CN117853591A - Method, device, electronic equipment and medium for estimating synchronous camera adjustment parameters - Google Patents
Method, device, electronic equipment and medium for estimating synchronous camera adjustment parameters Download PDFInfo
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Abstract
The application discloses a method, a device, electronic equipment and a medium for estimating parameters of a synchronous camera, which are applied to the field of synchronous camera operation. The method provided by the application comprises the following steps: respectively acquiring operation data of the synchronous camera before and after load rejection; preprocessing the operation data to obtain an increment per unit value corresponding to the operation data; determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value; determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value; and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera. Therefore, the step of determining the second-order integral value is suitable for the scene of exciting voltage change during load rejection, meanwhile, the method does not need longer measurement time, does not need to provide a parameter initial value, does not need iteration, and is high in parameter estimation precision, universality and practicability due to the fact that exciting voltage change is considered.
Description
Technical Field
The present invention relates to the field of synchronous camera operation, and in particular, to a method, an apparatus, an electronic device, and a medium for estimating parameters of a synchronous camera.
Background
Reasonable and reliable synchronous camera setting parameters are the basis for evaluating the transient nonfunctional capacity of a camera setting, analyzing the stability of a power system and optimizing the operation and control measures of the power system. Similar to the manner in which synchronous generator parameters are obtained, a load rejection test may be generally employed to determine the direct axis parameters of the synchronous governor. At present, various methods for estimating parameters of synchronous generators and/or synchronous cameras based on load shedding tests have been proposed in academia and engineering circles at home and abroad. These methods fall broadly into three categories. The method is a traditional graph method, and the method needs to use data when a generator and/or a camera reach a steady state after load rejection, so that the required measurement time is long; in addition, this method is not applicable to generators and/or cameras where the excitation voltage cannot be kept constant during load rejection; the second type is a numerical optimization method, the method takes a parameter estimation problem as a nonlinear optimization problem, an initial value of a parameter needs to be given when solving, then an estimation result is obtained through iterative calculation, and when the initial value of the parameter is unreasonable, a larger estimation error can be caused; the third type of method is a linear estimation method, and the method utilizes the quadrature axis voltage, the exciting current and the direct axis current, and further obtains the direct axis parameters of the generator and/or the regulator by identifying the transfer functions of two single inputs and single outputs at the same time.
In view of the foregoing, it is a need for a method, apparatus, electronic device and medium for estimating parameters of a synchronous camera.
Disclosure of Invention
The application aims to provide a method, a device, electronic equipment and a medium for estimating parameters of a synchronous camera. The method can solve the problems that in the prior art, the current method for estimating the parameters of the synchronous phase-regulating device is only used for a scene that exciting voltage is kept constant during the load-throwing period, and the scene that the exciting voltage changes during the load-throwing period cannot be processed.
In order to solve the technical problems, the application provides a method for estimating parameters of a synchronous camera. The method is suitable for the scene that the direct-axis equivalent circuit model of the synchronous rectifier comprises 1 excitation winding and 1 damping winding, and the model is widely accepted and used in the stability analysis and simulation modeling of a power system. The method provided by the application comprises the following steps:
respectively acquiring operation data of the synchronous camera before and after load rejection; the operation data comprise armature current of the synchronous speed regulator before load throwing, machine end voltage of the synchronous speed regulator before load throwing, exciting current of the synchronous speed regulator before load throwing and exciting voltage of the synchronous speed regulator before load throwing, and armature current of the synchronous speed regulator after load throwing, machine end voltage of the synchronous speed regulator after load throwing, exciting current of the synchronous speed regulator after load throwing and exciting voltage of the synchronous speed regulator after load throwing;
Preprocessing the operation data to obtain an increment per unit value corresponding to the operation data;
determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value;
determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value;
and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera.
Preferably, the operation data is preprocessed to obtain the increment per unit value corresponding to the operation data;
acquiring a parameter reference value corresponding to the synchronous camera;
and determining the corresponding increment per unit value according to the operation data before the load rejection test is carried out, the operation data after the load rejection test is carried out and the parameter reference value.
Preferably, acquiring a parameter reference value corresponding to the synchronous tuner includes:
determining an armature current reference value, an exciting current reference value and a terminal voltage reference value according to rated apparent power and rated voltage of the synchronous camera;
if the magnetic field voltage required by the rated stator end voltage of the synchronous regulator is known and reliable, taking the magnetic field voltage as an excitation voltage reference value;
if the magnetic field voltage required by the rated stator terminal voltage of the synchronous regulator is unknown or unreliable, the rated exciting voltage of the synchronous regulator is taken as an exciting voltage reference value.
Preferably, when a field voltage required to generate a rated stator terminal voltage of the synchronous motor on the air gap line is an excitation voltage reference value, determining a preliminary parameter value of the synchronous motor according to the first order integral value, the second order integral value, and the increment per unit value includes:
determining a first matrix according to the second-order integral value of the per unit value of the exciting voltage increment, the second-order integral value of the per unit value of the machine end voltage increment and the second-order integral value of the per unit value of the exciting current increment;
determining a second matrix according to the machine end voltage increment per unit value, the first-order integral value of the machine end voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value and the first-order integral value of the exciting voltage increment per unit value;
determining a third matrix according to the first matrix and the second matrix; wherein the third matrix characterizes preliminary parameter values of the synchronous camera.
Preferably, when the rated exciting voltage is used as the exciting voltage reference value, determining the preliminary parameter value of the synchronous regulator according to the first-order integral value, the second-order integral value and the increment per unit value includes:
Determining a fourth matrix according to the second-order integral value of the per unit value of the voltage increment of the machine end and the second-order integral value of the per unit value of the exciting current increment;
determining a fifth matrix according to the machine end voltage increment per unit value, the first-order integral value of the machine end voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value, the first-order integral value of the exciting voltage increment per unit value and the second-order integral value of the exciting voltage increment per unit value;
determining a sixth matrix according to the fourth matrix and the fifth matrix; wherein the sixth matrix characterizes preliminary parameter values of the synchronous camera.
Preferably, correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera, including:
acquiring a first time domain response of a per unit value of the voltage increment of the machine end and a second time domain response of a per unit value of the exciting current increment by adopting a first numerical simulation method;
acquiring a first order integral value of a first time domain response and a first order integral value of a second time domain response;
determining a first auxiliary variable matrix according to the first time domain response, the first order integral value of the first time domain response, the second time domain response, the first order integral value of the second time domain response, the armature current increment per unit value, the first order integral value of the armature current increment per unit value, the second order integral value of the armature current increment per unit value and the first order integral value of the exciting voltage increment per unit value;
And determining a first target matrix according to the first matrix, the first auxiliary variable matrix and the second matrix, wherein the first target matrix represents target parameter values of the synchronous camera.
Preferably, correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera, including:
acquiring a third time domain response of the per unit value of the voltage increment of the machine end and a fourth time domain response of the per unit value of the exciting current increment by adopting a second digital simulation method;
determining a second auxiliary variable matrix according to the third time domain response, the first order integral value of the third time domain response, the fourth time domain response, the first order integral value of the fourth time domain response, the armature current increment per unit value, the first order integral value of the armature current increment per unit value, the second order integral value of the armature current increment per unit value and the first order integral value of the excitation voltage increment per unit value;
and determining a second target matrix according to the fourth matrix, the second auxiliary variable matrix and the fifth matrix, wherein the second target matrix represents target parameter values of the synchronous camera.
In order to solve the above technical problem, the present application further provides a device for estimating parameters of a synchronous camera, including:
the acquisition module is used for acquiring the operation data of the synchronous camera before and after the load rejection test is carried out; the operation data comprise armature current of the synchronous camera before load throwing, machine end voltage of the synchronous camera before load throwing, exciting current of the synchronous camera before load throwing and exciting voltage of the synchronous camera before load throwing, and armature current of the synchronous camera after load throwing, machine end voltage of the synchronous camera after load throwing, exciting current of the synchronous camera after load throwing and exciting voltage of the synchronous camera after load throwing;
The processing module is used for preprocessing the operation data to obtain an increment per unit value corresponding to the operation data;
the first determining module is used for determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value;
the second determining module is used for determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value;
and the correction module is used for correcting the primary parameter value by using an auxiliary variable method so as to obtain a target parameter value of the synchronous camera.
In order to solve the technical problem, the application also provides electronic equipment, which comprises a memory for storing a computer program;
and the processor is used for realizing the steps of the method for estimating the synchronous camera adjusting parameters when executing the computer program.
In order to solve the above technical problem, the present application further provides a computer readable storage medium of an electronic device, where a computer program is stored, and the computer program when executed by a processor implements the steps of the method for estimating synchronous camera parameters as described above.
The method for estimating the parameters of the synchronous camera comprises the following steps: respectively acquiring operation data of the synchronous camera before and after load rejection; the operation data comprise armature current of the synchronous camera before load throwing, machine end voltage of the synchronous camera before load throwing, exciting current of the synchronous camera before load throwing and exciting voltage of the synchronous camera before load throwing, and armature current of the synchronous camera after load throwing, machine end voltage of the synchronous camera after load throwing, exciting current of the synchronous camera after load throwing and exciting voltage of the synchronous camera after load throwing; preprocessing the operation data to obtain an increment per unit value corresponding to the operation data; determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value; determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value; and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera. Therefore, the method provided by the application is based on the load rejection test, the operation data before the load rejection test and after the load rejection test are acquired, the operation data are processed to obtain the corresponding first-order integral value and second-order integral value, the preliminary parameter value is corrected according to the auxiliary variable method on the basis of acquiring the preliminary parameter value of the synchronous camera, the prepared target parameter value is provided, in the application, the step of processing the operation data to obtain the corresponding second-order integral value is suitable for the scene of excitation voltage change during the load rejection, the application range of the method is enlarged, meanwhile, the method does not need longer measurement time, does not need to provide the parameter initial value, does not need iteration, and is high in parameter estimation precision, high in universality and practicability.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for estimating synchronous camera parameters according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a simulation model according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a parameter true value and a parameter estimation value according to an embodiment of the present disclosure;
FIG. 4 is a block diagram of an apparatus for estimating synchronous camera parameters according to another embodiment of the present application;
fig. 5 is a block diagram of an electronic device according to another embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments herein without making any inventive effort are intended to fall within the scope of the present application.
The core of the application is to provide a method, a device, electronic equipment and a medium for estimating parameters of a synchronous camera.
In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.
Reasonable and reliable synchronous camera setting parameters are the basis for evaluating the transient nonfunctional capacity of a camera setting, analyzing the stability of a power system and optimizing the operation and control measures of the power system. Similar to the manner in which synchronous generator parameters are obtained, a load rejection test may be generally employed to determine the direct axis parameters of the synchronous governor. At present, various methods for estimating parameters of synchronous generators and/or synchronous cameras based on load shedding tests have been proposed in academia and engineering circles at home and abroad. These methods fall broadly into three categories. The method is a traditional graph method, and the method needs to use data when a generator and/or a camera reach a steady state after load rejection, so that the required measurement time is long; in addition, this method is not applicable to generators and/or cameras where the excitation voltage cannot be kept constant during load rejection; the second type is a numerical optimization method, the method takes a parameter estimation problem as a nonlinear optimization problem, an initial value of a parameter needs to be given when solving, then an estimation result is obtained through iterative calculation, and when the initial value of the parameter is unreasonable, a larger estimation error can be caused; the third type of method is a linear estimation method, and the method utilizes the quadrature axis voltage, the exciting current and the direct axis current, and further obtains the direct axis parameters of the generator and/or the regulator by identifying the transfer functions of two single inputs and single outputs at the same time.
In order to solve the above technical problems, the present application provides a method for estimating parameters of a synchronous camera, as shown in fig. 1, including the following steps:
s10: and respectively acquiring the operation data of the synchronous camera before and after the load rejection.
In a specific embodiment, the load rejection test is to suddenly drop the load in the process of connecting the synchronous camera with the load. In the application, the operation data of the synchronous camera before and after load rejection is acquired. In general, the operating data includes four types, namely armature current, machine side voltage, field current, and field voltage, respectively. Wherein, the armature current is: current flowing in the armature winding of the synchronous regulator; the terminal voltage is: the synchronous camera terminal outlet voltage can be phase voltage or line voltage; the exciting current is: synchronous camera exciter output current; the exciting voltage is: the synchronous phase-adjusting machine exciter output voltage.
Because the operation data before and after load rejection are obtained in the present application, the operation data in the embodiment of the present application specifically includes: the method comprises the steps of carrying out load throwing on an armature current before load throwing, carrying out machine end voltage before load throwing, carrying out exciting current before load throwing and carrying out exciting voltage before load throwing, and carrying out load throwing on the armature current after load throwing, carrying out machine end voltage after load throwing, carrying out exciting current after load throwing and carrying out exciting voltage after load throwing.
In a specific embodiment, the armature current, the machine end voltage, the exciting current and the exciting voltage can be obtained by adopting corresponding sensors, but the method is not limited in the application, and meanwhile, the obtained frequency is not limited in the application, and the method can be set according to the needs of users.
S11: and preprocessing the operation data to obtain the increment per unit value corresponding to the operation data.
In a specific embodiment, the armature current before load throwing, the machine end voltage before load throwing, the exciting current before load throwing and the exciting voltage before load throwing are preprocessed, and corresponding increment per unit values, namely armature current increment per unit values, can be obtained; the per unit value of the voltage increment at the machine end, the per unit value of the exciting current increment and the per unit value of the exciting voltage increment.
Preferably, the increment per unit value is calculated as: the ratio of the difference value of the operation data after the load rejection and the operation data before the load rejection to the corresponding reference value is an increment per unit value. Taking the armature current increment per unit value as an example: the ratio of the difference value of the armature current after load rejection and the armature current before load rejection to the armature current reference value is the per unit value of the armature current increment. The reference value is determined by the synchronous camera technical parameter. It should be further noted that the example of the present application is only one implementation manner, but is not limited to only such an implementation manner, and may be set at the discretion of the user according to the needs of the user.
S12: and determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value.
S13: and determining the preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value.
In a specific embodiment, according to the calculation formulas of the first-order integral and the second-order integral, the increment per unit value determined in the above step is obtained to determine the corresponding first-order integral value and second-order integral value. The specific numerical values are as follows: first order integral value of per unit value of armature current increment, second order integral value of per unit value of armature current increment; a first order integral value of the per unit value of the machine side voltage increment, and a second order integral value of the per unit value of the machine side voltage increment; a first order integral value of the per unit value of the excitation current increment, a second order integral value of the per unit value of the excitation current increment; the first order integral value of the per unit value of the excitation voltage increment, and the second order integral value of the per unit value of the excitation voltage increment.
And because the operation data and the parameters of the synchronous camera have a certain corresponding relation, the preliminary parameter value of the synchronous camera is determined according to the first-order integral value, the second-order integral value and the increment per unit value.
The corresponding relation between the specific operation data and the parameters of the synchronous camera is not limited in the application, and the synchronous camera can be set according to the needs of users.
S14: and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera.
In a specific embodiment, the accuracy of the preliminary parameter value obtained in step S13 is low, so that the preliminary parameter value is corrected by using the auxiliary variable method to obtain the target parameter value of the synchronous camera, that is, to obtain a more accurate target parameter value.
Wherein, the definition of the auxiliary variable method is as follows: a variable is highly correlated with a random interpretation variable in the model, but not with a random error term, and a consistent estimate of the variable and the corresponding regression coefficient in the model, called an auxiliary variable, can be obtained.
The method for estimating the parameters of the synchronous camera comprises the following steps: respectively acquiring operation data of the synchronous camera before and after load rejection; the operation data comprise armature current of the synchronous camera before load throwing, machine end voltage of the synchronous camera before load throwing, exciting current of the synchronous camera before load throwing and exciting voltage of the synchronous camera before load throwing, and armature current of the synchronous camera after load throwing, machine end voltage of the synchronous camera after load throwing, exciting current of the synchronous camera after load throwing and exciting voltage of the synchronous camera after load throwing; preprocessing the operation data to obtain an increment per unit value corresponding to the operation data; determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value; determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value; and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera. Therefore, the method provided by the application is based on the load rejection test, the operation data before the load rejection test and after the load rejection test are acquired, the operation data are processed to obtain the corresponding first-order integral value and second-order integral value, the preliminary parameter value is corrected according to the auxiliary variable method on the basis of acquiring the preliminary parameter value of the synchronous camera, the prepared target parameter value is provided, in the application, the step of processing the operation data to obtain the corresponding second-order integral value is suitable for the scene of excitation voltage change during the load rejection, the application range of the method is enlarged, meanwhile, the method does not need longer measurement time, does not need to provide the parameter initial value, does not need iteration, and is high in parameter estimation precision, high in universality and practicability.
On the basis of the above embodiment, as a preferable mode, the operation data is preprocessed to obtain the increment per unit value corresponding to the operation data;
acquiring a parameter reference value corresponding to the synchronous camera;
and determining the corresponding increment per unit value according to the operation data before the load rejection test is carried out, the operation data after the load rejection test is carried out and the parameter reference value.
In a specific embodiment, to obtain the per unit value of the increment corresponding to the operation data, a parameter reference value corresponding to the synchronous regulator, that is, an armature current reference value, a machine side voltage reference value, an exciting current reference value, and an exciting voltage reference value, are first obtained. And then determining the corresponding increment per unit value according to the operation data before the load rejection test is carried out, the operation data after the load rejection test is carried out and the parameter reference value. The specific method comprises the following steps: the ratio of the difference value of the operation data after the load rejection and the operation data before the load rejection to the corresponding reference value is an increment per unit value. Taking the armature current increment per unit value as an example: the ratio of the difference value of the armature current after load rejection and the stable armature current before load rejection to the armature current reference value is the per unit value of the armature current increment. The reference value is determined by the synchronous camera technical parameter. It should be further noted that the example of the present application is only one implementation manner, but is not limited to only such an implementation manner, and may be set according to the needs of the user.
The armature current reference value, the exciting current reference value and the terminal voltage reference value are determined according to rated apparent power and rated voltage of the synchronous rectifier, but two methods for determining the exciting voltage reference value exist. First kind: when the field voltage required for generating the rated stator terminal voltage of the synchronous motor on the air gap line is known and reliable, the field voltage is set as the field voltage reference value, that is, when the field voltage is reliable data, the field voltage is set as the field voltage reference value (this reference value is also referred to as the reference value under the irreversible per unit system commonly adopted in the field system). Second, when the field voltage required to generate the rated stator terminal voltage of the synchronous motor on the air gap line is unknown or unreliable, the rated exciting voltage of the synchronous motor is taken as an exciting voltage reference value.
As can be seen from the above, there are two ways to select the exciting voltage reference value, so the steps of obtaining the preliminary parameter value of the synchronous modulator and correcting the preliminary parameter value will be different due to the difference in selecting the exciting voltage reference value.
When the magnetic field voltage is the excitation voltage reference value, the step of obtaining the preliminary parameter value of the synchronous camera comprises the following steps:
Determining a first matrix according to the second-order integral value of the per unit value of the exciting voltage increment, the second-order integral value of the per unit value of the machine end voltage increment and the second-order integral value of the per unit value of the exciting current increment;
determining a second matrix according to the machine end voltage increment per unit value, the first-order integral value of the machine end voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value and the first-order integral value of the exciting voltage increment per unit value;
determining a third matrix according to the first matrix and the second matrix; wherein the third matrix characterizes preliminary parameter values of the synchronous camera.
In a specific embodiment, the armature current after load rejection, the machine end voltage after load rejection, the exciting voltage after load rejection and the exciting current after load rejection are all obtained, and N sampling points are obtained from the first sampling point after load rejection, which means that the data after load rejection is N groups, and each group corresponds to one armature current after load rejection, the machine end voltage after load rejection, the exciting voltage after load rejection and the exciting current after load rejection. Wherein t is used for each sampling time i Representation (i=1, 2, … …, N).
Wherein the expression of the first matrix is:
Γ＝[y 1 (t 1 ) … y 1 (t N ) y 2 (t 1 ) … y 2 (t N )] T ；
wherein,second-order integral value of per unit value of exciting voltage increment;the second-order integral value is the per unit value of the voltage increment of the machine terminal; />The second order integral value is the per unit value of the excitation current increment.
The expression of the second matrix is:
Φ＝[A B]；
wherein Deltav t (t i ) The per unit value is the voltage increment of the machine terminal;a first order integral value for the per unit value of the terminal voltage increment; ΔI fd (t i ) The per unit value of the exciting current increment is; />A first order integral value which is a per unit value of the exciting current increment; Δi d (t i ) The per unit value of the armature current increment is set; />A first order integral value that is a per unit value of the armature current increment; />A first order integral value that is a per unit value of the armature current increment; />Is the first order integral value of the per unit value of the excitation voltage increment.
Determining a third matrix according to the first matrix and the second matrix, wherein the relation between the first matrix and the third matrix and the relation between the second matrix and the third matrix are as follows:
Γ＝Φθ；
θ＝[θ 1 θ 2 θ 3 θ 4 θ 5 θ 6 θ 7 θ 8 θ 9 ]；
wherein θ is a third matrix. θ 1 ＝T′ d0 T″ d0 ，θ 2 ＝T′ d0 +T″ d0 ，θ 3 ＝L d T′ d T″ d ，θ 4 ＝L d (T′ d +T″ d )，θ 5 ＝L d ，Wherein T' d0 、T″ d0 、T′ d 、T″ d Respectively representing a straight-axis transient open time constant, a straight-axis transient short time constant and a straight-axis transient short time constant, wherein the units are seconds; l (L) d 、L md 、L 1d 、L f1d 、R 1d 、R fd The direct axis synchronous inductance, the direct axis synchronous mutual inductance, the direct axis damping winding leakage inductance, the differential leakage inductance, the direct axis damping winding resistance and the exciting winding resistance are respectively represented as per unit value; omega n The nominal angular frequency is expressed in rad/s.
After the values of the third matrix are determined through the first matrix and the second matrix, each element in the third matrix is the primary parameter value obtained by the application.
Correspondingly, the step of correcting the preliminary parameter value includes:
acquiring a first time domain response of a per unit value of the voltage increment of the machine end and a second time domain response of a per unit value of the exciting current increment by adopting a first numerical simulation method;
acquiring a first order integral value of a first time domain response and a first order integral value of a second time domain response;
determining a first auxiliary variable matrix according to the first time domain response, the first order integral value of the first time domain response, the second time domain response, the first order integral value of the second time domain response, the armature current increment per unit value, the first order integral value of the armature current increment per unit value, the second order integral value of the armature current increment per unit value and the first order integral value of the exciting voltage increment per unit value;
and determining a first target matrix according to the first matrix, the first auxiliary variable matrix and the second matrix, wherein the first target matrix represents target parameter values of the synchronous camera.
In a specific embodiment, the calculation formula of the first time domain response of the per unit value of the terminal voltage increment is:
The second time domain response of the per unit value of the exciting current has the following calculation formula:
wherein,first time domain response for per unit value of terminal voltage increment, < >>A second time-domain response to the per unit value of the excitation current, p representing the differential operator, ++>
The dimension of the first auxiliary variable matrix Z is the same as Φ, and the last 7 columns are the same, while the expressions of the first two columns of the first auxiliary variable matrix are:
wherein,a first order integral value that is a first time domain response; />Is a first order integral value of the second time domain response,
the expression of the correspondence among the first matrix, the first auxiliary variable matrix, the second matrix and the first target matrix is as follows:
wherein,for the first target matrix, a target parameter value can be obtained according to the first target matrix and the formula about the parameter in the above, wherein the types of the target parameter value include: straight-axis transient open circuit time constant T' d0 The method comprises the steps of carrying out a first treatment on the surface of the Straight-axis secondary transient open circuit time constant T d0 The method comprises the steps of carrying out a first treatment on the surface of the Direct axis transient short time constant T' d The method comprises the steps of carrying out a first treatment on the surface of the Time constant T' for transient short circuit of straight axis d The method comprises the steps of carrying out a first treatment on the surface of the Straight axis synchronous inductance L d The method comprises the steps of carrying out a first treatment on the surface of the Direct axis transient inductance L' d The method comprises the steps of carrying out a first treatment on the surface of the Direct axis secondary transient inductance L' d 。
When the rated exciting voltage is used as an exciting voltage reference value, the step of obtaining the preliminary parameter value comprises the following steps:
Determining a fourth matrix according to the second-order integral value of the per unit value of the voltage increment of the machine end and the second-order integral value of the per unit value of the exciting current increment;
determining a fifth matrix according to the machine end voltage increment per unit value, the first-order integral value of the machine end voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value, the first-order integral value of the exciting voltage increment per unit value and the second-order integral value of the exciting voltage increment per unit value;
determining a sixth matrix according to the fourth matrix and the fifth matrix; wherein the sixth matrix characterizes preliminary parameter values of the synchronous camera.
In a specific embodiment, the armature current after load rejection, the machine end voltage after load rejection, the exciting voltage after load rejection and the exciting current after load rejection are all obtained, and N sampling points are obtained from the first sampling point after load rejection, which means that the data after load rejection are N groups, each group corresponds to one armature current after load rejection and one load rejectionThe post-machine-end voltage, the post-load exciting voltage and the post-load exciting current. Wherein t is used for each sampling time i Representation (i=1, 2, … …, N).
Wherein the expression of the fourth matrix is:
Γ′＝[y 1 ′(t 1 ) … y 1 ′(t N ) y 2 ′(t 1 ) …y 2 ′(t N )] T ；
wherein,the second-order integral value is the per unit value of the voltage increment of the machine terminal;the second order integral value is the per unit value of the excitation current increment.
The expression of the fifth matrix is:
Φ′＝[A B′]；
wherein Deltav t (t i ) The per unit value is the voltage increment of the machine terminal;a first order integral value for the per unit value of the terminal voltage increment; ΔI fd (t i ) For exciting electricityStream increment per unit value; />A first order integral value which is a per unit value of the exciting current increment; Δi d (t i ) The per unit value of the armature current increment is set; />A first order integral value that is a per unit value of the armature current increment; />A first order integral value that is a per unit value of the armature current increment; />A first order integral value which is a per unit value of the exciting voltage increment; />The second order integral value is the per unit value of the excitation voltage increment.
Determining a sixth matrix according to the fourth matrix and the fifth matrix, wherein the relation between the fourth matrix and the sixth matrix and the relation between the fifth matrix and the sixth matrix are as follows:
Γ′＝Φ′θ′；
θ′＝[θ 1 θ 2 θ 3 θ 4 θ 5 θ 6 ′ θ 7 θ 8 θ 9 ′ θ 10 ′ θ 11 ′]
wherein θ' is a sixth matrix. θ 1 ＝T′ d0 T″ d0 ，θ 2 ＝T′ d0 +T′ d0 ，θ 3 ＝L d T′ d T′ d ，θ 4 ＝L d (T′ d +T″ d )，θ 5 ＝L d ， θ 9 ′＝K 2 ，/>Wherein T' d0 、T″ d0 、T′ d 、T″ d Respectively representing a straight-axis transient open time constant, a straight-axis transient short time constant and a straight-axis transient short time constant, wherein the units are seconds; l (L) d 、L md 、L 1d 、L f1d 、R 1d 、R fd The direct axis synchronous inductance, the direct axis synchronous mutual inductance, the direct axis damping winding leakage inductance, the differential leakage inductance, the direct axis damping winding resistance and the exciting winding resistance are respectively represented as per unit value; omega n The nominal angular frequency is expressed in rad/s.
After the values of the sixth matrix are determined through the fourth matrix and the fifth matrix, each element in the sixth matrix is the primary parameter value obtained when the rated exciting voltage is used as the exciting voltage reference value.
Correspondingly, the step of correcting the preliminary parameter value includes:
acquiring a third time domain response of the per unit value of the voltage increment of the machine end and a fourth time domain response of the per unit value of the exciting current increment by adopting a second digital simulation method;
determining a second auxiliary variable matrix according to the third time domain response, the first order integral value of the third time domain response, the fourth time domain response, the first order integral value of the fourth time domain response, the armature current increment per unit value, the first order integral value of the armature current increment per unit value, the second order integral value of the armature current increment per unit value and the first order integral value of the excitation voltage increment per unit value;
and determining a second target matrix according to the fourth matrix, the second auxiliary variable matrix and the fifth matrix, wherein the second target matrix represents target parameter values of the synchronous camera.
In a specific embodiment, the expression of the third time domain response of the per unit value of the terminal voltage increment is:
the fourth time domain response of the per unit value of the excitation current increment is expressed as:
wherein,a third time domain response for the per unit value of the terminal voltage increment; />Fourth time domain response for per unit value of excitation current increment, p represents differential operator, ++>
The second auxiliary variable matrix Z 'has the same dimension as Φ' and the last 9 columns are the same, while the first two columns of the second auxiliary variable matrix are expressed as:
wherein,a first order integral value that is a third time domain response; />Is the corresponding first order integral value of the fourth time domain,
the expression of the correspondence relationship among the fourth matrix, the second auxiliary variable matrix, the fifth matrix and the second target matrix is as follows:
wherein,for the second target matrix, a target parameter value can be obtained according to the second target matrix and the formula about the parameter in the above, wherein the types of the target parameter value include: straight-axis transient open circuit time constant T' d0 The method comprises the steps of carrying out a first treatment on the surface of the Straight-axis secondary transient open circuit time constant T d0 The method comprises the steps of carrying out a first treatment on the surface of the Direct axis transient short time constant T' d The method comprises the steps of carrying out a first treatment on the surface of the Time constant T' for transient short circuit of straight axis d The method comprises the steps of carrying out a first treatment on the surface of the Straight axis synchronous inductance L d The method comprises the steps of carrying out a first treatment on the surface of the Straight-axis transient inductance L' d The method comprises the steps of carrying out a first treatment on the surface of the Direct axis secondary transient inductance L' d 。
The effectiveness of the method provided by the invention is verified through a simulation example, and a simulation model is shown in fig. 2. In the simulation model, the rated capacity of the synchronous camera is 300Mvar, and the steady-state working condition before load rejection is as follows: the phase-regulating machine absorbs 50Mvar reactive power, the per unit value of exciting voltage under an irreversible per unit system is 0.7745, the per unit value of exciting current is 0.7745, the per unit value of direct axis current under the reversible per unit system is-0.1168, and the per unit value of machine end voltage is 0.9952. The sampling frequency was set to 2000Hz.
Firstly, assuming that the exciting voltage reference value under the irreversible per unit system is known, solving according to the corresponding formula to obtain a first target matrixValues of (2) and L d 、T′ d 、T″ d 、T′ d0 、T″ d0 、L′ d 、L″ d Is used for the estimation of the estimated value of (a). Comparison of these parameter estimates with parameter truth values is shown in table 1 below, as can be seen: the parameter estimation value has smaller parameter true value error, L d 、T′ d 、T″ d 、T′ d0 、T″ d0 、L′ d 、L″ d The relative error is less than 4%; remove theta 7 The relative error is slightly more than 10%, and the relative error of the other parameters is less than 7.5%.
TABLE 1
Next, assume that the excitation voltage reference value in the irreversible per unit system is unknown, θ 10 ' =2.0, and solving according to the corresponding formula to obtain a first target matrixValues of (2) and L d 、T′ d 、T″ d 、T′ d0 、T″ d0 、L′ d 、L d "estimate. Comparison of these parameter estimates with parameter truth values is shown in table 2 below, which shows: the parameter estimation value has smaller parameter true value error and divides theta' 10 The relative error is less than 3.5% except that the relative error exceeds 10%. According to the parameter true value and the parameter estimated value, carrying out load rejection test simulation, and obtaining the machine terminal voltage, wherein the obtained machine terminal voltage is shown in fig. 3, and the response of the machine terminal voltage is seen to be consistent.
TABLE 2
| Parameters (parameters) | True value | Estimated value | Relative error (%) |
| θ 1 | 0.1845 | 0.1882 | 2.01 |
| θ 2 | 5.7836 | 5.9118 | 2.22 |
| θ 3 | 0.0374 | 0.037 | 1.07 |
| θ 4 | 1.6793 | 1.7159 | 2.18 |
| θ 5 (L d ) | 1.89 | 1.9302 | 2.13 |
| θ 6 ′ | 0.0062 | 0.006 | 3.23 |
| θ 7 ′ | 1.5 | 1.5326 | 2.17 |
| θ 8 ′ | 1.0944 | 1.113 | 1.70 |
| θ 9 ′ | 2.25 | 2.25 | 0.00 |
| θ 10 ′ | 0.0522 | 0.0587 | 12.45 |
| θ 11 ′ | 12.6478 | 12.9867 | 2.68 |
| T′ d | 0.8656 | 0.8669 | 0.15 |
| T″ d | 0.0229 | 0.0221 | 3.49 |
| T′ d0 | 5.7515 | 5.8798 | 2.23 |
| T″ d0 | 0.0321 | 0.032 | 0.31 |
| L′ d | 0.2871 | 0.2874 | 0.10 |
| L″ d | 0.2028 | 0.1967 | 3.01 |
The method for estimating the parameters of the synchronous camera comprises the following steps: respectively acquiring operation data of the synchronous camera before and after load rejection; the operation data comprise armature current of the synchronous camera before load throwing, machine end voltage of the synchronous camera before load throwing, exciting current of the synchronous camera before load throwing and exciting voltage of the synchronous camera before load throwing, and armature current of the synchronous camera after load throwing, machine end voltage of the synchronous camera after load throwing, exciting current of the synchronous camera after load throwing and exciting voltage of the synchronous camera after load throwing; preprocessing the operation data to obtain an increment per unit value corresponding to the operation data; determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value; determining a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value; and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera. Therefore, the method provided by the application is based on the load rejection test, the operation data before the load rejection test and after the load rejection test are acquired, the operation data are processed to obtain the corresponding first-order integral value and second-order integral value, the preliminary parameter value is corrected according to the auxiliary variable method on the basis of acquiring the preliminary parameter value of the synchronous camera, the prepared target parameter value is provided, in the application, the step of processing the operation data to obtain the corresponding second-order integral value is suitable for the scene of excitation voltage change during the load rejection, the application range of the method is enlarged, meanwhile, the method does not need longer measurement time, does not need to provide the parameter initial value, does not need iteration, and is high in parameter estimation precision, high in universality and practicability.
In the above embodiments, the method for estimating the parameters of the synchronous camera is described in detail, and the present application further provides corresponding embodiments of the apparatus for estimating the parameters of the synchronous camera. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware.
Fig. 4 is a block diagram of an apparatus for estimating parameters of a synchronous camera according to another embodiment of the present application, including:
an acquiring module 11, configured to acquire operation data of the synchronous camera before and after load rejection, respectively; the operation data comprise armature current of the synchronous camera before load throwing, machine end voltage of the synchronous camera before load throwing, exciting current of the synchronous camera before load throwing and exciting voltage of the synchronous camera before load throwing, and armature current of the synchronous camera after load throwing, machine end voltage of the synchronous camera after load throwing, exciting current of the synchronous camera after load throwing and exciting voltage of the synchronous camera after load throwing;
the processing module 12 is used for preprocessing the operation data to obtain an increment per unit value corresponding to the operation data;
a first determining module 13, configured to determine a corresponding first-order integral value and second-order integral value according to the increment per unit value;
a second determining module 14, configured to determine a preliminary parameter value of the synchronous camera according to the first-order integral value, the second-order integral value and the increment per unit value;
And the correction module 15 is used for correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera.
Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
Fig. 5 is a block diagram of an electronic device according to another embodiment of the present application, and as shown in fig. 5, the electronic device includes: a memory 20 for storing a computer program;
a processor 21 for carrying out the steps of the method of estimating synchronous camera parameters as mentioned in the above embodiments when executing a computer program.
The electronic device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and rendering of the content that the display screen is required to display. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, which, when loaded and executed by the processor 21, enables the implementation of the relevant steps of the method for estimating synchronous camera parameters disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others.
In some embodiments, the electronic device may further include a display 22, an input-output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the structure shown in fig. 5 is not limiting of the electronic device and may include more or fewer components than shown.
The electronic device provided by the embodiment of the application comprises the memory and the processor, and the processor can realize the method for estimating the synchronous camera parameters when executing the program stored in the memory, and has the same beneficial effects.
Finally, the present application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. With such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, performing all or part of the steps of the method described in the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The method, the device, the electronic equipment and the medium for estimating the parameters of the synchronous camera provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of estimating parameters of a synchronous camera, comprising:
respectively acquiring operation data of the synchronous camera before and after load rejection; the operation data comprise armature current of the synchronous speed regulator before load throwing, machine end voltage of the synchronous speed regulator before load throwing, exciting current of the synchronous speed regulator before load throwing and exciting voltage of the synchronous speed regulator before load throwing, and armature current of the synchronous speed regulator after load throwing, machine end voltage of the synchronous speed regulator after load throwing, exciting current of the synchronous speed regulator after load throwing and exciting voltage of the synchronous speed regulator after load throwing;
Preprocessing the operation data to obtain an increment per unit value corresponding to the operation data;
determining a corresponding first-order integral value and second-order integral value according to the increment per unit value;
determining a preliminary parameter value of the synchronous tuner according to the first-order integral value, the second-order integral value and the increment per unit value;
and correcting the preliminary parameter value by using an auxiliary variable method to obtain a target parameter value of the synchronous camera.
2. The method for estimating parameters of a synchronous camera according to claim 1, wherein the operation data is preprocessed to obtain an incremental per unit value corresponding to the operation data;
acquiring a parameter reference value corresponding to the synchronous camera;
and determining the corresponding increment per unit value according to the operation data before the load rejection test is carried out, the operation data after the load rejection test is carried out and the parameter reference value.
3. The method for estimating parameters of a synchronous camera according to claim 2, wherein the obtaining the parameter reference value corresponding to the synchronous camera includes:
determining an armature current reference value, an exciting current reference value and a terminal voltage reference value according to rated apparent power and rated voltage of the synchronous regulator;
If the magnetic field voltage required by the rated stator terminal voltage of the synchronous regulator is known and reliable, taking the magnetic field voltage as an excitation voltage reference value;
and if the magnetic field voltage required by the rated stator terminal voltage of the synchronous regulator is unknown or unreliable, taking the rated exciting voltage of the synchronous regulator as the exciting voltage reference value.
4. The method of estimating parameters of a synchronous machine according to claim 3, wherein said determining a preliminary parameter value of the synchronous machine from the first order integral value, the second order integral value, and the delta per unit value when the field voltage is the field voltage reference value comprises:
determining a first matrix according to the second-order integral value of the per unit value of the exciting voltage increment, the second-order integral value of the per unit value of the machine end voltage increment and the second-order integral value of the per unit value of the exciting current increment;
determining a second matrix according to the machine side voltage increment per unit value, the first-order integral value of the machine side voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value and the first-order integral value of the exciting voltage increment per unit value;
Determining a third matrix according to the first matrix and the second matrix; wherein the third matrix characterizes the preliminary parameter values of the synchronous camera.
5. The method of estimating parameters of a synchronous rectifier according to claim 3, wherein said determining a preliminary parameter value of said synchronous rectifier from said first order integral value, said second order integral value, and said delta per unit value when said rated excitation voltage is said excitation voltage reference value comprises:
determining a fourth matrix according to the second-order integral value of the per unit value of the voltage increment of the machine end and the second-order integral value of the per unit value of the exciting current increment;
determining a fifth matrix according to the machine end voltage increment per unit value, the first-order integral value of the machine end voltage increment per unit value, the exciting current increment per unit value, the first-order integral value of the exciting current increment per unit value, the armature current increment per unit value, the first-order integral value of the armature current increment per unit value, the second-order integral value of the armature current increment per unit value, the first-order integral value of the exciting voltage increment per unit value and the second-order integral value of the exciting voltage increment per unit value;
Determining a sixth matrix according to the fourth matrix and the fifth matrix; wherein the sixth matrix characterizes the preliminary parameter values of the synchronous camera.
6. The method of estimating parameters of a synchronous camera according to claim 4, wherein correcting the preliminary parameter values by an auxiliary variable method to obtain target parameter values of the synchronous camera comprises:
acquiring a first time domain response of the per unit value of the machine-side voltage increment and a second time domain response of the per unit value of the exciting current increment by adopting a first numerical simulation method;
acquiring a first order integral value of the first time domain response and a first order integral value of the second time domain response;
determining a first auxiliary variable matrix according to the first time domain response, the first integral value of the first time domain response, the second time domain response, the first integral value of the second time domain response, the armature current increment per unit value, the first integral value of the armature current increment per unit value, the second integral value of the armature current increment per unit value and the first integral value of the exciting voltage increment per unit value;
and determining a first target matrix according to the first matrix, the first auxiliary variable matrix and the second matrix, wherein the first target matrix represents target parameter values of the synchronous camera.
7. The method of estimating parameters of a synchronous camera according to claim 5, wherein correcting the preliminary parameter values by an auxiliary variable method to obtain target parameter values of the synchronous camera comprises:
acquiring a third time domain response of the per unit value of the machine-side voltage increment and a fourth time domain response of the per unit value of the exciting current increment by adopting a second numerical simulation method;
determining a second auxiliary variable matrix according to the third time domain response, the first integral value of the third time domain response, the fourth time domain response, the first integral value of the fourth time domain response, the armature current increment per unit value, the first integral value of the armature current increment per unit value, the second integral value of the armature current increment per unit value and the first integral value of the exciting voltage increment per unit value;
and determining a second target matrix according to the fourth matrix, the second auxiliary variable matrix and the fifth matrix, wherein the second target matrix represents target parameter values of the synchronous camera.
8. An apparatus for estimating parameters of a synchronous camera, comprising:
the acquisition module is used for respectively acquiring the operation data of the synchronous camera before and after the load rejection; the operation data comprise armature current of the synchronous speed regulator before load throwing, machine end voltage of the synchronous speed regulator before load throwing, exciting current of the synchronous speed regulator before load throwing and exciting voltage of the synchronous speed regulator before load throwing, and armature current of the synchronous speed regulator after load throwing, machine end voltage of the synchronous speed regulator after load throwing, exciting current of the synchronous speed regulator after load throwing and exciting voltage of the synchronous speed regulator after load throwing;
The processing module is used for preprocessing the operation data to obtain an increment per unit value corresponding to the operation data;
the first determining module is used for determining a corresponding first-order integral value and a second-order integral value according to the increment per unit value;
the second determining module is used for determining a preliminary parameter value of the synchronous tuner according to the first-order integral value, the second-order integral value and the increment per unit value;
and the correction module is used for correcting the preliminary parameter value by using an auxiliary variable method so as to obtain the target parameter value of the synchronous camera.
9. An electronic device comprising a memory for storing a computer program;
processor for implementing the steps of the method of estimating synchronous camera parameters according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the method of estimating synchronous camera parameters according to any of claims 1 to 7.
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