236 results about "Vector control" patented technology

The invention discloses a frequency conversion vector control method for a digital energy-saving pump station, which belongs to the technical field of vector control and comprises the following steps: constructing a coupling vector model, simulating the running states of a pump unit under different working conditions through a virtual test signal, and automatically correcting the coupling vector model; operating data of a pump set are collected in real time, an operating situation feature set is constructed, predictive vector control is carried out, an optimal voltage vector sequence is generated, and meanwhile load fluctuation of a pipe network is predicted; demand pre-judgment is carried out on the starting and stopping time and the action amplitude of the anti-backflow device, a bidirectional disturbance suppression mechanism is constructed, current vector parameters are pre-adjusted, and calculus correction is carried out based on deviation judgment; when multiple pumps operate in parallel, the instantaneous operation efficiency point of the pump set is calculated in real time, the efficiency change trend is predicted, a load distribution scheme is generated, the comprehensive energy efficiency is evaluated, energy efficiency self-optimization is carried out, the comprehensive energy efficiency of the system is improved, and control experience reuse is achieved.

The invention belongs to the technical field of power system operation and motors, and particularly relates to an energy storage type phase modifier control method which comprises the steps that a rotating shaft of a double-fed motor is connected with a flywheel to serve as an energy storage type phase modifier; the rotor winding is connected to a power grid through an excitation system and a transformer in sequence, and the excitation system is electrically connected by a reactor, a back-to-back converter and a filter in sequence; the stator winding is directly connected to a power grid; the control system decouples reactive power and active power, vector control is carried out on exciting current to absorb or release power, and reactive power-voltage support and active power-frequency support of the power grid are completed. The method overcomes the defects that a traditional direct-current excitation phase modulation mode can only modulate phase and cannot modulate frequency, or is cumbersome and slow in response. The system can meet the requirement of wide-range variable-speed operation, quickly store / release a large amount of rotor kinetic energy, inhibit the voltage and frequency fluctuation of a power grid, and is especially suitable for stations with high new energy occupation ratio. The invention also provides a non-transitory readable recording medium storing the program of the method and a system comprising the medium, and the program can be called through a processing circuit to execute the method.

The invention discloses a low-harmonic high-voltage speed regulation system based on a multi-pulse phase-shifting transformer, and particularly relates to the field of power electronic technology and motor speed regulation, which is characterized in that the primary side of the multi-pulse phase-shifting transformer is in star connection, and N groups of windings on the secondary side are in extended delta connection, so that phase difference is realized; the multi-path low-voltage alternating current is converted into multi-path low-voltage alternating current and low-order harmonics are High voltage is output through cascade H-bridge topology series connection, and reliable conversion is guaranteed through rectification filtering inversion and device redundancy design; the motor control module collects signals through multiple sensors, and PWM drive signals are generated through a vector control algorithm and coordinate transformation. The harmonic detection and compensation module detects harmonic waves based on an FFT algorithm, and injects a reverse compensation component through a modulation strategy to offset the harmonic waves; and the auxiliary protection module integrally realizes low-harmonic and high-precision high-voltage motor speed regulation through multi-dimensional monitoring and hardware protection.

The invention provides a zero-voltage ride-through control method for a self-synchronizing voltage source doubly-fed wind turbine generator, which comprises the following steps that: when the self-synchronizing voltage source doubly-fed wind turbine generator is in a transient state, a grid-side converter adopts vector control, and a rotor-side converter adopts additional virtual impedance and annular current limiting; the transient overcurrent of the grid-side converter and the rotor-side converter can be effectively suppressed, so that the continuous operation capability of the wind turbine generator in the zero-voltage ride-through period can be maintained; meanwhile, by improving the transient capacity and the transient reactive current amplitude of the converter, the transient voltage supporting capacity of the wind turbine generator during the zero voltage ride-through period can be effectively provided; when the self-synchronizing voltage source doubly-fed wind turbine generator set is in a transient state, overvoltage of direct-current bus voltage is limited by a Chopper circuit, active-priority current amplitude limiting control is adopted by a grid-side converter, parameters of a current inner ring PI controller of a rotor-side converter are optimized, energy balance of a direct-current side can be achieved in the zero-voltage ride-through period, and stability of the direct-current bus voltage is maintained.

The invention discloses a hub motor vector control method based on an improved grey wolf particle swarm algorithm, and the method comprises the steps: building a mathematical model of a hub permanent magnet synchronous motor, building a double-closed-loop vector control simulation model containing a speed loop and a current loop in Simulink based on the mathematical model, and selecting a speed loop PID controller as a to-be-set object; improving the original grey wolf particle swarm algorithm to obtain an improved grey wolf particle swarm hybrid algorithm; and performing iterative optimization on the three parameters Kp, Ki and Kd of the speed loop PID controller through the improved grey wolf particle swarm hybrid algorithm, and outputting the finally obtained global optimal solution q as the optimal values of the three parameters Kp, Ki and Kd of the speed loop PID controller to complete the hub permanent magnet synchronous motor vector control.

The invention relates to the technical field of motor control, and discloses a vector control application of a direct drive motor, which comprises the following steps: S1, collecting stator current, rotor speed and bus voltage signals of the motor, and carrying out filtering preprocessing on the collected signals; and S2, constructing a self-adaptive flux linkage observation model, estimating a stator flux linkage in real time based on stator current and bus voltage signals in combination with rotor rotating speed information, and correcting stator resistance and inductance parameters through a model reference self-adaptive algorithm. According to the method, the motor parameters are corrected in real time through the self-adaptive flux linkage observation model, parameter drift caused by factors such as temperature change and magnetic saturation is effectively counteracted, and the accuracy of flux linkage estimation is improved; the improved PI regulator realizes online self-tuning of control parameters through a fuzzy control algorithm, can quickly adapt to changes of dynamic characteristics of the motor, and shortens the regulation response time of flux linkage and torque; and the resistance of the system to external interferences such as load fluctuation, power supply voltage change and the like is enhanced.

The invention belongs to the technical field of automation control, and particularly relates to a control parameter optimization method and system for a multistage reaction kettle, and the method comprises the steps: collecting key operation data of a series multistage reaction kettle at each moment in real time, and constructing an initial temperature sequence and an initial valve opening sequence after standardization and adaptive filtering denoising; indexes such as temperature fluctuation standard deviation are calculated based on the initial temperature sequence, the temperature deviation degree is obtained through normalized weighted fusion, and parameters such as the Arrhenius law and the actually measured temperature are combined to construct a reaction nonlinear strength index; on the basis of the index coupling initial valve opening degree sequence change rate, a model vector self-adaptive correction coefficient is obtained in combination with parameters such as a smooth factor; and correcting a basic step response vector controlled by the dynamic matrix by using the coefficient, solving an optimal valve opening adjustment amount, calculating an execution value, and outputting the execution value to an execution mechanism to complete regulation and control, thereby realizing full-cycle optimization of control parameters. According to the invention, the control accuracy of the multi-stage reaction kettle is improved.

The invention relates to the technical field of flexible interconnection power distribution networks, and discloses a frequency support control system of a doubly-fed wind turbine generator connected into a flexible interconnection power distribution network and a control method of the frequency support control system. A virtual synchronous frequency support is embedded in the doubly-fed wind turbine generator, and a fuzzy controller based on frequency deviation and change rate is introduced to realize optimization of inertia and a primary frequency modulation coefficient; the system structure can actively support the connected flexible interconnection power distribution network; according to the method, the inertia response coefficient and the primary frequency modulation coefficient can be dynamically adjusted in real time according to the system operation state, and the frequency fluctuation problem caused by the distributed power supply is solved; the inertia response coefficient and the primary frequency modulation coefficient are dynamically adjusted in real time according to the operation state of the flexible interconnection power distribution network, and it is still ensured that the doubly-fed wind turbine generator has good frequency supporting performance under the condition of wind speed fluctuation.

The application discloses a motor driving control system, an electric driving joint and a control method thereof. The control system comprises a first control module and a second control unit. The first control module comprises a first control unit, a signal gating control unit and a motor unit connected in sequence. The first control unit is configured to generate a first control signal according to the operation feedback signal of the motor unit through a vector control algorithm. The second control unit is electrically connected with the signal gating control unit. The second control unit is configured to generate a second control signal according to the operation feedback signal of the motor unit through a reinforcement learning algorithm. The signal gating control unit is configured to select the first control signal or the second control signal as a target control signal to control the operation of the motor unit according to the operation feedback signal of the motor unit and the second control signal. The application can solve the problem that the electric driving joint cannot quickly and safely and reliably adapt to different humanoid robots and has poor adaptability.

This invention discloses an electric tool. This electric tool solves the problem of motor overheating and burning out during prolonged operation of electric tools in related technologies. During operation, the electric tool utilizes a closed-loop current compensation control circuit formed by the motor, current conversion module, current compensation module, vector control module, and motor drive module. The current compensation module adjusts the reference current input to the vector control module to a minimum and make it adjustable. Furthermore, the closed-loop current compensation control circuit automatically adjusts the compensation current under different loads, effectively reducing bus current and phase current, thereby reducing motor overheating and protecting the motor and electric tool from damage due to excessive or unadjustable current.

An electromechanical steering system comprises a first actuator having a first electric motor and a first control unit, and a second actuator having a second electric motor and a second control unit, wherein the first electric motor can be operated in a motor mode or a generator mode depending on the driving situation, wherein the first actuator and the second actuator are communicatively connected to one another, and the second control unit is designed, in a generator mode of the first electric motor, to actuate the second electric motor in such a way that a current that is generated in a generator mode of the first electric motor is converted energetically by the second electric motor, in particular by influencing a Id current for the second electric motor specified by vector control. A method for operating such a steering system in a motor vehicle comprises generating a current in a generator mode of the first electric motor and energetically converting the generated current by the second electric motor.

A vector control method is disclosed in which currents of an electric multiphase machine (183) are represented in a dq-axis coordinate system, comprising the vector control method of injecting a d-axis current based on a q-axis request (140). Furthermore, a corresponding converter and a computer program product are disclosed.

To provide a control device and a sensorless vector control correction device that can perform sensorless vector control with high accuracy in the drive control of a bridle roll.SOLUTION: The embodiment includes speed feedback estimation value correction calculation means. The speed feedback estimation value correction calculation means calculates a corrected speed feedback estimation value for sensorless speed control on the basis of the speed feedback estimation value calculated by using a drive device output current and a speed feedback actual measurement value detected by a speed sensor and outputs it to the drive device that performs sensorless speed control.SELECTED DRAWING: Figure 1

The application provides a method and device for inhibiting DC bus voltage oscillation of a traction converter and a traction system, the method comprising: obtaining an oscillation component of bus voltage and inputting the oscillation component into a phase lead link to obtain a current feedforward control compensation quantity; calculating a sum of a torque component of a motor given current vector and the current feedforward control compensation quantity to obtain a torque component of a corrected motor given current vector; calculating a motor voltage vector through a vector control algorithm according to the corrected motor given current vector and an actual motor current vector; and performing pulse width modulation (PWM) according to the motor voltage vector to obtain a driving signal of the traction converter, so that the traction converter provides voltage for the motor under the driving of the driving signal. The application can effectively inhibit DC bus voltage oscillation of the traction converter on the basis of meeting motor control performance, so that the traction converter runs more stably and the reliability of the traction system is improved.

The invention discloses a novel modulation strategy suitable for a dual three-phase motor under a low frequency ratio, and the strategy comprises the steps: dividing 64 voltage vectors generated based on VSD conversion in a dual three-phase permanent magnet synchronous motor into four groups of vector sets, namely a large vector set, a medium-large vector set, a medium-small vector set, and a zero vector according to the amplitudes of the 64 voltage vectors in an alpha-beta subspace; establishing a corresponding relation between the modulation coefficient m and the vector set; in each control period, generating a reference voltage based on a vector control algorithm, and calculating a modulation coefficient m based on the amplitude of the reference voltage; selecting a vector set needing to be used according to the modulation coefficient m; selecting four or five or six adjacent voltage vectors from the selected vector set based on the reference voltage phase, and calculating the duty ratio of each vector in one control period; if the sum of the duty ratios of the vectors is larger than or equal to 1, the zero vector is not used, and if the sum of the duty ratios is smaller than 1, the difference between the sum of the duty ratios and 1 is distributed to the zero vector. The strategy effectively reduces the torque ripple of the dual three-phase permanent magnet synchronous motor.

This invention belongs to the field of power electronics technology, and particularly relates to a motor control method, detection and conversion device, storage medium and controller; the first current detection step / module obtains or the third fault diagnosis step / module selects the first current sensor sequence (700), and based on its first phase current (810), the second current reconstruction step / module combines the phase and amplitude information of the rotor position of the motor (999) and the first phase current (810) to construct the second observation value sequence (070) corresponding to the first given current sequence (054) of the motor (999) vector control, and uses it as a feedback signal to realize the closed-loop control of the motor (999); the method and product disclosed in this invention only require one current sensor to realize the detection and control process of at least two signals required by related technologies, effectively improving the reliability of the whole machine and the system robustness when some components fail, and is especially suitable for the vector control of permanent magnet synchronous motor (PMSM).

This invention relates to the field of vehicle parking slope control technology, and discloses a vehicle parking slope control method and system. The method includes the following steps: when the vehicle enters the parking slope control mode, the absolute position of the motor is recorded and used as the position command value of the position controller, denoted as ; the position controller outputs a target current vector angle based on the position command value and the real-time angle of the motor; the speed controller outputs a target current vector amplitude based on the speed command value and the real-time angular velocity of the motor; wherein, the speed command value is 0; the d-axis current command value and the q-axis current command value are calculated; and vector control is performed on the motor. This invention solves the problems of difficulty in safely and quickly performing parking slope control in the prior art.

The invention discloses a permanent magnet synchronous motor sensorless current reconstruction method suitable for an electric aircraft, which comprises the following steps: switching modes of a motor control system of the electric aircraft through a fault detection module and a switch, the modes comprising normal operation and fault tolerance; whether a current sensor fails or not is detected in real time through a fault detection module, if the current sensor fails, a direct-current bus current signal is obtained through single-resistor sampling, another phase of current and rotor position and rotating speed information are reconstructed in real time through an EKF method, third phase of current is calculated in combination with the Kirchhoff's current law, and the third phase of current is calculated. And position-sensorless vector control is realized. According to the invention, by combining the single-resistor sampling technology and the EKF algorithm, the three-phase current, the rotor position and the rotating speed of the motor can be reconstructed at the same time only through a single sampling resistor, the feedback current of the motor can be normally obtained under the condition that the current sensor fails, and the safe flight of an airplane is ensured.

This invention discloses a brushless motor current sampling method, specifically relating to the field of brushless motor technology. The method involves acquiring a current waveform sequence under no-load driving conditions and extracting small current feature segments before and after commutation. Based on each feature segment, a feature vector is constructed, including the pulse width modulation duty cycle change, driving phase voltage fluctuation, and relative phase. The feature vector is input into a small current error prediction model trained with historical errors, outputting a missampling offset. A linear interpolation method is used to superimpose the offset onto the original current sequence, generating a corrected current waveform. The corrected waveform is then input to a controller, where closed-loop regulation is achieved through a vector control algorithm. This invention effectively reduces the accumulation of sampling errors in the commutation section, improves current control accuracy, and is suitable for motor drive scenarios requiring high frequency and high dynamic response.

The present invention provides an electric motor allowing stable drive control to be performed even when, in multipole motors, a resolver is used in a position sensor and combinations are realized in which the pole number ratio between the number of poles in the electric motor and the number of poles in the resolver is an indivisible non-integer multiple. This electric motor is characterized in that: said electric motor comprises an electric motor body, a position sensor that detects the position of a rotor of the electric motor body, and a control device that controls driving of the electric motor body; the control device includes a vector control unit that calculates a voltage command value on the basis of information on current flowing in the electric motor body and information on the position of the rotor detected by the position sensor, and an electrical angle phase calculation unit that calculates the electrical angle phase of the electric motor body; the electrical angle phase conversion unit includes an electrical angle conversion unit that converts sensor phase information, which is phase information for the motor body as acquired from the position sensor, into electrical angle phase information, which is phase information for the electrical angle of the rotor, in accordance with the pole number ratio, which is the ratio of the number of rotor poles, which is the number of poles of the rotor, and the number of position sensor poles, which is the number of poles of the position sensor, and outputs the electrical angle phase information, a rotor phase estimation unit that estimates the phase information of the electrical angle of the rotor and outputs the resulting estimate as a position estimation result, a phase correction amount calculation unit that calculates a phase correction amount according to the sensor phase information and the position estimation result, and a phase correction amount addition unit that generates corrected electrical angle phase information according to the value obtained by adding the phase correction amount to the electrical angle phase information; and the phase correction amount calculation unit calculates an initial phase correction amount according to the position estimation result for when the position sensor outputs 0-degree-phase information as the sensor phase information, calculates, once the initial phase correction amount has been calculated, a correction unit amount whereby 1 is added when the sensor phase information outputted by the phase sensor when the initial value is 0 has changed from 360 degrees to 0 degrees and 1 is subtracted when the sensor phase information outputted by the phase sensor when the initial value is 0 has changed from 0 degrees to 360 degrees, calculates a unit correction amount, which is the value obtained by multiplying the pole number ratio decimal value by 360 degrees, said pole number ratio decimal value being the value of the pole number ratio after the decimal point, and calculates as the phase correction amount a value obtained by multiplying the unit correction amount by the correction unit number and adding the resulting product to the initial phase correction amount.

The invention discloses an intelligent mulching film picking speed adjusting method based on image recognition and soil moisture content analysis, and the method comprises the steps: continuously collecting mulching film surface images through a front industrial camera, carrying out the pixel-level segmentation of a deep convolutional network, and obtaining a soil covering area ratio coefficient in real time; inputting the soil moisture content capacitance value and the synchronously acquired soil moisture content capacitance value into a load coupling model, and instantaneously calculating the comprehensive adhesion load of the mulching film soil interface; the load is mapped to a speed load piecewise function, and the optimal picking linear speed meeting the elongation at break constraint and with the lowest specific energy consumption is generated; a driving roller is controlled through a closed-loop vector of a variable-frequency driver, so that the linear speed tracks a set value quickly without overshoot; meanwhile, an encoder is used for monitoring the actual linear speed of the driven roller in real time and comparing the actual linear speed with a set value, if deviation exceeds the limit, recalculation is triggered, and whole-process self-adaptive adjustment is achieved. The operation efficiency is remarkably improved on the premise that the integrity of the mulching film is guaranteed.

The invention discloses a multi-model driving motor adaptive test system, and relates to the field of driving motor test. The rack bearing module is welded by low-alloy steel plates, the bottom is fixed, and vertical guide rails and horizontal sliding rails are arranged; the self-adaptive positioning module comprises a three-dimensional adjusting mechanism, so that accurate positioning is realized; the intelligent clamping module adopts a circumferential clamping assembly and an axial jacking device, and a clamping motor is stably clamped through an arc-shaped clamping jaw and the jacking device; the power test module collects parameters such as torque and rotating speed, and supports switching of vector control and torque control modes; the automatic calibration module is provided with a laser tracker and a standard torque meter, so that the measurement precision is ensured; the data processing module adopts an industrial computer to analyze data and generate a chart; and the safety protection module is provided with a three-level protection mechanism to guarantee the test safety. The method is fast adaptive to multi-model motor testing, improves the efficiency and precision, guarantees the safety, is reliable in data, is suitable for various testing scenes, and optimizes the traditional testing technology.

The invention discloses a high-power-density motor controller for a low-altitude aircraft. The high-power-density motor controller comprises a heterogeneous master control system (FPGA and DSP), a power driving circuit, a signal sampling circuit and a rotary transformer decoding system. The FPGA and the DSP are connected through an XINTF parallel interface, and the FPGA is responsible for hard real-time tasks including control of multichannel synchronous ADC sampling, generation of PWM signals and processing of pulse width modulation signals of a temperature sensor; the DSP is responsible for complex calculation tasks including motor vector control algorithm resolving, communication with a rotary transformer decoding chip through an SPI interface and operation of a position-sensorless observer to obtain redundant position signals. The power drive circuit adopts a silicon carbide power device, PWM signals and state feedback between the control board and the drive board are transmitted through a bidirectional 422 differential chip, and the drive board is integrated with a hardware short circuit and under-voltage protection circuit. According to the method, the problems of real-time performance, reliability and safety of motor control under high switching frequency are solved, and the power density and system robustness of the controller are remarkably improved.

The application discloses a permanent magnet synchronous motor parameter identification method based on triangular wave injection and relates to the technical field of motor control. A triangular wave with a direct current bias is injected into the d-axis current of the motor. In the identification equation of the autoregressive least square algorithm, the current differential term in the voltage equation of the permanent magnet synchronous motor is considered. Two groups of input data with low linear correlation are combined into a new equation group. The parameters of the motor are divided into two sections, the new equation group is used for identification, and an identification result is output. The segmented autoregressive least square method parameter identification based on triangular wave injection can realize real-time identification of the resistance, inductance and flux linkage of the motor when the motor is in steady operation, so that the control performance of the double closed loop vector control of the permanent magnet synchronous motor is further improved.

The application discloses a control method of a diesel-electricity-fuel combined propulsion system, a six-dimensional mathematical model of a six-phase induction motor is established first, then space decoupling transformation is carried out on the mathematical model, a mathematical model of the six-phase induction motor based on a synchronous rotating coordinate system d-q is established, mathematical models of a three-phase voltage type PWM rectifier and a three-phase voltage type PWM inverter are respectively established, and finally, six-phase induction motor double-dq vector control based on SVPWM is carried out; under the motor follow-up power generation condition, the output power of the gas turbine is higher than the total output power of the propulsion system, the redundant power is provided to the motor by the transmission shaft, the motor is driven to generate power, and the requirement of a 10kV level network on harmonics is met.

This invention discloses a sensorless motor control method to avoid dead zone effects at low speeds, comprising the following steps: S101, setting the initial values ​​of motor angle and speed to zero in the program; S102, starting the motor, and ensuring stable operation of the entire foc vector control loop; S103, determining whether the electric angular velocity frequency is greater than 1 kHz. If it is greater than 1 kHz, proceed to step S301; otherwise, proceed to the following step: S201, the hardware circuit samples the terminal voltage to obtain the terminal voltage value, and the terminal voltage is calculated by the software to obtain U. α and U β Meanwhile, the forc vector control loop acquires i α and i β This invention acquires the actual terminal voltage of the motor through hardware circuitry, thereby obtaining the alpha and beta axis voltages. The actual sampled voltages do not include the influence of the dead zone and can be directly input to the sliding diaphragm observer, thus avoiding the influence of the dead zone on the output of the sliding diaphragm observer.

This motor control device performs position sensorless vector control using a forward salient-pole model of a synchronous reluctance motor. The motor control device comprises: a velocity control calculation unit that calculates a current command value on the basis of the difference between a velocity command value and a velocity estimation value, the velocity estimation value, and a limit value of a q-axis current command value that is changed according to a proportional gain of velocity estimation; a vector control calculation unit that calculates a voltage command value on the basis of a current detection value, the current command value, and the velocity estimation value; a phase error estimation calculation unit that calculates an estimation value of a phase error on the basis of the voltage command value, the velocity estimation value, and the current detection value; and a frequency and phase estimation calculation unit that calculates the velocity estimation value and a phase estimation value on the basis of the estimation value of the phase error and the velocity command value. Thus, it is possible to automatically select and set parameters related to high efficiency and high responsiveness in the synchronous reluctance motor using a sensorless control system.

The utility model relates to an energy-saving compressor unit, which belongs to the technical field of compressors and comprises a heat storage tank, a transmission case is fixedly mounted at one end of the top of the heat storage tank, a cylinder is fixedly mounted at the other end of the top of the heat storage tank, and a rotating disc is rotatably connected to the inner wall of the transmission case. The air compressor has the advantages that the rotating disc can be driven to rotate through the vector control type frequency converter so as to drive the crank to do circular motion, then the piston body can be pulled to do reciprocating motion in the movable cavity through the piston rod, and therefore air compression can be completed; the vector control type frequency converter adjusts the rotating speed of the permanent magnet synchronous motor according to an instruction of the controller, so that the compressor is kept in the optimal operation state under different loads, energy consumption is reduced, heat of high-temperature gas in exhausted gas can be recycled through the heat exchanger, and the recycled heat is stored in the heat storage tank and used for subsequent heating or other purposes. And therefore, the purpose of recovering heat can be achieved.

The invention relates to the technical field of large-scale gravity energy storage system control, in particular to a gravity energy storage system charging and discharging switching method based on a doubly-fed motor and model prediction, and the method comprises the steps: obtaining a smooth non-overshoot power reference trajectory based on a five-order S-shaped curve algorithm through the real-time operation data of a power grid; obtaining an optimal control instruction sequence in a future period according to the smooth non-overshoot power reference trajectory; acquiring a switching signal of the power converter based on a flux linkage directional vector control strategy by using the optimal control instruction sequence in the future time period; according to the power converter switching signal, charging and discharging switching of the gravity energy storage system is carried out, through the multi-step look-ahead optimization capability of a model prediction control algorithm and in combination with a smooth reference trajectory generation method of an S-shaped curve, power and torque abrupt changes in the mode switching process are eliminated fundamentally, and the mode switching efficiency is improved. The key technical problem in charging and discharging mode switching of the gravity energy storage system is effectively solved, and important technical support is provided for large-scale application of the gravity energy storage technology.

The invention discloses a magnetic suspension vector control method, which comprises the following steps of: obtaining an actual displacement value of a rotor through a suspension winding side displacement sensor, and obtaining a moment of force through a PID (Proportion Integration Differentiation) algorithm according to a difference value between the actual displacement value and a target displacement value; converting the torque through a force current matrix to obtain a current reference value on a rotor coordinate system corresponding to the suspension winding; performing Park conversion on the actual current of the suspension winding measured by the current sensor to obtain the actual current of the corresponding rotor coordinate system; the actual current is compared with a current reference value, PID calculation is carried out, a target voltage value on a rotor coordinate system is obtained, and a target voltage value on a suspension winding stator coordinate system is obtained through Park inverse transformation; the target voltage value outputs PWM according to an SPWM algorithm, and the inverter is controlled to output the required voltage. The method is high in control precision, fast in dynamic response and easy for real-time control of an embedded system.