CN106849139A - A kind of magnetic levitation energy storage flywheel charge/discharge control method based on minimum power topology - Google Patents
A kind of magnetic levitation energy storage flywheel charge/discharge control method based on minimum power topology Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/30—Arrangements for balancing of the load in a network by storage of energy using dynamo-electric machines coupled to flywheels
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
A kind of magnetic levitation energy storage flywheel charge/discharge control method based on minimum power topology, the high efficiency charge and discharge control for completing magnetic levitation energy storage flywheel realizes the energy conversion of electric energy kinetic energy electric energy.The power topology includes：DSP control unit, power drive and protection circuit, bypass relay, soft start resistance, equalizing resistance, electric capacity of voltage regulation, IGBT switching tubes, Hall current sensor, permagnetic synchronous motor, flywheel and DC load.When DC bus-bar voltage Udc is higher than charging voltage, IGBT switching tubes are in high-frequency inversion state, and permagnetic synchronous motor drives flywheel raising speed, and flywheel is in charge mode, completes conversion of the electric energy to kinetic energy；When DC bus-bar voltage Udc is less than discharge voltage, IGBT switching tubes are in PWM rectification states, and Speed of Reaction Wheels declines, and permagnetic synchronous motor is in discharge mode, completes conversion of the kinetic energy to electric energy.The present invention is used for magnetic levitation energy storage flywheel high efficiency charge and discharge control.
Description
Technical field：
The present invention relates to a kind of charge/discharge control method of the magnetic levitation energy storage flywheel based on minimum power topology.
Background technology：
Compared with other energy storage modes, magnetically levitated flywheel energy storage technology has that discharge and recharge is rapid, power big, energy density
The advantages of high, long lifespan and small environmental pollution, be a kind of emerging, advanced mechanical energy storage mode, in peak load regulation network, track
Traffic Brake Energy is reclaimed, uninterrupted power source and high-power discharge and recharge occasion have preferably application.Due to simple structure, volume
Small, power factor is high, power density is high, the low advantage of rotary inertia, drives flywheel rotor complete using high-speed permanent magnetic synchronous motor
It is preferably selection into charge and discharge control process.
Different demands based on occupation mode Yu condition of work, magnetic levitation energy storage flywheel has three kinds of mode of operations：Charge
Pattern, keeps pattern and discharge mode.Under charge mode, motor from dc bus power network energy absorption, by controlling IGBT
Switching tube break-make completes " straight-to hand over " reversals, drives flywheel rotor to carry out raising speed storage energy, and now motor is in electronic shape
State；In the hold mode, motor is constant with minimum current holding Speed of Reaction Wheels, and now motor is still in motoring condition；In electric discharge
Under pattern, flywheel rotor is released energy by motor stator to dc bus power network, is completed by controlling IGBT switching tubes break-make
" hand over-straight " switching process, keep DC bus-bar voltage constant, now motor is in generating state.
To complete flywheel charge and discharge control process, it is necessary to possess the power topology knot of " straight-to hand over " inversion and " friendship-straight " rectification
Structure, at present generally using two sets of power cells of independent control：Based on IGBT high-frequency inversions unit and PWM rectification units, flywheel
During charging, inversion unit work, when flywheel discharges, rectification unit work.It is independently controlled using two sets of power topologies,
Charge and discharge process does not interfere with each other, and is suitable for low speed, small-power occasion.But hardware resource is increased simultaneously, increases cost input.
And, the program cannot realize being switched fast for discharge and recharge, there is regular hour inferior position.Due to magnetic levitation energy storage flywheel application
In the recovery of track traffic Brake Energy, persistent service power supply, it is required for flywheel to realize that discharge and recharge switches in Millisecond level,
Therefore cannot be realized using independent power cell control.
The content of the invention：
It is an object of the invention to provide a kind of magnetic levitation energy storage flywheel charge and discharge control based on minimum power topological structure
Method, it is possible to achieve " straight-to hand over " inversion and " friendship-straight " rectification reversible transducer function, reaches the mutual switching of charge and discharge control
To Millisecond level.
Above-mentioned purpose is realized by following technical scheme：
A kind of magnetic levitation energy storage flywheel charge/discharge control method based on minimum power topology, it is characterized in that：It is of the invention
Minimum power topology includes：DSP control unit, power drive and protection circuit, bypass relay, soft start resistance, equal piezoelectricity
Resistance, electric capacity of voltage regulation, IGBT switching tubes, Hall current sensor, permagnetic synchronous motor, flywheel and DC load.This method is included
Three kinds of mode of operations：Charge mode, holding pattern and discharge mode, specific implementation step are as follows：
Charge mode：The first step, city is electrically activated, and direct current Udc is filled by soft start resistance R0 to electric capacity of voltage regulation C1, C2, C3
Electricity, now bypasses relay KT and disconnects；Equalizing resistance R1, R2, R3 are balanced for ensureing each voltage of voltage regulation partial pressure, prevent electric capacity
Over-voltage breakdown.
Second step, when DC bus-bar voltage Udc is higher than the charging voltage for setting, DSP control unit sends startup optimization and refers to
Order, now bypasses relay KT closures, and the protection circuit and cooling body of power cell have started to operation.
3rd step, DSP control unit sends speed setting value, accelerates current maxima, overvoltage and overcurrent protection value etc. to refer to
Order, IGBT switching tubes are in high-frequency inversion state, and motor drives flywheel to accelerate to speed setting value to set pattern.Wherein, suddenly
You are used for measurement motor three-phase current by current sensor, for closed-loop current control and overcurrent protection.
Holding pattern：After magneto rotating speed reaches setting value, DSP control unit maintains to work as with minimum current motor
Preceding rotating speed, IGBT switching tubes are still in high-frequency inversion state.
Discharge mode：The first step, city is electrically disconnected, and DC bus-bar voltage Udc is less than the discharge voltage for setting, IGBT switching tubes
Into high-frequency rectification state.
Second step, DSP control unit detects Udc less than discharge voltage, and speed closed loop is switched into DC bus-bar voltage
Closed loop, to maintain DC bus-bar voltage constant.
3rd step, DSP control unit is reverse according to the change controlled motor three-phase current of DC bus-bar voltage, magneto
Into generating state, the kinetic energy of flywheel is completed to the conversion of power network electric energy.
Described charge mode control structure is made up of rotating speed outer shroud with double-current inner ring, described discharge mode control knot
Structure is made up of outer voltage with double-current inner ring, and each circuit controls effect is as follows：
Der Geschwindigkeitkreis：Effect is to maintain invariablenes turning speed, and poor with speed estimate value nest by speed setting value nref, rotating speed is missed
Difference transports to speed considerations device and obtains Iq current reference value Iqref, for producing effective electromagnetic torque.
Voltage loop：Effect is to maintain DC bus-bar voltage constant, is detected by voltage setting value Vref and DC bus-bar voltage
Value Vdc is poor, and voltage error transports to voltage compensator and obtains Iq current reference value Iqref, for producing effective electromagnetic torque.
Electric current loop：Effect be maintain Iq and Id electric currents it is constant, make current of electric be used to generation electromagnetic torque and without excitation
Torque.Iq electric current loops are poor with measured value Iq according to the reference value Iqref that der Geschwindigkeitkreis are generated, and current error transports to current compensator
Voltage Vq is obtained, and Id electric current loops are poor with measured value Id according to reference value Idref, current error is transported to current compensator and is obtained
Voltage Vd.The Vq and Vd of generation are converted to V α and V β by IPARK (two-phase is rotated to two-phase static coordinate).The V α of generation with
V β transport to three road signal Ta, Tb, Tc, three road signal Ta, Tb, Tc of SVPWM (space vector pulse width modulation) unit generation and transport to PWM
Unit generates three road PWM waveform PWMA, PWMB, PWMC and is rotated for controlled motor.
Measuring loop：The Hall sensor for being connected on input end of motor measures motor three-phase current Ia, Ib, Ic, transports to
CLARKE (three phase static is to two-phase static coordinate) is converted to I α and I β.The I α and I β of generation transport to PARK (two-phase it is static to
Two cordic phase rotators) it is converted to measured value Id and Iq.
Estimate loop：According to motor three-phase current Ia, Ib, Ic and DC bus-bar voltage Vdc that measurement is obtained, pass through
CLARKE (three phase static is to two-phase static coordinate) conversions respectively obtain I α, I β, u α, u β, transport to the generation of sliding mode observer unit
Angle Position estimated values theta est and speed estimate value nest.
Beneficial effect：
1. the invention provides the minimum power topology and control method of a kind of magnetic levitation energy storage flywheel charge-discharge system, letter
Changed control structure, saved resource and cost, solve discharge and recharge switching bring phase delay, overcurrent protection the problems such as,
The mutual switching of charge and discharge control is set to reach Millisecond level.
2. the present invention does not use any position sensor, efficiently avoid the sensing of magnetic suspension bearing support technology introducing
The problem that device cannot be installed, and accurate rotor position information can be obtained according to motor model, so as to further improve whole
The reliability of energy-storing flywheel system with magnetic suspension.
Brief description of the drawings：
Accompanying drawing 1 is magnetic levitation energy storage flywheel charge-discharge control system minimum power topological structure of the invention.
Accompanying drawing 2 is magnetic levitation energy storage flywheel charge mode control structure figure of the invention.
Accompanying drawing 3 is magnetic levitation energy storage flywheel discharge mode control structure figure of the invention.
UV line voltages and U phase current waveform figures when accompanying drawing 4 is charge control.
UV line voltages and U phase current waveform figures when accompanying drawing 5 is control of discharge.
Specific embodiment：
Embodiment 1：Minimum power topology of the invention includes：DSP control unit, power drive and protection circuit, bypass
Relay, soft start resistance, equalizing resistance, electric capacity of voltage regulation, IGBT switching tubes, Hall current sensor, permagnetic synchronous motor, fly
Wheel and DC load.This method includes three kinds of mode of operations：Charge mode, holding pattern and discharge mode, specific implementation step
It is as follows：
Charge mode：The first step, city is electrically activated, and direct current Udc is filled by soft start resistance R0 to electric capacity of voltage regulation C1, C2, C3
Electricity, now bypasses relay KT and disconnects；Equalizing resistance R1, R2, R3 are balanced for ensureing each voltage of voltage regulation partial pressure, prevent electric capacity
Over-voltage breakdown.
Second step, when DC bus-bar voltage Udc is higher than the charging voltage for setting, DSP control unit sends startup optimization and refers to
Order, now bypasses relay KT closures, and the protection circuit and cooling body of power cell have started to operation.
3rd step, DSP control unit sends speed setting value, accelerates current maxima, overvoltage and overcurrent protection value etc. to refer to
Order, IGBT switching tubes are in high-frequency inversion state, and motor drives flywheel to accelerate to speed setting value to set pattern.Wherein, suddenly
You are used for measurement motor three-phase current by current sensor, for closed-loop current control and overcurrent protection.
Holding pattern：After magneto rotating speed reaches setting value, DSP control unit maintains to work as with minimum current motor
Preceding rotating speed, IGBT switching tubes are still in high-frequency inversion state.
Discharge mode：The first step, city is electrically disconnected, and DC bus-bar voltage Udc is less than the discharge voltage for setting, IGBT switching tubes
Into high-frequency rectification state.
Second step, DSP control unit detects Udc less than discharge voltage, and speed closed loop is switched into DC bus-bar voltage
Closed loop, to maintain DC bus-bar voltage constant.
3rd step, DSP control unit is reverse according to the change controlled motor three-phase current of DC bus-bar voltage, magneto
Into generating state, the kinetic energy of flywheel is completed to the conversion of power network electric energy.
Embodiment 2：Charge mode control structure is made up of rotating speed outer shroud with double-current inner ring, and each circuit controls effect is such as
Under：
Der Geschwindigkeitkreis：Effect is to maintain invariablenes turning speed, and poor with speed estimate value nest by speed setting value nref, rotating speed is missed
Difference transports to speed considerations device and obtains Iq current reference value Iqref, for producing effective electromagnetic torque.
Electric current loop：Effect be maintain Iq and Id electric currents it is constant, make current of electric be used to generation electromagnetic torque and without excitation
Torque.Iq electric current loops are poor with measured value Iq according to the reference value Iqref that der Geschwindigkeitkreis are generated, and current error transports to current compensator
Voltage Vq is obtained, and Id electric current loops are poor with measured value Id according to reference value Idref, current error is transported to current compensator and is obtained
Voltage Vd.The Vq and Vd of generation are converted to V α and V β by IPARK (two-phase is rotated to two-phase static coordinate).The V α of generation with
V β transport to three road signal Ta, Tb, Tc, three road signal Ta, Tb, Tc of SVPWM (space vector pulse width modulation) unit generation and transport to PWM
Unit generates three road PWM waveform PWMA, PWMB, PWMC and is rotated for controlled motor.
Measuring loop：The Hall sensor for being connected on input end of motor measures motor three-phase current Ia, Ib, Ic, transports to
CLARKE (three phase static is to two-phase static coordinate) is converted to I α and I β.The I α and I β of generation transport to PARK (two-phase it is static to
Two cordic phase rotators) it is converted to measured value Id and Iq.
Estimate loop：According to motor three-phase current Ia, Ib, Ic and DC bus-bar voltage Vde that measurement is obtained, pass through
CLARKE (three phase static is to two-phase static coordinate) conversions respectively obtain I α, I β, u α, u β, transport to the generation of sliding mode observer unit
Angle Position estimated values theta est and speed estimate value nest.
Embodiment 3：Discharge mode control structure is made up of outer voltage with double-current inner ring, and each circuit controls effect is such as
Under：
Voltage loop：Effect is to maintain DC bus-bar voltage constant, is detected by voltage setting value Vref and DC bus-bar voltage
Value Vde is poor, and voltage error transports to voltage compensator and obtains Iq current reference value Iqref, for producing effective electromagnetic torque.
Electric current loop, measuring loop are consistent with content in embodiment 2 with estimation loop, are a difference in that estimation loop only needs
Obtain Angle Position estimated values theta est.
UV line voltages and U phase currents when being as shown in Figure 4 using magnetic levitation energy storage flywheel charge control of the invention
Oscillogram.There it can be seen that the U phase currents of input motor are in sinuso sine protractor, harmonic components are smaller, can meet permanent magnet synchronous electric
The high efficiency requirement of machine control.Simultaneously as in phase 30 ° of line voltage leading phase voltage, and in figure UV line voltages and U phases electricity
Stream in the same direction and slightly advanced the latter, with power factor higher when indicating the system charge control.
It is illustrated in figure 5 UV line voltages and U phase current waveforms during the magnetic levitation energy storage flywheel control of discharge using invention
Figure.There it can be seen that because motor is in generating state, electric current flows to IGBT switching tubes, UV line voltages and U from motor stator
Phase current reversely and slightly delayed the latter, shows that control system is same with power factor higher in generate mode.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (3)
1. it is a kind of based on minimum power topology magnetic levitation energy storage flywheel charge/discharge control method, it is characterized in that：It is of the invention most
Small-power topology includes：DSP control unit (1), power drive and protection circuit (2), bypass relay (3), soft start resistance
(4), equalizing resistance (5), electric capacity of voltage regulation (6), IGBT switching tubes (7), Hall current sensor (8), permagnetic synchronous motor (9),
Flywheel (10) and DC load (11).This method includes three kinds of mode of operations：Charge mode, holding pattern and discharge mode, tool
Body implementation steps are as follows：
Charge mode：The first step, city is electrically activated, and direct current Udc is charged by soft start resistance R0 to electric capacity of voltage regulation C1, C2, C3, this
When bypass relay KT disconnect；Equalizing resistance R1, R2, R3 are balanced for ensureing each voltage of voltage regulation partial pressure, prevent electric capacity overvoltage
Puncture.
Second step, when DC bus-bar voltage Udc is higher than the charging voltage for setting, DSP control unit sends startup optimization instruction, this
When bypass relay KT closure, the protection circuit and cooling body of power cell have started to operation.
3rd step, DSP control unit sends speed setting value, accelerates the instructions such as current maxima, overvoltage and overcurrent protection value,
IGBT switching tubes are in high-frequency inversion state, and motor drives flywheel to accelerate to speed setting value to set pattern.Wherein, Hall electricity
Flow sensor is used for measurement motor three-phase current, for closed-loop current control and overcurrent protection.
Holding pattern：After magneto rotating speed reaches setting value, DSP control unit maintains to work as forward with minimum current motor
Speed, IGBT switching tubes are still in high-frequency inversion state.
Discharge mode：The first step, city is electrically disconnected, and DC bus-bar voltage Udc enters less than the discharge voltage for setting, IGBT switching tubes
High-frequency rectification state.
Second step, DSP control unit detects Udc less than discharge voltage, and speed closed loop is switched into DC bus-bar voltage closed loop,
To maintain DC bus-bar voltage constant.
3rd step, DSP control unit is reverse according to the change controlled motor three-phase current of DC bus-bar voltage, and magneto enters
Generating state, completes the kinetic energy of flywheel to the conversion of power network electric energy.
2. a kind of magnetic levitation energy storage flywheel charge/discharge control method based on power topology according to claim 1, it is special
Levying is：Described charge mode control structure is made up of rotating speed outer shroud with double-current inner ring, and each circuit controls effect is as follows：
Der Geschwindigkeitkreis：Effect is to maintain invariablenes turning speed, and poor with speed estimate value nest by speed setting value nref, speed error is defeated
Iq current reference value Iqref are obtained to speed considerations device, for producing effective electromagnetic torque.
Electric current loop：Effect be maintain Iq and Id electric currents it is constant, make current of electric be used to generation electromagnetic torque and without magnetic torque.
Iq electric current loops are poor with measured value Iq according to the reference value Iqref that der Geschwindigkeitkreis are generated, and current error is transported to current compensator and obtained
Voltage Vq, and Id electric current loops are poor with measured value Id according to reference value Idref, current error transports to current compensator and obtains voltage
Vd.The Vq and Vd of generation are converted to V α and V β by IPARK (two-phase is rotated to two-phase static coordinate).The V α and V β of generation are defeated
Three road signal Ta, Tb, Tc, three road signal Ta, Tb, Tc are generated to SVPWM (space vector pulse width modulation) unit transport to PWM units
Three road PWM waveform PWMA, PWMB, PWMC are generated to be rotated for controlled motor.
Measuring loop：The Hall sensor for being connected on input end of motor measures motor three-phase current Ia, Ib, Ic, transports to
CLARKE (three phase static is to two-phase static coordinate) is converted to I α and I β.The I α and I β of generation transport to PARK (two-phase it is static to
Two cordic phase rotators) it is converted to measured value Id and Iq.
Estimate loop：According to motor three-phase current Ia, Ib, Ic and DC bus-bar voltage Vdc that measurement is obtained, by CLARKE
(three phase static is to two-phase static coordinate) conversion respectively obtains I α, I β, u α, u β, transports to sliding mode observer unit generation Angle Position
Estimated values theta est and speed estimate value nest.
3. it is according to claim 1 it is a kind of based on minimum power topology magnetic levitation energy storage flywheel charge/discharge control method,
It is characterized in that：Described discharge mode control structure is made up of outer voltage with double-current inner ring, and each circuit controls effect is as follows：
Voltage loop：Effect is to maintain DC bus-bar voltage constant, by voltage setting value Vref and DC bus-bar voltage detected value Vdc
Differ from, voltage error transports to voltage compensator and obtains Iq current reference value Iqref, for producing effective electromagnetic torque.
Electric current loop, measuring loop are consistent with content in feature 2 with estimation loop, are a difference in that estimation loop only needs to obtain
Angle Position estimated values theta est.
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Cited By (12)
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| CN107579594A (en) * | 2017-09-28 | 2018-01-12 | 北京泓慧国际能源技术发展有限公司 | A kind of magnetically levitated flywheel energy storage ups system integrates application process |
| CN108964509A (en) * | 2018-06-29 | 2018-12-07 | 西安特锐德智能充电科技有限公司 | The two-way ACDC circuit and its control method of compatible three-phase and single phase alternating current power supply |
| CN109066964A (en) * | 2018-08-29 | 2018-12-21 | 微控物理储能研究开发（深圳）有限公司 | Flywheel energy storage and the double transformation UPS integrated systems, control method of online high frequency |
| CN109103984A (en) * | 2018-08-29 | 2018-12-28 | 沈阳微控新能源技术有限公司 | Flywheel energy storage and the double transformation UPS integrated systems, control method of online power frequency |
| CN109217774A (en) * | 2018-11-09 | 2019-01-15 | 珠海格力电器股份有限公司 | Electrification control method, device, storage medium and the motor of magnetic suspension centrifugal chiller |
| CN109560549A (en) * | 2019-01-23 | 2019-04-02 | 清华大学 | A kind of control method and system of backup type flywheel energy storage UPS |
| CN109936215A (en) * | 2019-03-27 | 2019-06-25 | 沈阳微控新能源技术有限公司 | A kind of uninterruptible power system of energy storage device of magnetic suspension flywheel |
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| CN110182053A (en) * | 2019-06-04 | 2019-08-30 | 中电建路桥集团有限公司 | A kind of magnetic levitation energy storage flywheel energy brake protection system |
| CN111614111A (en) * | 2020-05-26 | 2020-09-01 | 华驰动能(北京)科技有限公司 | Undisturbed switching control method for magnetic suspension energy storage flywheel charging and discharging control system |
| CN112103971A (en) * | 2020-09-01 | 2020-12-18 | 广西大学 | Vector reinforcement learning control method for power grid frequency modulation type flywheel energy storage system |
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| CN107579594B (en) * | 2017-09-28 | 2020-09-15 | 北京泓慧国际能源技术发展有限公司 | Magnetic suspension flywheel energy storage UPS system integration application method |
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| CN108964509A (en) * | 2018-06-29 | 2018-12-07 | 西安特锐德智能充电科技有限公司 | The two-way ACDC circuit and its control method of compatible three-phase and single phase alternating current power supply |
| CN109066964A (en) * | 2018-08-29 | 2018-12-21 | 微控物理储能研究开发（深圳）有限公司 | Flywheel energy storage and the double transformation UPS integrated systems, control method of online high frequency |
| CN109103984A (en) * | 2018-08-29 | 2018-12-28 | 沈阳微控新能源技术有限公司 | Flywheel energy storage and the double transformation UPS integrated systems, control method of online power frequency |
| CN109217774A (en) * | 2018-11-09 | 2019-01-15 | 珠海格力电器股份有限公司 | Electrification control method, device, storage medium and the motor of magnetic suspension centrifugal chiller |
| CN109560549A (en) * | 2019-01-23 | 2019-04-02 | 清华大学 | A kind of control method and system of backup type flywheel energy storage UPS |
| CN109936215A (en) * | 2019-03-27 | 2019-06-25 | 沈阳微控新能源技术有限公司 | A kind of uninterruptible power system of energy storage device of magnetic suspension flywheel |
| CN109936215B (en) * | 2019-03-27 | 2020-08-18 | 沈阳微控新能源技术有限公司 | Uninterrupted power supply system of magnetic suspension flywheel energy storage device |
| CN110182053A (en) * | 2019-06-04 | 2019-08-30 | 中电建路桥集团有限公司 | A kind of magnetic levitation energy storage flywheel energy brake protection system |
| CN110182053B (en) * | 2019-06-04 | 2021-03-12 | 中电建路桥集团有限公司 | Magnetic suspension energy storage flywheel energy braking protection system |
| CN111614111A (en) * | 2020-05-26 | 2020-09-01 | 华驰动能(北京)科技有限公司 | Undisturbed switching control method for magnetic suspension energy storage flywheel charging and discharging control system |
| CN111614111B (en) * | 2020-05-26 | 2022-03-04 | 华驰动能(北京)科技有限公司 | Undisturbed switching control method for magnetic suspension energy storage flywheel charging and discharging control system |
| CN112103971A (en) * | 2020-09-01 | 2020-12-18 | 广西大学 | Vector reinforcement learning control method for power grid frequency modulation type flywheel energy storage system |
| CN112103971B (en) * | 2020-09-01 | 2023-07-28 | 广西大学 | Vector reinforcement learning control method of power grid frequency modulation type flywheel energy storage system |
| CN113612312A (en) * | 2021-10-09 | 2021-11-05 | 天津飞旋科技股份有限公司 | Flywheel energy storage system and control method thereof |
| CN113612312B (en) * | 2021-10-09 | 2022-02-11 | 天津飞旋科技股份有限公司 | Flywheel energy storage system and control method thereof |
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Application publication date: 20170613 |