent cooperative switching of the multi-drift-diameter valve flow channels.

The invention is suitable for the technical field of reliability test of numerical control machine tools, and provides a ball screw pair comprehensive performance test device and method for simulating real working conditions. The device comprises a ball screw pair, a test device base, a rolling guide rail pair, a grating ruler integrated installation unit, two sets of support driving units, a loading workbench, an axial force simulation loading unit, a tested workbench and a comprehensive performance detection unit. The two sets of supporting and driving units are distributed on the test device base in a staggered alignment manner and are respectively connected with the loading workbench and the tested workbench, and synchronous driving of the loading workbench and the tested workbench is realized through synchronous control; and the axial force simulation loading unit realizes static and dynamic simulation loading of the axial force through electro-hydraulic servo control. According to the invention, a test device and technical support are provided for carrying out the reliable comprehensive performance bench test of the ball screw pair, and the problems of the ball screw pair in the aspects of high-frequency dynamic load simulation loading, comprehensive performance test and motion tracking loading are solved.

The invention relates to the technical field of power electronics, and discloses a soft switch of a high-frequency switch transformer and a distributed control method and system thereof, and the method comprises the steps: achieving the precise synchronization of nodes through the construction of a ring topology network, combining the monitoring of multiple physical quantities with the collaborative optimization of parameters, dynamically adjusting the parameters of a resonant network and a driving time sequence, and achieving the precise synchronization of the nodes. A zero-voltage switching state is maintained, and electromagnetic interference is suppressed by adopting the composite optimization model; the system comprises a network initialization module, a multi-physical-quantity monitoring module, a space-time synchronization control module, a resonance parameter adjustment module, an electromagnetic optimization decision module, a dynamic adjustment module and a parameter evolution module. The stability of the soft switch is improved through a distributed network and time-space synchronization, and the loss is reduced by adopting a dynamic optimization algorithm; constructing an electromagnetic interference optimization model to enhance compatibility; performing multi-parameter fusion and weight distribution to optimize dynamic response; the reliability is improved through a high-precision protocol and coevolution; and the tensor product framework realizes multi-dimensional intelligent cooperative control.

The invention relates to the technical field of injection molding process control, and discloses an injection molding parameter self-learning collaborative regulation and control system which is characterized in that multi-source parameters such as temperature and pressure are acquired in real time through a data acquisition module, and the multi-source parameters are mapped to a low-dimensional manifold space through a dynamic manifold construction module to decouple a nonlinear coupling relationship; the chaos synchronization control module suppresses external disturbance based on master-slave system design, and the distributed optimization module realizes multi-target real-time decision by adopting a split Bregman algorithm; the execution module converts the optimization instruction into a control signal and triggers closed-loop feedback; and the federated learning architecture realizes cross-device strategy migration by extracting continuous homology features of a manifold space and combining a Hausdorff distance and homeomorphic mapping, and drives a global model to update. According to the invention, the technical problems of difficult dynamic regulation and control of nonlinear parameters, insufficient real-time performance of multi-constraint optimization, low cross-scene repeated parameter adjustment efficiency and lack of self-adaptability of long-term process drift in the injection molding process are solved.

The invention relates to the technical field of equipment collaboration, and discloses a multi-equipment collaboration control method and device, computer equipment and a storage medium, and the method comprises the steps: building a session channel with collaboration equipment according to the authentication information of main control equipment; acquiring operation state parameters of the collaborative devices based on the session channels, and generating a permission allocation matrix according to the operation state parameters of the collaborative devices; and processing task requirements of the main control equipment by utilizing the permission allocation matrix, generating a differential instruction set, and executing synchronous control on the collaborative equipment according to the differential instruction set. According to the invention, the problems of authority conflict, inflexible task allocation and incapability of fast and automatic switching after the main control equipment fails when multiple devices cooperatively control the cloud mobile phone instance in the prior art are solved.

The invention relates to the technical field of mechanical arm control, and particularly discloses a multi-axis motion control method based on a six-axis hydraulic mechanical arm, and the method comprises the following steps: establishing a kinetic model and a hydraulic system model of the six-axis hydraulic mechanical arm, generating a motion track in a Cartesian space or a joint space based on a preset task demand, and generating a multi-axis motion model of the six-axis hydraulic mechanical arm; the track smoothness is optimized through an S-type acceleration and deceleration algorithm; a deviation coupling synchronous control strategy is adopted, and position, speed and pressure signals of all hydraulic cylinders are collected in real time. According to the multi-axis motion control method based on the six-axis hydraulic mechanical arm, through multi-layer modeling, multi-algorithm fusion and intelligent optimization, the core problems of synchronous errors, non-linear interference, high energy consumption and the like in multi-axis cooperative control of the hydraulic mechanical arm are solved, high-precision, high-robustness and low-energy-consumption industrial-grade motion control is achieved, and the multi-axis motion control method is suitable for industrial production. The method is suitable for heavy-load carrying, precision assembling and other complex scenes.

The invention relates to the technical field of chip processing, in particular to a chip multi-station welding self-adaptive clamping device which comprises a bearing frame, a support is arranged at the top of the bearing frame, a self-driven rotating disc is arranged in the support, a driving part of the self-driven rotating disc is arranged in the inner side of the support, and a gap is formed between the disc face of the self-driven rotating disc and the top face of the support. A plurality of positioning plates are symmetrically arranged on the top of the self-driven rotating disc in the circumferential direction, a plurality of clamping blocks are arranged on the tops of the positioning plates in a sliding and penetrating mode, and buffering parts are arranged in the clamping blocks. By means of single-shaft rotation driving of the self-driven rotary disc and threaded meshing transmission of the gradient disc, the spiral sleeve and the electric spiral rotary disc, synchronous control over clamping action of the clamping blocks and station switching of the rotary disc is achieved, an extra power source is not needed, the structure is remarkably simplified, and the multi-station welding efficiency is improved; the abutting rod spherical transition structure of the buffer part is designed to be matched with the rigidity of the second spring, the counter-acting force is automatically absorbed when the clamping block makes contact with the chip, and the clamping force is dynamically adjusted through the compression deformation quantity of the second spring to prevent the chip from being pressed and damaged.

A virtual synchronization method for an energy storage system and a radial-flow water turbine generator set, said method comprising: analyzing characteristics of a radial-flow water turbine generator set, and designing a suitable energy storage system so as to smooth the power fluctuation of the radial-flow water turbine generator set (S1); acquiring characteristic parameters of the radial-flow water turbine generator set, on the basis of the characteristic parameters, designing a virtual rotor model, and establishing a machinery dynamics equation (S2); on the basis of the virtual rotor model, designing a virtual synchronization controller, constructing a closed-loop control system, and implementing charging and discharging control for the energy storage system (S3); establishing a simulation model for coupling the energy storage system and the radial-flow water turbine generator set, and optimizing parameters of the controller (S4); and, on a test platform of an actual radial-flow water turbine generator set, implementing a proposed virtual synchronous control policy, and carrying out experiment verification and result analysis (S5).

The invention relates to the technical field of control adjustment, in particular to an intelligent multi-head welding synchronous control system which comprises a data processing module, a modular cooperative control module, a load sensing module, a data transmission module, a self-adaptive pose execution module and a fault-tolerant module. The data processing module extracts three-dimensional geometrical characteristics of a workpiece through laser scanning, PID control parameters are migrated across working conditions in combination with a dynamic time warping algorithm, the inverse kinematics process is optimized, and the self-adaptive pose execution module drives phase synchronization of multiple welding heads based on a global reference trajectory and predicts and compensates thermal deformation errors through a thermal expansion coefficient. And the fault-tolerant module adopts a wavelet packet decomposition identification fault mode, and updates a historical parameter library in combination with an elastic weight algorithm. According to the method, three-dimensional space pose error accumulation caused by mechanical load fluctuation and signal asynchronization is inhibited through cooperation of multiple modules, and the welding process uniformity and the system dynamic stability are improved.

The invention provides a multi-axis PCB milling synchronous control method, device and equipment and a storage medium. The method comprises the steps that geometric modeling is conducted on a PCB and a tool, a PCB machining model is generated, a tool path is generated based on the PCB machining model, the meshing state of the tool and the PCB is extracted, and a meshing geometric entity is obtained. And then, calculating the instantaneous undeformed chip thickness according to the meshing geometric entity, and predicting the cutting force of the cutter acting on the PCB. Based on the cutting force prediction result, the tool path data and the PCB machining model, modeling is conducted on multi-axis motion of the PCB milling machine tool, and a multi-axis motion synchronous control model is generated. Finally, according to the synchronous control model and the cutting force prediction result, self-adaptive synchronous control is conducted on multi-axis motion. According to the PCB milling method, the cutting force is predicted in real time, the multi-axis machine tool is subjected to self-adaptive synchronous control, the machining precision is improved, the service life of the tool is prolonged, and the stability and consistency of the PCB machining process are ensured.

The invention discloses a servo control method and system based on a PLC. The method comprises the steps of track data acquisition, interpolation instruction generation, control instruction output, state information acquisition, synchronous error evaluation, error compensation, track continuity control and the like. Wherein the PLC generates a multi-axis interpolation control instruction according to trajectory data issued by the upper computer, periodically issues the multi-axis interpolation control instruction to each servo driver through a high-speed timed task, collects feedback information in real time, and evaluates multi-axis synchronous deviation. On the basis, the PLC constructs an error vector and dynamically corrects interpolation parameters of the next period to realize synchronous control. Meanwhile, a buffer transition area is arranged at the track section switching position, acceleration and speed changes are adjusted, and it is guaranteed that the motion track is continuous and smooth. The system comprises a PLC, a trajectory data input module, an interpolation generation module, an error evaluation and compensation module and the like, has high real-time performance and high synchronization precision, and can improve motion coordination and system stability in complex trajectory execution.

The invention discloses a power line carrier communication protocol data link layer simulation method, which comprises the following steps of: constructing a physical layer interface simulation module, simulating power line carrier or wireless air interface transmission through TCP socket communication, and creating a high-priority task process to process time slot-level time sequence synchronization for triggering a physical layer transceiving action at a specified time slot; configuring a time sequence synchronization control mechanism, obtaining a timestamp carried by a beacon frame sent by a concentrator, calling a clock synchronization function to align a site local clock with the timestamp when receiving the head of the beacon frame, adding delay compensation before sending data, and delaying and starting a physical layer receiving action to offset IP network transmission delay when receiving the data; a data frame processing flow is realized, a header callback function is controlled through a registration frame to respond to a physical layer state change, TCP message data is cached by using an annular queue, and a physical layer interface simulation module analyzes a message, distributes a memory and processes a load at a specified time slot after time sequence synchronization.

The invention provides a humanoid machine control method and system based on model prediction, and the method comprises the steps: firstly obtaining joint sensing data (hip joint movement angle sequences and knee joint stress signals) and environment interaction data (depth image flow data and sole contact pressure data) of a humanoid machine, and generating a dynamic state feature set through feature correlation processing; the feature matrix comprises a joint cooperation feature vector and an environment constraint feature matrix; calling a pre-training model to carry out spatio-temporal joint prediction on the feature set, and outputting a future motion control sequence containing gait cycle features; then, a joint synchronous control model is constructed on the basis, and a driving control instruction set containing time coordination constraint is generated; and finally, the driving control instruction set is transmitted to the distributed execution unit, and joint state feedback data is collected for next round of processing, so that the motion control performance of the humanoid machine in a complex environment is improved.

The invention relates to the technical field of data flow control, in particular to a heterogeneous data flow synchronous control method and system.The method comprises the following steps that multi-source data segment receiving time is obtained, a time interval sequence is constructed, an interval difference value and a synchronous difference quantity are calculated, the sensitivity level is judged, a channel throughput change is extracted, a descending section is marked, and a priority index is generated; and mapping the high-sensitivity stream to a first-stage or second-stage output path to sort and distribute key stream segments, judging that serial numbers are continuously combined or independently output, and generating intersection and sequence information. According to the method, the time interval sequence is constructed based on the receiving time of the multiple data sources, the interval deviation is quantified, the labels are divided through the synchronization difference quantity, the sensitive level structure is established, differential management of the synchronization precision requirement of the heterogeneous data streams is achieved, the response efficiency and the alignment precision of the high-sensitivity data segments are improved in the data distribution process, and the data distribution efficiency is improved. And meanwhile, the competition of a low-sensitivity section for output resources is reduced, and the synchronous time sequence coordination capability and the channel bandwidth utilization rate in a multi-source heterogeneous environment are improved.

The invention relates to the technical field of parallel connection of energy storage inverters, in particular to a synchronous control method of an energy storage inverter system supporting multi-machine parallel connection, which comprises the following steps of: according to a preset rule, assigning one inverter as a master node and the other inverters as slave nodes; when it is detected that the running state of the main node exceeds a preset abnormal threshold value, a main control switching process is triggered; dynamically electing a new host strategy based on a preset priority, and dynamically electing an inverter as a new host node; the other inverters synchronously switch the tracking target and update the synchronization reference; in the switching process, the new main node smoothly establishes a voltage reference by adopting a phase pre-synchronization and slope transition strategy. According to the invention, by introducing a dynamic master node switching mechanism, when the master node is abnormal, the master control responsibility is automatically, quickly and smoothly transferred to the healthy slave node, the AC side voltage frequency synchronization and the DC side bus voltage stability are maintained, and the continuous and stable operation of the multi-machine parallel system under the condition of the master node fault is ensured.

The invention relates to the technical field of automatic control, in particular to an automatic control method of a BOG low-temperature recovery system for a storage tank for an LNG (liquefied natural gas) ship, which comprises the following steps: acquiring BOG pressure fluctuation data and temperature difference trend, analyzing pressure rise rate and cooling efficiency change, identifying a pressure peak value and a cooling lag section, screening a low-efficiency section and marking an optimization unit. And identifying an energy matching degree, analyzing energy loss distribution, identifying an over-limit node and a fault signal, and obtaining an energy and fault synchronous control table. According to the system, through real-time data monitoring and intelligent analysis, the BOG recovery process can be accurately controlled, energy circulation and cooling treatment can be optimized, the efficiency of a low-temperature recovery system can be improved, BOG pressure and temperature difference changes can be monitored, pressure fluctuation and cooling lag can be analyzed, continuous improvement of condensation efficiency can be ensured, control parameters can be accurately adjusted, energy loss is avoided, and the energy efficiency of equipment can be improved; energy consumption and equipment fault management are optimized, and efficient and safe operation of the low-temperature recovery system is ensured.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a speed synchronization control method of an unmanned aerial vehicle and a mobile platform, a flight control system and the unmanned aerial vehicle, and the speed synchronization control method comprises the steps: obtaining GNSS information, visual beacon information or mobile visual positioning information according to the relative distance between the unmanned aerial vehicle and the mobile platform, and performing real-time control on the unmanned aerial vehicle by using the acquired GNSS information, the visual beacon information or the mobile visual positioning information so as to realize speed synchronization between the unmanned aerial vehicle and the mobile platform. According to the invention, through mutual complementation and assistance of multiple speed synchronization modes, the optimal speed synchronization mode can be automatically selected for different distance ranges, accurate speed synchronization between the unmanned aerial vehicle and the mobile platform in a complex environment is realized, and accurate following or accurate landing between the unmanned aerial vehicle and the mobile platform can be realized.

The invention discloses a grid-connected inverter control method based on second-order linear active disturbance rejection, and particularly relates to the field of grid-connected inverter control. Voltage and frequency error signals between the output side of the inverter and the power grid are obtained, a pre-synchronization control model is constructed, and voltage amplitude and frequency synchronization is achieved; a second-order linear active-disturbance-rejection controller is introduced in the frequency synchronization control process, an extended state observer is adopted to estimate the output frequency, the frequency change rate and a disturbance term, and a state error feedback control law is combined to generate a frequency regulation control quantity, so that accurate frequency control is realized; after grid connection, a dual-channel LADRC power regulation controller is constructed, and decoupling tracking control is carried out on active power and reactive power; meanwhile, on the basis of fast Fourier transform processing as a stable grid-connected state criterion, the method has the advantages of being high in control precision, high in anti-interference capability, good in current waveform quality, high in adaptability and the like, and is suitable for various grid-connected application scenes.

The invention discloses a 16-channel high-precision synchronous data acquisition system based on a multi-parameter model, which belongs to the technical field of data acquisition and comprises a multi-parameter model driving module, a self-adaptive channel scheduling module, a closed-loop calibration compensation module and a collaborative synchronous optimization module. The multi-parameter model driving module establishes a multi-dimensional optimization model fusing the sampling rate, the channel load and the error trend to output optimization parameters; the adaptive channel scheduling module performs real-time quality evaluation and dynamic resource allocation according to the optimization parameters to generate a scheduling instruction; the closed-loop calibration compensation module monitors a synchronization error in real time and calculates a compensation parameter; the collaborative synchronous optimization module realizes inter-channel parameter sharing and collaborative control to generate a synchronous control signal, and feeds back an optimization result to the multi-parameter model driving module to form a closed loop, and through deep coupling and closed loop feedback of the four modules, high-precision synchronization of multi-channel data acquisition is realized, and the synchronization precision reaches + / -35ns.

The invention belongs to the technical field of data processing, relates to a modular digital audio multi-channel IO control system and method for aviation communication, and aims to solve the problems of poor environmental adaptability, static synchronization parameters, calibration lag and insufficient intelligent fault-tolerant capability of a synchronization technology in the aviation field. The method comprises the steps that a scene sensing module fuses multi-domain data to generate a scene vector, synchronous parameters are generated through a look-ahead control module, clock skew of multiple IO channels is calibrated in combination with a synchronous execution module, and synchronous control is achieved; the health monitoring module quantifies the full-link health degree and dynamically adapts to the self-healing strategy through the self-healing learning module. According to the method, high-precision synchronization and high-robustness fault tolerance are balanced through perspective prediction and response type self-healing closed-loop cooperation, the system is endowed with intelligent self-adaptive evolution ability, and the synchronization performance and task reliability of the aviation audio system in a complex dynamic environment are improved.

The invention discloses a wind and light storage coordination control method and system for a virtual synchronous machine, and the method comprises the steps: building a wind power plant-energy storage power station double-layer response mechanism at a first stage, and employing a multi-time scale coordination control strategy for a second-stage energy storage system; and in combination with the virtual synchronous control characteristics of the optical storage power station, establishing a multi-scene optimization model of a wind and light storage multi-source collaborative double-layer coupling mechanism, and realizing dynamic optimization of output of each unit among inertia support, frequency modulation capacity and energy storage health state. According to the method, wind power plant rotor kinetic energy release combined overspeed load shedding control, a fuzzy control means based on an energy storage charge state and a VSG control means based on a virtual inertia and damping coefficient self-adaption photovoltaic system are considered, then wind and light energy storage frequency modulation coordination is optimized, and the system inertia safety is effectively improved on various working conditions and different time scales.

The invention provides a synchronous shaft motion tracking control method and system in the technical field of synchronous shaft motion control. The method comprises the following steps: S1, establishing connection between a PLC (Programmable Logic Controller) and I-O equipment and a servo driver of each test equipment; step S2, the PLC configures each piece of I O equipment, and creates an FB function block based on each piece of configured I O equipment; s3, the PLC creates a virtual shaft as a driving shaft, and takes each entity shaft as a driven shaft; s4, the PLC configures process object parameters of the driving shaft; s5, the PLC controls the driving shaft to move based on the FB function block and the process object parameters, and synchronously controls the driven shafts to run along with the driving shaft; and S6, the PLC collects slave shaft operation data of each driven shaft, obtains main shaft operation data of the driving shaft based on the FB function block, compares the slave shaft operation data with the main shaft operation data to obtain deviation data, and dynamically compensates each driven shaft based on the deviation data. The method has the advantage that the precision and the stability of synchronous shaft motion control are greatly improved.

The invention discloses a direct current control method and system for improving transient stability of a grid-connected converter, and the method comprises the steps: judging whether a power angle out-of-limit-based fault judgment module or a voltage out-of-limit-based fault judgment module has a voltage drop or phase jump fault or not when any one module judges that a power grid has a voltage drop or phase jump fault; processing an angular velocity control signal of a synchronous control link through a direct current port transient energy correction module, and performing temporary storage unbalanced power-oriented lifting and inertia correction-oriented lifting on a direct current voltage reference value; the voltage value of the direct-current port capacitor is compared with a direct-current voltage reference value, and is processed by the steady-state direct-current voltage control module to obtain a direct-current voltage control reference value; the output data of the converter at the common coupling point obtains a synchronous control signal according to a synchronous control link; and based on the synchronous control signal, an internal potential reference value is obtained according to an internal potential control link, and then a converter driving signal is generated. According to the invention, the stability problem of the grid-connected converter when the power grid has a transient fault can be effectively solved.

The invention provides a lead screw precision milling closed-loop optimization and real-time control process based on multi-axis linkage, which comprises the following steps of: acquiring geometric parameters of a workpiece, material attributes and kinetic parameters of a machine tool, designing a cutter and clamp scheme, and setting initial processing parameters based on a cutting database; constructing a lead screw spiral groove high-precision curved surface model by using an NURBS curve, and optimizing a path through curvature adaptive discretization and quintic spline interpolation; an idle stroke path is iteratively optimized by adopting a real number coding genetic algorithm, and the total time of the path and the reversing frequency are shortened; multi-axis synchronous control is achieved through inverse kinematics solution, and the cutter inclination angle is dynamically adjusted in real time based on the contact angle; and virtual simulation and finite element analysis are utilized to predict cutting force, thermal deformation and interference risks. According to the method, the continuous and smooth multi-axis synchronization instruction is generated, the positioning error of each axis is effectively reduced, meanwhile, the cutter inclination angle is dynamically corrected through force feedback of the contact angle, cutting force fluctuation is effectively restrained, and it is ensured that the tooth surface roughness of the spiral groove meets the requirement.