CN1127188C - Dynamic analog device of controllable serial capacitors compensation - Google Patents
Dynamic analog device of controllable serial capacitors compensation Download PDFInfo
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- 239000003990 capacitor Substances 0.000 title claims description 30
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-UHFFFAOYSA-N 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 229960001296 zinc oxide Drugs 0.000 claims description 7
- 239000011787 zinc oxide Substances 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 6
- 230000001939 inductive effect Effects 0.000 claims description 5
- 230000005622 photoelectricity Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 abstract 1
- 229910052710 silicon Inorganic materials 0.000 abstract 1
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- 230000001105 regulatory effect Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000013523 data management Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 239000003607 modifier Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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Abstract
The present invention relates to a dynamic simulating device of controlled series capacitance compensation, which comprises a controlled series compensation circuit and a controlled series compensation control system, wherein in the controlled series compensation control system, a pulse generating circuit generates trigger pulses accurately synchronous with the controlled silicon voltage of a main loop. The power of the trigger pulses is amplified by a trigger control circuit, and driving pulses are formed to drive the thyristor gate of the controlled series compensation circuit. Voltage/current synchronous signals are generated by a synchronous circuit and are transmitted to the pulse generating circuit, and a protecting circuit rapidly transmits signals in failures to stop the operation of the whole device. The device can simulate the operation of large scale alternating current electric power systems provided with modern electric power electronic devices.
Description
The present invention relates to a kind of dynamic analog device of controllable serial capacitors compensation, belong to the electric automatization equipment technical field.
Controllable series compensation (hereinafter to be referred as controlled series compensation) is an important technology that belongs to flexible AC transmitting system, and it is further developing at conventional fixed series compensation.Flexible AC transmitting system is at first proposed in 1986 by doctor N.G.Hingorani of American Electric Power research institute, is combined power electronics, microprocessor and microelectric technique, the communication technology and control technology and the new technical field that is used to control ac transmission that forms.This field is fast, the most popular field, forward position of current International Power technical development, is one and will produces the large automatic technical field of significant impact to electric power system power transmission and distribution automation.
Controlled series compensation is as a member of this technical field, is economy operation of power grid, big grid network, long distance powedr transmission and alleviates the important automatic technology of electrical network to environmental disruption.Because its principle is more clear relatively, structure is simpler, therefore with fastest developing speed, use at most, so also just become the technology of the tool industrial value in this field.
In recent years at the U.S. and the Brazilian several controlled series compensation devices that put into operation, good economic benefit and social benefit have all been obtained.The controlled series compensation device that overlapped by the Siemens manufacturing at U.S. northwest electric corporation Kayenta station one in 1992 puts into operation.This device has improved 100MW with the transmission line capability of the 230kv power transmission line of 320km, less than triennium, has just regained construction investment, has obtained huge economic benefit.
But, though on scientific and technological magazine, can find the argumentation of the basic principle of relevant controlled series compensation, but about exploitation, device performance, the key technology of actual device all is the secret main points of relevant international major company such as Siemens with the content of core realm, both do not had the paper report, do not applied for relevant patent yet.Simultaneously, because the technical monopoly of these major companies, a cover controlled series compensation commercial plant price is up to several ten million, and is very expensive.
The objective of the invention is to design a kind of dynamic analog device of controllable serial capacitors compensation, this device can offer other scientific research institute, institute's controlled series compensation technology of can in depth studying increasing system damping, improve transient stability, improving the effect of power line transmission power, carries out various dynamic analog tests.Using in China's electric power system for this technology provides basic data and design experiences, for the research of other unit provides good condition.Also can offer other universities and colleges and carry out various teaching tests, demonstration controlled series compensation device is to the electric power system Effect on Performance.
The dynamic analog device of controllable serial capacitors compensation of the present invention's design comprises controlled series compensation circuit and controlled series compensation control system, and the controlled series compensation control system is controlled the controlled series compensation circuit; Controlled series compensation circuit wherein is made up of two parts of controlled series compensation and fixed series compensation, and fixed series compensation is with after controlled series compensation is connected, with a bypass protection switch in parallel; Controlled series compensation control system wherein is by a watch-dog; pulse generating circuit; share memory circuit; trigger control circuit; synchronous circuit; protective circuit; analog to digital conversion circuit and sampling hold circuit are formed; pulse generating circuit is according to the instruction from watch-dog; obtain synchronizing signal with synchronous circuit and make the sequential benchmark; produce trigger impulse with main circuit thyristor voltage precise synchronization; pass to trigger control circuit; the trigger impulse amplifying power that trigger control circuit produces pulse generating circuit; form driving pulse; drive the gate circuit transistor gate of controlled series compensation circuit; the adjusting device equivalent inductance; synchronous circuit is by measuring the zero crossing of main circuit capacitance voltage or line current; produce the voltage/current synchronizing signal; pass to pulse generating circuit; sequential benchmark as trigger impulse; protective circuit is according to the instruction of watch-dog and the voltage that measures from main circuit; current signal; judge whether main circuit overvoltage occurs; overcurrent; when fault, send signal rapidly; make the bypass protection switch trip of controlled series compensation circuit, whole device is out of service.
In the controlled series compensation circuit of said apparatus; fixed series compensation comprises Zinc-oxide piezoresistor and capacitor; controlled series compensation comprises Zinc-oxide piezoresistor; capacitor; inductance; two thyristors; voltage sensor and three current sensors; wherein two mutual inverse parallels of thyristor; after inductance is connected; again with capacitor; the Zinc-oxide piezoresistor parallel connection; the voltage sensor senses capacitor is to the voltage of the earth; current sensor detects capacitive branch respectively; inductive branch; the electric current of power transmission line branch road; fixed series compensation is with after controlled series compensation is connected; with a bypass protection switch in parallel, whole device is connected with power transmission line, inserts electric power system.
In the trigger control circuit of said apparatus, resistance R 1, R2, photoisolator U1 carry out photoelectricity to be isolated, the pulse of NAND gate U2B overlapped high-frequency, with
Door U2A, U2C strengthen driving force, and resistance R 3, R4, triode BG1, BG2, diode D1 amplify the power of output.
In the synchronous circuit of said apparatus, resistance R 1, capacitor C 1 reduce input voltage, and diode D1, D2 inverse parallel prevent overvoltage, and resistance R 2, R3, R4, amplifier U1 detection signal zero crossing, resistance R 5, R6, photoisolator U2 carry out photoelectricity isolates.
In the protective circuit of said apparatus; trigger U1 accepts protection and starts and reset signal; resistance R 1, R2, light-emitting diode L1, triode BG1 indicate whether to be guard mode; diode D1, resistance R 3, R4, R5, triode BG2, relay J 1 amplifying power drive controlled series compensation circuit bypass protection switch.
The dynamic analog device of controllable serial capacitors compensation of the present invention's design, its main performance index is as follows:
1, rated voltage is 720V, rated capacity 15Kvar.
2, high-precision pulse generator, driving pulse precision are 0.1 °.
3, adjustable voltage, the current protection of protection thresholding guaranteed the device safe operation.
4, stable state fundamental frequency equiva lent impedance is 3.6 Europe, maximum impedance 7.2 Europe, and promptly regulating power is 2 times.
5, device adopts modularized design, and primary line route three-phase controlled series compensation module is formed, each module have independently detect, control, protection and pulsed triggering circuit.The global reliability height is easy to administer and maintain.
6, the watch-dog program adopts the graphical interfaces of Visual C++ exploitation, interactive control model and parameter, the real-time shows signal curve of multichannel of changing.
7, adopt asymmetric phase-splitting control algolithm, guarantee the reliability service of controlled series compensation when can be in system asymmetric.Simultaneously, can comprise under the service conditionss such as unbalanced fault the effect of controlled series compensation aspect transient stability with this device research.
Device of the present invention is used up-to-date power electronic technology and has been introduced the laboratory, can simulate the large-scale AC electric power systems operation that the modern power electronic device is installed.Using for the exploitation of further studying power electronic technology, controlled series compensation commercial plant in the laboratory and in electric power system provides good basis.
Description of drawings:
Fig. 1 is the schematic diagram of controlled series compensation.
Fig. 2 is the vectogram that controlled series compensation is regulated pattern, and wherein Fig. 2 (a) regulates pattern for capacitive, and Fig. 2 (b) is perceptual adjusting pattern.
Fig. 3 is the structured flowchart of the dynamic analog device of controllable serial capacitors compensation that designs of the present invention.
Fig. 4 is the controlled series compensation circuit diagram in apparatus of the present invention.
Fig. 5 is the controlled series compensation trigger control circuit.
Fig. 6 is the synchronous circuit in the controlled series compensation control system.
Fig. 7 is the protective circuit in the controlled series compensation control system.
Fig. 8 is the watch-dog workflow diagram in the controlled series compensation control system.
Introduce content of the present invention in detail below in conjunction with accompanying drawing.
The thyristor controlled series capacitor technology is very ripe technical the growing up of conventional fixed series compensation, be that reactor by the control of conventional fixed series compensation capacitor and thyristor is formed in parallel, have conventional fixed series compensation capacitor incomparable some advantages.
As shown in Figure 1, a pair of antiparallel thyristor is connected with inductance, again with the series capacitor parallel connection, has just constituted the basic circuit of controlled series compensation.
For the ease of understanding the various operational modes of controlled series compensation, regard the inductive branch of thyristor control as a variable inductance, the controlled series compensation circuit is exactly that a series capacitance and a variable inductance are in parallel like this.By changing trigger angle, can control the situation of opening of thyristor, thereby make controlled series compensation be operated in three kinds of operational modes respectively: transistor blocking pattern, thyristor bypass mode and adjusting pattern.
1. transistor blocking pattern
When thyristor was blocked fully, the thyristor branch road was equivalent to open circuit, can regard an inductance value as and be tending towards infinitely-great inductance, and this moment, all electric current was by capacitor, and the impedance of controlled series compensation just equals the capacitive reactance of electric capacity.
2. thyristor bypass mode
When thyristor continued conducting, the thyristor branch road was equivalent to small inductor, and most of line current flows through through the thyristor branch road, and the impedance of controlled series compensation is approximately the induction reactance of small inductor, and controlled series compensation is operated in the thyristor bypass mode.
3. adjusting pattern
When the conducting of thyristor part, controlled series compensation is operated in the adjusting pattern, and this can be divided into capacitive again and regulate pattern and perceptual adjusting pattern.
When thyristor during than the conducting of low degree ground, the vectogram of each electric weight such as Fig. 2 (a), line current and capacitance current same-phase, circulation in the controlled series compensation has increased capacitance current, thereby improved the voltage on the capacitor, the controlled series compensation device presents the capacitive reactance bigger than electric capacity itself, and capacitive that Here it is is regulated pattern, also is the pattern of controlled series compensation operate as normal.Change the trigger angle of thyristor, can change the capacitive reactance of controlled series compensation flexibly, thereby the flexible line impedance.
When thyristor conducting degree is higher, the electric current same-phase of line current and thyristor branch road, the vectogram of each electric weight such as Fig. 2 (b), the controlled series compensation device presents perception, and be perceptual adjusting pattern this moment.
Work in various patterns by regulating controlled series compensation, the impedance of whole device equivalence is changed fast, compensate the length of transmission line as required flexibly, on a large scale.Therefore, the regulation compensation way of conventional relatively fixed series compensation, the controlled series compensation performance is more superior.Simultaneously, unexistent advantage of a series of conventional fixed series compensations below its also has: the power carried of control circuit flexibly and smoothly; Improve the security and stability of electric power system; The vibration of damping transmission power; Suppress sub-synchronous oscillation; Short circuit current when reducing fault etc.
The dynamic analog device of controllable serial capacitors compensation of the present invention's design comprises controlled series compensation control system and two parts of controlled series compensation circuit, and the controlled series compensation control system is controlled the controlled series compensation circuit, as shown in Figure 3.With a bypass protection switch in parallel, connect with power transmission line then after the controlled series compensation circuit part is connected with conventional fixed series compensation, insert electric power system, as shown in Figure 4.Below, the structure and the function of controlled series compensation various piece are described respectively.
As shown in Figure 3, the controlled series compensation control system mainly comprises a watch-dog, pulse generating circuit, shares memory circuit, trigger control circuit, synchronous circuit, protective circuit, analog to digital conversion circuit and sampling hold circuit several sections.
Watch-dog adopts Pentium 200 industrial microcomputers, by the controlled series compensation monitoring program control of independent development.Watch-dog is finished functions such as data processing, data query, calculation of parameter, curve plotting; and the coordinated control system other parts are finished functions such as 32 road collection of simulant signal, unit protection and control in real time; standard expansion bus slot (comprising data, address and control bus) and control system other parts swap data that watch-dog adopts computer to carry send various control commands.
Pulse generating circuit, shared memory circuit, trigger control circuit and four parts of synchronous circuit are finished the control to the controlled series compensation circuit under the coordination of watch-dog.Communicate by letter the various instructions of executive monitor with watch-dog by bus slot.
Pulse generating circuit is the application circuit based on 8031 singlechip chips, and shared memory circuit is that the DS1609 chip is the application circuit of main body, and the structure of this two parts circuit and principle all are public technology.
Pulse generating circuit obtains synchronizing signal with synchronous circuit and makes the sequential benchmark according to the instruction from watch-dog, and the trigger impulse of generation and main circuit thyristor voltage precise synchronization passes to trigger control circuit.
Pulse generating circuit is communicated by letter by sharing memory circuit with watch-dog, has constituted a multimicrocomputer.Because system is interconnected with standard expansion bus and shared storage mode, watch-dog and pulse generating circuit can read while write shared memory circuit, thereby the degree of coupling height, and communication speed is fast.
Trigger control circuit as shown in Figure 5, the trigger impulse amplifying power that this circuit produces pulse generating circuit forms driving pulse, drives the gate circuit transistor gate of controlled series compensation circuit, the adjusting device equivalent inductance.
Synchronous circuit as shown in Figure 6, it produces the voltage/current synchronizing signal by measuring the zero crossing of main circuit capacitance voltage or line current, passes to pulse generating circuit, as the sequential benchmark of trigger impulse.
The circuit theory of protective circuit as shown in Figure 7.This circuit is according to the instruction of watch-dog and the voltage that measures from main circuit, current signal; judge whether main circuit overvoltage, overcurrent occur; when fault, send signal rapidly, make the bypass protection switch trip of controlled series compensation circuit, whole device is out of service.
Sampling hold circuit and analog to digital conversion circuit are finished the collection to electric capacity voltage to earth, capacitance current, inductive current, power line current signal in the controlled series compensation circuit jointly under the control of watch-dog, for reducing development workload, adopted the sampling that can be inserted in the watch-dog expansion bus slot that is easy on the market buy to keep card and analog-to-digital conversion card, the parameter of main circuit is transformed into digital signal through over-sampling maintenance and analog-to-digital conversion card, delivers to watch-dog by the standard expansion bus and carries out various computings and processing.
The controlled series compensation circuit is made up of three-phase controlled series compensation module, connects with the fixed series compensation module, and structure is (single-phase figure) as shown in Figure 4.By changing the mode of connection of capacitor group in them, can redistribute the capacitance in two modules of fixed series compensation and controlled series compensation, thereby the equivalent reactance value of modifier realizes the multiple compensativity to transmission line.
Every phase controlled series compensation is made of capacitor and controlled inductance parallel connection.Capacitor adopts 400y, and the single-phase dry-type power capacitor of 15kVar (XC=10.7 Ω, C=298 μ F) specification is realized by series and parallel.The thyristor parameter is: rated voltage 1000V, rated current 50A.Inductance L is got 4.63mH.Overheated for preventing inductance coil, under inductor, all installed fan additional.Zinc-oxide piezoresistor in parallel is as the protection of controlled series compensation device at the capacitor two ends.
Power transmission line in the controlled series compensation circuit, capacitive branch, inductive branch have all been installed voltage/current sensor, and the signal that measures is sent to control system and handles; Control system according to power system security and stable requirement, is sent various control commands according to the data after handling, and changes the running status of main circuit.Thereby realized the automatic operation of device.
Controlled series compensation watch-dog control system adopts Visual C++5.0 software development, the operation platform of supervisory control system is Pentium 200 monitors, the structure of supervisory control system such as Fig. 8 finish real-time monitoring module, data acquisition module, data management module, communication control module under the control of supervisory control system main program.
The dispatcher sends local command or sends control command from a distant place from man-machine interface, the supervisory control system main program is directly accepted or is accepted these orders by communication module, require and pre-determined control mode according to these scheduling, send corresponding operational order to each module.
Real-time monitoring module can be sent operational order to pulse generating circuit by Computer I SA IEEE according to instruction, finishes functions such as relay control, controlled series compensation triggering, the control of generator motor excitation.
Data acquisition module to adopting holding circuit and analog to digital conversion circuit to send operational order, carries out data acquisition according to instruction, sends these data to data management module simultaneously.
Data management module obtains and handles corresponding data according to instruction from data acquisition module, realizes retrieval and inquiry to real time data and historical data, and the form of corresponding data with curve shown, and the user can very convenient accessing corresponding data.
Communication control module is accepted the control command in a distant place and is passed to the supervisory control system main program, can give distant place miscellaneous equipment with the data passes that database management module obtains according to the operational order of main program simultaneously.
Claims (5)
1, a kind of dynamic analog device of controllable serial capacitors compensation is characterized in that this device comprises controlled series compensation circuit and controlled series compensation control system, and the controlled series compensation control system is controlled the controlled series compensation circuit; Controlled series compensation circuit wherein is made up of two parts of controlled series compensation and fixed series compensation, and fixed series compensation is with after controlled series compensation is connected, with a bypass protection switch in parallel; Controlled series compensation control system wherein is by a watch-dog; pulse generating circuit; share memory circuit; trigger control circuit; synchronous circuit; protective circuit; analog to digital conversion circuit and sampling hold circuit are formed; pulse generating circuit is according to the instruction from watch-dog; obtain synchronizing signal with synchronous circuit and make the sequential benchmark; produce trigger impulse with main circuit thyristor voltage precise synchronization; pass to trigger control circuit; the trigger impulse amplifying power that trigger control circuit produces pulse generating circuit; form driving pulse; drive the gate circuit transistor gate of controlled series compensation circuit; the adjusting device equivalent inductance; synchronous circuit is by measuring the zero crossing of main circuit capacitance voltage or line current; produce the voltage/current synchronizing signal; pass to pulse generating circuit; sequential benchmark as trigger impulse; protective circuit is according to the instruction of watch-dog and the voltage that measures from main circuit; current signal; judge whether main circuit overvoltage occurs; overcurrent; when fault, send signal rapidly; make the bypass protection switch trip of controlled series compensation circuit, whole device is out of service.
2, device as claimed in claim 1, it is characterized in that wherein fixed series compensation comprises Zinc-oxide piezoresistor and capacitor, controlled series compensation comprises Zinc-oxide piezoresistor, capacitor, inductance, two thyristors, voltage sensor and three current sensors, wherein two mutual inverse parallels of thyristor, after inductance is connected, again with capacitor, the Zinc-oxide piezoresistor parallel connection, the voltage sensor senses capacitor is to the voltage of the earth, current sensor detects capacitive branch respectively, inductive branch, the electric current of power transmission line branch road, whole device is connected with power transmission line, inserts electric power system.
3, device as claimed in claim 1, it is characterized in that in the trigger control circuit wherein, resistance R 1, R2, photoisolator U1 carry out photoelectricity to be isolated, the pulse of NAND gate U2B overlapped high-frequency, NAND gate U2A, U2C strengthen driving force, and resistance R 3, R4, triode BG1, BG2, diode D1 amplify the power of output.
4, device as claimed in claim 1, it is characterized in that in the synchronous circuit wherein, resistance R 1, capacitor C 1 reduce input voltage, diode D1, D2 inverse parallel prevent overvoltage, resistance R 2, R3, R4, amplifier U1 detection signal zero crossing, resistance R 5, R6, photoisolator U2 carry out photoelectricity isolates.
5, device as claimed in claim 1; it is characterized in that in the protective circuit wherein; trigger U1 accepts protection and starts and reset signal; resistance R 1, R2, light-emitting diode L1, triode BG1 indicate whether to be guard mode; diode D1, resistance R 3, R4, R5, triode BG2, relay J 1 amplifying power drive controlled series compensation circuit bypass protection switch.
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| CN01103945A CN1127188C (en) | 2001-02-16 | 2001-02-16 | Dynamic analog device of controllable serial capacitors compensation |
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| CN01103945A CN1127188C (en) | 2001-02-16 | 2001-02-16 | Dynamic analog device of controllable serial capacitors compensation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055197A (en) * | 2010-12-16 | 2011-05-11 | 华北电力大学 | Method for establishing controllable serial compensation linearized model |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100365904C (en) * | 2003-08-20 | 2008-01-30 | 东南大学 | Controllable series capacity compensation device non linear controller and construction method |
| CN100461593C (en) * | 2005-04-20 | 2009-02-11 | 中国电力科学研究院 | Electronic trigger system of controllable series compensing thyristor |
| CN101540597B (en) * | 2009-01-12 | 2014-01-01 | 北京市研祥兴业国际智能科技有限公司 | Reset signal generation device |
| CN101789602B (en) * | 2010-01-13 | 2013-03-06 | 中国电力科学研究院 | Dynamic simulation device of extra-high, ultrahigh voltage thyristor controlled series compensation device and test method thereof |
| CN101867193A (en) * | 2010-06-03 | 2010-10-20 | 云南电力试验研究院(集团)有限公司 | Superconducting controllable series capacitance compensator |
| WO2013063905A1 (en) * | 2011-11-04 | 2013-05-10 | 荣信电力电子股份有限公司 | Voltage surge-free device and method for cutting off thyristor valve block |
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2001
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102055197A (en) * | 2010-12-16 | 2011-05-11 | 华北电力大学 | Method for establishing controllable serial compensation linearized model |
| CN102055197B (en) * | 2010-12-16 | 2014-01-01 | 华北电力大学 | Method for establishing controllable serial compensation linearized model |
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