CN116247703B - Direct-current bus voltage control device, method and system and electronic equipment - Google Patents

Direct-current bus voltage control device, method and system and electronic equipment Download PDF

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CN116247703B
CN116247703B CN202310261131.4A CN202310261131A CN116247703B CN 116247703 B CN116247703 B CN 116247703B CN 202310261131 A CN202310261131 A CN 202310261131A CN 116247703 B CN116247703 B CN 116247703B
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bus voltage
value
direct current
current bus
voltage
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CN116247703A (en
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魏乐
周子宇
王冰玉
苏少忻
李佳玉
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North China Electric Power University
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North China Electric Power University
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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
    • 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • 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
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • 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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

The invention discloses a direct current bus voltage control device, a direct current bus voltage control method, a direct current bus voltage control system and electronic equipment, and relates to the field of direct current bus voltage control, wherein the direct current bus voltage control method comprises the following steps: according to the DC bus voltage observed value and the total disturbance quantity observed by the extended state observer of the active disturbance rejection controller and the DC bus voltage transition value transited by the tracking differentiator, determining an initial control quantity by utilizing a nonlinear state error feedback control law, compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a DC bus voltage control quantity, and outputting the DC bus voltage control quantity to a machine side converter of the flywheel energy storage system so as to adjust the DC bus voltage output value to enable the DC bus voltage to reach the DC bus voltage set value. The invention improves the stability of the DC bus voltage.

Description

Direct-current bus voltage control device, method and system and electronic equipment
Technical Field
The present invention relates to the field of dc bus voltage control, and in particular, to a dc bus voltage control device, method, system, and electronic apparatus.
Background
The direct current bus voltage control in the flywheel energy storage system is an important problem for the energy storage system to realize stable grid connection, and the quality of control performance directly determines the grid connection power quality and the stability of the direct current bus voltage. After the voltage of the direct current bus is stabilized, the output voltage of the alternating current side is more stable, and output harmonic waves are relatively fewer.
The large-scale grid connection of the current new energy sources brings serious challenges to the frequency safety of the power system, and the thermal power unit-flywheel energy storage combined frequency modulation energy well solves the problems of operation safety, economy and the like of the thermal power unit brought by the novel power system. The flywheel energy storage system assists the primary frequency modulation of the thermal power unit to be realized by following the power grid frequency difference signal, when the frequency deviation exceeds the primary frequency modulation dead zone, the flywheel energy storage system can quickly compensate the primary frequency modulation power shortage of the thermal power unit, the phenomenon of overshoot and undershoot and countermodulation caused by delay response of the thermal power unit is improved, meanwhile, the frequency modulation action frequency of the thermal power unit is effectively reduced, the equipment abrasion of the thermal power unit is reduced, and the effective service life of the thermal power unit is prolonged. Therefore, the flywheel energy storage plays an increasingly important role in the primary frequency modulation and new energy grid connection processes in cooperation with the thermal power generating unit, the development prospect is wide, and the strategy of the accurate control method for the flywheel energy storage system is to be raised to a new step.
The flywheel energy storage system has the capability of quick power response, and can frequently and continuously switch the charge-discharge energy working state. The flywheel energy storage system assists the rapid response of the power demand change rate of the primary frequency modulation process of the thermal power generating unit in millisecond level, but the rapid response can lead to the voltage fluctuation of the direct current bus to be more severe and frequent than other flywheel energy storage application scenes, and the voltage control faces a great challenge.
Disclosure of Invention
The invention aims to provide a direct-current bus voltage control device, a direct-current bus voltage control method, a direct-current bus voltage control system and electronic equipment, which can improve the stability of direct-current bus voltage.
In order to achieve the above object, the present invention provides the following solutions:
a dc bus voltage control device comprising: flywheel energy storage system and active disturbance rejection controller;
the flywheel energy storage system comprises a plurality of flywheel arrays which are connected in parallel through alternating current buses; the flywheel array comprises a flywheel body, a permanent magnet synchronous motor/generator, a machine side converter and a net side converter which are sequentially connected; the machine side converter is connected with the grid side converter through a direct current bus; the grid-side converter is connected with the alternating current bus; the alternating current bus is connected to the station service bus through the power conversion system and the step-up transformer;
The active disturbance rejection controller is respectively connected with the machine side converter and the direct current bus; the active disturbance rejection controller is used for obtaining a direct current bus voltage control quantity according to a direct current bus voltage set value of the flywheel energy storage system, a direct current bus voltage observation value and the total disturbance quantity of load power of the flywheel energy storage system to the direct current bus voltage so as to adjust a direct current bus voltage output value to enable the direct current bus voltage to reach the direct current bus voltage set value.
Optionally, the active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback control law unit;
the input end of the extended state observer is connected with the direct current bus; the extended state observer is used for observing the DC bus voltage and the disturbance of the load power of the flywheel energy storage system to the DC bus voltage to obtain a DC bus voltage observed value and total disturbance quantity;
the output end of the extended state observer and the tracking differentiator are connected with the input end of the nonlinear state error feedback control law unit; the tracking differentiator is used for carrying out transition on the DC bus voltage set value to obtain a DC bus voltage transition value; the nonlinear state error feedback control law unit is used for determining an initial control quantity according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observed voltage differential value by utilizing a nonlinear state error feedback control law, and compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity;
The output end of the nonlinear state error feedback control law unit is connected with the machine side converter; the nonlinear state error feedback control law unit is also used for outputting the direct current bus voltage control quantity to the machine side converter so as to adjust the direct current bus voltage output value and enable the direct current bus voltage to reach the direct current bus voltage set value.
Optionally, the parameters of the extended state observer include a nonlinear coefficient, an observer pole, and an observer coefficient;
the parameter configuration of the extended state observer comprises the following steps:
selecting the nonlinear coefficients and the observer poles that satisfy a configuration condition; the configuration condition is 0.5.ltoreq.F 0 /F min ＜0.7、At the same time make the nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth value of two endpointsIf the nonlinear gain F is F min /F 0 ,F max /F 0 The bandwidth values of the two endpoints do not satisfy +.>Then the observer pole is increased; wherein F is 0 Is a nonlinear coefficient; ρ is the observer pole; the nonlinear gain F varies over a range (F min ,F max )；Observing the bandwidth for the desired disturbance; omega b Is nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth values of two endpoints;
the observer coefficients are determined from the nonlinear coefficients and the observer poles.
The direct current bus voltage control method is applied to the direct current bus voltage control device, and comprises the following steps:
Acquiring a DC bus voltage set value and a DC bus voltage output value of a flywheel energy storage system;
the tracking differentiator is utilized to carry out transition on the set value of the DC bus voltage, and a DC bus voltage transition value is obtained;
determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observed value and the observed voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value;
compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage;
and adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus.
Optionally, determining the initial control quantity by using a nonlinear state error feedback control law according to the dc bus voltage transition value, the dc bus voltage observed value and the observed voltage differential value specifically includes:
Determining a transition voltage differential value according to the direct current bus voltage transition value;
and determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value.
Optionally, determining the initial control quantity according to the dc bus voltage transition value, the transition voltage differential value, the dc bus voltage observed value and the observed voltage differential value by using a nonlinear state error feedback control law specifically includes:
calculating a first difference value between the DC bus voltage transition value and the DC bus voltage observation value;
calculating a second difference value of the transition voltage differential value and the observed voltage differential value;
using formula u 0 ＝β 1 fal(e 1 ,α 1 ,δ)+β 2 fal(e 2 ,α 2 δ) determining the initial control amount; wherein u is 0 For the initial control amount; fal is a nonlinear function; e, e 1 Is the first difference; e, e 2 Is the second difference; alpha 1 、α 2 、β 1 、β 2 And delta is a parameter of the nonlinear state error feedback control law.
Optionally, compensating the initial control amount according to the disturbance amount and a system parameter of the flywheel energy storage system to obtain a direct current bus voltage control amount, which specifically comprises:
Using formula u 1 ＝u 0 -z 3 B determining the DC bus voltage control quantity; wherein u is 1 A control amount for the DC bus voltage; u (u) 0 For the initial control amount; z 3 Is the total disturbance quantity; b is a system parameter of the flywheel energy storage system.
Optionally, the method further comprises:
using the formulaDetermining system parameters of the flywheel energy storage system; wherein omega r The electrical rotational angular velocity of the flywheel rotor; psi phi type m Flux linkage for permanent magnet synchronous motor/generator; l (L) q The equivalent inductance is q-axis; u (u) dc The output value is the voltage of the direct current bus; c is the DC bus capacitor.
A dc bus voltage control system comprising:
the data acquisition module is used for acquiring a DC bus voltage set value and a DC bus voltage output value of the flywheel energy storage system;
the transition module is used for transitioning the set value of the DC bus voltage by using a tracking differentiator to obtain a transition value of the DC bus voltage;
the initial control quantity determining module is used for determining initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observation voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value;
The compensation module is used for compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage;
and the adjusting module is used for adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus.
An electronic device, comprising: the system comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the direct current bus voltage control method.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the DC bus voltage control method provided by the invention, an initial control quantity is determined by utilizing a nonlinear state error feedback control law according to a DC bus voltage observed value and a total disturbance quantity observed by an extended state observer of an active disturbance rejection controller and a DC bus voltage transition value transited by a tracking differentiator, and the initial control quantity is compensated according to the total disturbance quantity and system parameters of a flywheel energy storage system to obtain a DC bus voltage control quantity, and the DC bus voltage control quantity is output to a side converter of the flywheel energy storage system so as to adjust a DC bus voltage output value to enable the DC bus voltage to reach the DC bus voltage set value. The invention improves the stability of the DC bus voltage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, 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 block diagram of a DC bus voltage control device provided by the invention;
FIG. 2 is a block diagram of a fire and storage joint frequency modulation system in the prior art;
FIG. 3 is a diagram of a back-to-back double PWM converter FESS grid-connected configuration;
FIG. 4 is a schematic diagram of an active disturbance rejection controller according to a first embodiment;
FIG. 5 is a graph of DC bus voltage of the flywheel energy storage system at different control strategies and different rotational speeds; FIG. 5 (a) is a graph of the flywheel rotational speed of 6000r/min and the DC bus voltage under different control strategies; FIG. 5 (b) is a graph of DC bus voltage at various control strategies with flywheel speed of 7500 r/min; FIG. 5 (c) is a graph of DC bus voltage at various control strategies with a flywheel speed of 9000 r/min;
FIG. 6 is a nonlinear gain characteristic diagram in the first embodiment;
Fig. 7 is a flowchart of a dc bus voltage control method provided by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a direct-current bus voltage control device, a direct-current bus voltage control method, a direct-current bus voltage control system and electronic equipment, which can improve the stability of direct-current bus voltage.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
In the prior art, a flywheel energy storage system (Flywheel Energy Storage System, FESS) is added as an auxiliary device to a primary frequency modulation system, as shown in fig. 2. The flywheel energy storage system comprises a flywheel body, a permanent magnet synchronous motor/Generator (Permanent Magnet Synchronous Motor/Generator, PMSM/G), a machine side converter and a grid side converter, and the flywheel body, the permanent magnet synchronous motor/Generator and the PMSM/G are connected in parallel through an alternating current bus to form a flywheel array. The flywheel array is connected to the station power bus through the step-up transformer, the station power bus is also connected with the high-voltage station transformer, the high-voltage station transformer is respectively connected with the thermal power unit and the main transformer, and the main transformer is connected with a power grid. The coordination controller processes according to the primary frequency modulation command, the unit output and the State Of Charge (SOC), obtains auxiliary control signals Of the flywheel output command and the unit primary frequency modulation, and distributes the auxiliary control signals to a flywheel energy storage system main controller and a unit primary frequency modulation control system (namely, the unit primary frequency modulation control in FIG. 2). The flywheel energy storage system main controller receives a power instruction (flywheel output instruction) from the coordination controller, distributes the power instruction according to the energy state of the flywheel energy storage system and transmits the power instruction to the flywheel unit sub-controller (namely the lower sub-controller).
As shown in fig. 3, the charge-discharge control system of the FESS is composed of two parts, namely a grid-side converter control and a machine-side converter control. FESS is divided into three working phases: charging, holding, and discharging. FESS share the same three-phase inverter by using different control commands at different phases of operation. The conversion voltage of the three-phase inverter circuit in the FESS is controlled by adopting a space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) technology, so that the speed control of PMSM/G is realized. Space Vector (SV) switching table is based onAnd->Generates a switching signal (i=g, m) to generate a total of S 1 -S 12 The 12-path PWM signals are output to twelve insulated gate bipolar transistors (Insulated Gate Bipolar Transistors, IGBT) on the power grid side and the motor to respectively control the switching sequence and the duty ratio of the three-phase inverter.
In the invention, a voltage control strategy based on an active disturbance rejection controller (Active Disturbance Rejection Control, ADRC) is adopted for the direct current bus voltage of a flywheel energy storage system in a fire-storage combined frequency modulation system. ADRC adopts a nonlinear third-order extended state observer, and the observed voltage value, the voltage differential value thereof, the uncertainty such as internal and external disturbance, load power change and the like can be regarded as the extended state observed quantity of the total disturbance and used as three state quantities of the third-order extended state observer. The extended state observer has the capability of predicting the voltage disturbance caused by load power change, compensates disturbance quantity brought by the load power into a control law, overcomes the influence of frequent power demand change on the voltage of the direct-current bus, and adapts to the voltage control performance requirement of the flywheel energy storage system direct-current bus under the fire-storage frequency-modulated power change requirement.
As shown in fig. 1, the dc bus voltage control device provided by the present invention includes: flywheel energy storage system and active disturbance rejection controller ADRC.
The flywheel energy storage system comprises a plurality of flywheel arrays which are connected in parallel through alternating current buses; the flywheel array comprises a flywheel body, a permanent magnet synchronous motor/generator, a machine side converter and a net side converter which are sequentially connected; the machine side converter is connected with the grid side converter through a direct current bus; the grid-side converter is connected with the alternating current bus; the alternating current bus is connected into the station service bus through the step-up transformer. In practical application, the station service bus is also connected with a high-voltage station transformer, the high-voltage station transformer is respectively connected with a thermal power unit and a main transformer, and the main transformer is connected with a power grid.
The active disturbance rejection controller is respectively connected with the machine side converter and the direct current bus; the active disturbance rejection controller is used for obtaining a direct current bus voltage control quantity according to a direct current bus voltage set value of the flywheel energy storage system, a direct current bus voltage observation value and the total disturbance quantity of load power of the flywheel energy storage system to the direct current bus voltage so as to adjust a direct current bus voltage output value to enable the direct current bus voltage to reach the direct current bus voltage set value.
As an alternative embodiment, the active disturbance rejection controller includes a tracking differentiator, an extended state observer, and a nonlinear state error feedback control law unit.
The input end of the extended state observer is connected with the direct current bus; the extended state observer is used for observing the DC bus voltage and the disturbance of the load power of the flywheel energy storage system to the DC bus voltage to obtain a DC bus voltage observed value and total disturbance quantity.
The output end of the extended state observer and the tracking differentiator are connected with the input end of the nonlinear state error feedback control law unit; the tracking differentiator is used for carrying out transition on the DC bus voltage set value to obtain a DC bus voltage transition value; the nonlinear state error feedback control law unit is used for determining an initial control quantity according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observed voltage differential value by utilizing the nonlinear state error feedback control law, and compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain the direct current bus voltage control quantity.
The output end of the nonlinear state error feedback control law unit is connected with the machine side converter; the nonlinear state error feedback control law unit is also used for outputting the direct current bus voltage control quantity to the machine side converter so as to adjust the direct current bus voltage output value and enable the direct current bus voltage to reach the direct current bus voltage set value.
In practical application, as shown in fig. 4, ADRC consists of three parts: a tracking differentiator (Tracking Differentiator, TD), an extended state observer (Extended State Observer, ESO), and a nonlinear state error feedback control law (NonLinear State Error Feedback, NLSEF). TD is a transient tracking process aimed at preventing abrupt changes in the target value. The ESO uses the control inputs and controlled outputs of the system to observe the state variables and internal and external disturbances of the system. NLSEF is a nonlinear control law introduced to improve the disadvantage of PID direct linear weighting, and is suitable for nonlinear systems.
The parameters of ADRC are configured as follows:
1. differential tracker parameters and configuration of nonlinear control law parameters.
To make TD fast while avoiding overdriving-induced oscillations, the TD may be made to be fast Factor r=100; NLSEF is usually set after ESO is set, and NLSEF parameters are alpha 1 、α 2 、β 1 、β 2 Delta, wherein 0 is to be ensured<α 2 <1<α 1 . In the invention, alpha can be made to be 1 ＝1.5，α 2 ＝0.5。β 1 And beta 2 Depending on the effect, beta may be set first in setting the ESO parameters 1 And beta 2 Setting to 1, readjusting ESO, and after ESO has a certain effect, repeatedly adjusting ESO parameters without improving effect, and properly increasing beta only 1 Better effect is obtained. The value of δ does not substantially affect the output, but is typically selected from 0.01 to 0.1, and excessive amounts can produce oscillations, δ=0.0025 being possible in the present invention.
2. The parameters are designed according to the notion of observer bandwidth, and nonlinear gain F can cause pole distribution variations that affect the observer bandwidth. The non-linear gain of the fal function will vary with error as shown in fig. 6. Therefore, the ESO parameter configuration is carried out by analyzing the influence of the nonlinear gain F change on disturbance observation performance under different errors.
In order to keep the configured pole within the allowable range of the nonlinear function gain F with an observation bandwidth higher than the expected disturbance observation bandwidth of ESOThe ESO parameter optimization configuration method comprises the following steps:
step 1: according to the total disturbance x 3 ＝f′ 0 (x 1 The dynamic characteristics of t) and set the expected disturbance observation bandwidth of ESO as
Step 2: maximum value epsilon of tracking error epsilon when given ESO works max Determining the minimum value F of the nonlinear gain according to the structural characteristics of the fal function min And maximum value F max Then F epsilon (F) min ,F max ) Is described.
Step 3: selecting a nonlinear coefficient F satisfying the following four conditions 0 And observer pole ρ, pole configuration:
1)0.5≤F 0 /F min ＜0.7。
2)
3) Under the conditions of 1) and 2), F is F min /F 0 ,F max /F 0 Bandwidth value of two endpoints
4) Configuration F 0 And ρ, if 3 cannot be satisfied), ρ can be increased appropriately.
F is obtained by the parameter configuration method of the invention 0 After sum ρ, observer coefficient β 01 、β 02 、β 03 The calculation formula is as follows: beta 01 ＝3ρ,β 02 ＝3ρ 2 /F 0 ,β 03 ＝ρ 3 /F 0 。
Example two
In order to achieve the corresponding functions and technical effects of the first embodiment, a dc bus voltage control method is provided below, where the dc bus voltage control method is applied to the dc bus voltage control device of the first embodiment, as shown in fig. 7, and the dc bus voltage control method includes:
step 701: and acquiring a DC bus voltage set value and a DC bus voltage output value of the flywheel energy storage system.
Step 702: and utilizing a tracking differentiator to carry out transition on the set value of the DC bus voltage to obtain a transition value of the DC bus voltage.
In practice, the tracking differentiator is a first order differential tracker, as described in equation (1).
Wherein the TD input is a DC bus voltage set pointOutput v of TD 1 Is track->And (5) changing the value. v 1 Depending on the adjustment of the speed factor r. As r increases, v 1 The set value is obtained faster, but the side effect of noise amplification is brought about at the same time. v 2 Is v 1 Is a derivative of (a). e, e 0 The difference between the voltage command (dc bus voltage transition value) and the set voltage (dc bus voltage set value) after the transition is shown.
Step 703: determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observed value and the observed voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value.
ESO is the core of ADRC, whose core idea is to observe the effects of individual states and the total disturbance and uncertainty of the controlled object (dc bus voltage). According to the characteristics of the fal nonlinear function, the ESO is realized as shown in a formula (2).
Wherein z is 1 、z 2 、z 3 The feedback voltage (dc bus voltage observed value) and the differential value (observed voltage differential value) observed by ESO, and the internal and external total disturbance (total disturbance amount) are respectively. y is the output value u of the DC bus voltage dc Epsilon is the difference between the observed value of the DC bus voltage and the output value of the DC bus voltage,is the observed value z of the DC bus voltage 1 Is a derivative of (a); />To observe the voltage differential value z 2 Is a derivative of (a); />As the total disturbance z 3 Is a differential value of (a). Beta 01 ，β 02 ，β 03 Is an observed parameter of ESO. b is the system coefficient. Control amount u 1 Set value +.>
NLSEL uses the output of TD and the observed value of ESO to derive a function of the control quantity as in equation (3).
Wherein e 1 E is the difference (first difference) between the voltage command (DC bus voltage transition value) and the observed voltage (DC bus voltage observed value) after transition 2 Beta is the difference (second difference) between the voltage command differential value (transition voltage differential value) and the observed voltage differential value 1 And beta 2 Is the proportional and differential coefficients of NLSEF. The total disturbance (total disturbance quantity) z will be observed 3 Output control amount u compensated into nonlinear control law 0 In the process, a new control amount (direct current bus voltage control amount) u is obtained by comprehensively considering uncertainty such as internal and external disturbance of a system, frequent change of power demand and the like 1 ＝u 0 -z 3 And/b, further performing voltage control and disturbance compensation.
As an optional embodiment, step 703 specifically includes:
and determining a transition voltage differential value according to the direct current bus voltage transition value.
And determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value.
Specifically, according to the dc bus voltage transition value, the transition voltage differential value, the dc bus voltage observed value, and the observed voltage differential value, an initial control amount is determined by using a nonlinear state error feedback control law, and specifically includes:
and calculating a first difference value between the direct current bus voltage transition value and the direct current bus voltage observation value.
And calculating a second difference value of the transition voltage differential value and the observed voltage differential value.
Using formula u 0 ＝β 1 fal(e 1 ,α 1 ,δ)+β 2 fal(e 2 ,α 2 δ) determining the initial control amount; wherein u is 0 For the initial control amount; e, e 1 Is the first difference; e, e 2 Is the second difference; alpha 1 、α 2 、β 1 、β 2 And delta is a parameter of the nonlinear state error feedback control law.
Step 704: compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage.
As an alternative embodiment, step 704 specifically includes:
using formula u 1 ＝u 0 -z 3 B determining the DC bus voltage control quantity; wherein u is 1 A control amount for the DC bus voltage; u (u) 0 For the initial control amount; z 3 Is the total disturbance quantity; b is a system parameter of the flywheel energy storage system.
In practical application, the direct current bus voltage control method further comprises the following steps:
using the formulaDetermining the flywheel energy storage systemSystem parameters; wherein omega e The electrical rotational angular velocity of the flywheel rotor; psi phi type m Flux linkage for permanent magnet synchronous motor/generator; l (L) q The equivalent inductance is q-axis; u (u) dc The output value is the voltage of the direct current bus; c is the DC bus capacitor.
Step 705: and adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus.
The ADRC has stronger rapid tracking capability and unknown disturbance resistance performance relative to PI control, and can be well applied to the strict control requirement on the DC bus voltage in the application scene of the fire-storage combined frequency modulation system. The influence of frequent change of power demand on the DC bus voltage is overcome, and the DC bus voltage control performance requirement of the flywheel energy storage system under the change demand of the fire storage frequency modulation power is adapted. The control effect of the DC bus voltage of the flywheel energy storage system based on the ADRC strategy is obviously better than that of the conventional PI control, as shown in figure 5.
In the invention, the deduction process of the system parameter calculation formula of the flywheel energy storage system is as follows:
deriving based on u according to a mathematical model of the flywheel energy storage system dc And obtaining a system parameter b of the flywheel energy storage system as a third-order state space equation of the state variable and the differential thereof and including the total disturbance quantity.
The mathematical basic equation of the three-phase current transformer in the PMSM/G and the FESS is shown as a formula (4):
wherein u is d,q 、i d,q And L d,q Is d q shaft voltage, current and equivalent inductance omega of motor e And omega m E is an abbreviation of the electrical rotational angular velocity electrical angular velocities for the electrical rotational angular velocity and the mechanical rotational angular velocity of the flywheel rotor; m is an abbreviation for mechanical rotational angular velocity Angular velocity of mechanical rotation, p is the pole pair number, T e Is electromagnetic torque, T L Is the load torque, B is the rotor rotation damping coefficient, J is the rotational inertia of the flywheel rotor around the main shaft, R s Is the stator resistance, i dc Is a direct current bus current, R g Representing the equivalent load resistance of the grid side, ψ m Is the flux linkage of PMSM/G, P switch Is the converter power loss.
The instantaneous active power balance equation of the direct current side and the alternating current side of the converter is as formula (5):
wherein i is d For d-axis current, i q For q-axis current, L d Is d-axis equivalent inductance L q For q-axis equivalent inductance, P FG Distributing a power output value of a power instruction for FESS according to fire-storage joint frequency modulation, wherein FG refers to a Flywheel (Flywheel) and a Grid side (Grid); p (P) FG I.e. the power representing the input/output between the flywheel and the grid, so whether the flywheel energy storage system outputs or absorbs energy determines P FG Positive and negative of (a). When P FG When the value is positive, the FESS is powered off; when P FG At negative values, FESS charges. The direct current bus voltage control loop is a nonlinear system, and flywheel energy storage can frequently work in a large power input and output range. Therefore, the direct current bus voltage is easy to generate continuous fluctuation change in a large range, which is extremely unfavorable for realizing high-quality electric energy stable grid connection and combined fire and storage frequency modulation of the flywheel energy storage system.
Equation (6) can be derived from equation (4) and equation (5).
To construct the state space equation for FESS bus voltage control, a state variable x is defined 1 ＝u dc . Multiple function f 0 (x 1 T) can be defined as formula (7).
Substituting formula (7) into formula (6) to obtain formula (8).
Deriving the formula (8), substituting the formula (8) into the second formula in the formula (1) to obtain the formula (9), f' 0 (x 1 T) wherein f is 0 (x 1 Derivative of t).
By defining the total disturbance as x 3 ＝f′ 0 (x 1 T), estimating the total disturbance to include a power output value P taking into account the distributed power command in FESS based on fire-store joint frequency modulation FG The influence on the voltage of the direct current bus also comprises the influence of uncertainty factors such as the switching loss of the converter, the current and the voltage in the converter and the like. The disturbance compensation of the invention can lead the improved voltage control method to have immunity to the influence of frequent change of power demand on voltage. The nonlinear control model of the DC bus voltage can be expanded into a third-order state space equation, which is expressed as a formula (10).
Wherein H (t) =f 0 (x 1 T) is f' 0 (x 1 Differential of ω (t)), system coefficientsControl amount u= (v) q -R s i q -ψ m ω e -ω e L d i d )。
The direct current bus voltage control method has the immunity to voltage influence in the frequent change of power demand in the fire-storage combined frequency modulation system, improves the stability of the direct current bus voltage in the flywheel energy storage system, and has higher convergence speed and better voltage control dynamic performance because of the nonlinear state error feedback control law compared with a linear PID controller and a linear ADRC; the parameter configuration method can solve the problem that the parameters are too many but difficult to debug due to nonlinearity.
Example III
In order to execute the method corresponding to the second embodiment to achieve the corresponding functions and technical effects, a dc bus voltage control system is provided below, including:
The data acquisition module is used for acquiring a DC bus voltage set value and a DC bus voltage output value of the flywheel energy storage system.
And the transition module is used for transitioning the set value of the DC bus voltage by utilizing the tracking differentiator to obtain a transition value of the DC bus voltage.
The initial control quantity determining module is used for determining initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observation voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value.
The compensation module is used for compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage.
And the adjusting module is used for adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus.
Example IV
The invention provides an electronic device, comprising: the system comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the direct current bus voltage control method of the second embodiment.
Example five
The present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the dc bus voltage control method of the second embodiment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system 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.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (4)

1. A direct current bus voltage control device, characterized by comprising: flywheel energy storage system and active disturbance rejection controller;
the flywheel energy storage system comprises a plurality of flywheel arrays which are connected in parallel through alternating current buses; the flywheel array comprises a flywheel body, a permanent magnet synchronous motor/generator, a machine side converter and a net side converter which are sequentially connected; the machine side converter is connected with the grid side converter through a direct current bus; the grid-side converter is connected with the alternating current bus; the alternating current bus is connected to the station service bus through the power conversion system and the step-up transformer;
the active disturbance rejection controller is respectively connected with the machine side converter and the direct current bus; the active disturbance rejection controller is used for obtaining a direct current bus voltage control quantity according to a direct current bus voltage set value of the flywheel energy storage system, a direct current bus voltage observation value and the total disturbance quantity of load power of the flywheel energy storage system to the direct current bus voltage so as to adjust a direct current bus voltage output value to enable the direct current bus voltage to reach the direct current bus voltage set value;
the active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback control law unit;
The input end of the extended state observer is connected with the direct current bus; the extended state observer is used for observing the DC bus voltage and the disturbance of the load power of the flywheel energy storage system to the DC bus voltage to obtain a DC bus voltage observed value and total disturbance quantity;
the output end of the extended state observer and the tracking differentiator are connected with the input end of the nonlinear state error feedback control law unit; the tracking differentiator is used for carrying out transition on the DC bus voltage set value to obtain a DC bus voltage transition value; the nonlinear state error feedback control law unit is used for determining an initial control quantity according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observed voltage differential value by utilizing a nonlinear state error feedback control law, and compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity;
the output end of the nonlinear state error feedback control law unit is connected with the machine side converter; the nonlinear state error feedback control law unit is further used for outputting the direct-current bus voltage control quantity to the machine side converter so as to adjust a direct-current bus voltage output value and enable the direct-current bus voltage to reach the direct-current bus voltage set value;
Parameters of the extended state observer comprise nonlinear coefficients, observer poles and observer coefficients;
the parameter configuration of the extended state observer comprises the following steps:
selecting the nonlinear coefficients satisfying configuration conditionsAnd the observer pole; the configuration condition is 0.5.ltoreq.F 0 /F min ＜0.7、At the same time make the nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth value of two endpoints +.>If the nonlinear gain F is F min /F 0 ,F max /F 0 The bandwidth values of the two endpoints do not satisfy +.>Then the observer pole is increased; wherein F0 is a nonlinear coefficient; ρ is the observer pole; the nonlinear gain F varies over a range (F min ,F max )；/>Observing the bandwidth for the desired disturbance; omega b Is nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth values of two endpoints;
determining the observer coefficients from the nonlinear coefficients and the observer poles;
according to the DC bus voltage transition value, the DC bus voltage observation value and the observed voltage differential value, determining an initial control quantity by utilizing a nonlinear state error feedback control law, specifically comprising:
determining a transition voltage differential value according to the direct current bus voltage transition value;
determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value;
Determining an initial control quantity by using a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value, wherein the method specifically comprises the following steps of:
calculating a first difference value between the DC bus voltage transition value and the DC bus voltage observation value;
calculating a second difference value of the transition voltage differential value and the observed voltage differential value;
using formula u 0 ＝β 1 fal(e 1 ,α 1 ,δ)+β 2 fal(e 2 ,α 2 δ) determining the initial control amount; wherein u is 0 For the initial control amount; fal is a nonlinear function; e, e 1 Is the first difference; e, e 2 Is the second difference; alpha 1 、α 2 、β 1 、β 2 And delta is a parameter of the nonlinear state error feedback control law;
compensating the initial control quantity according to the disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity, wherein the method specifically comprises the following steps:
using formula u 1 ＝u 0 -z 3 B determining the DC bus voltage control quantity; wherein u is 1 A control amount for the DC bus voltage; u (u) 0 For the initial control amount; z 3 Is the total disturbance quantity; b is a system parameter of the flywheel energy storage system;
using the formulaDetermining system parameters of the flywheel energy storage system; wherein omega r The electrical rotational angular velocity of the flywheel rotor; psi phi type m Flux linkage for permanent magnet synchronous motor/generator; l (L) q The equivalent inductance is q-axis; u (u) dc The output value is the voltage of the direct current bus; c is the DC bus capacitor.
2. A direct current bus voltage control method, characterized in that the direct current bus voltage control method is applied to the direct current bus voltage control device of claim 1, the direct current bus voltage control method comprising:
acquiring a DC bus voltage set value and a DC bus voltage output value of a flywheel energy storage system;
the tracking differentiator is utilized to carry out transition on the set value of the DC bus voltage, and a DC bus voltage transition value is obtained;
determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observed value and the observed voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value; the active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback control law unit; the input end of the extended state observer is connected with the direct current bus; the extended state observer is used for observing the DC bus voltage and the disturbance of the load power of the flywheel energy storage system to the DC bus voltage to obtain a DC bus voltage observed value and total disturbance quantity; the output end of the extended state observer and the tracking differentiator are connected with the input end of the nonlinear state error feedback control law unit; the tracking differentiator is used for carrying out transition on the DC bus voltage set value to obtain a DC bus voltage transition value; the nonlinear state error feedback control law unit is used for determining an initial control quantity according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observed voltage differential value by utilizing a nonlinear state error feedback control law, and compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the output end of the nonlinear state error feedback control law unit is connected with the machine side converter; the nonlinear state error feedback control law unit is further used for outputting the direct-current bus voltage control quantity to the machine side converter so as to adjust a direct-current bus voltage output value and enable the direct-current bus voltage to reach the direct-current bus voltage set value; the parameters of the extended state observer comprise nonlinear coefficients, observer poles and observer coefficients The method comprises the steps of carrying out a first treatment on the surface of the The parameter configuration of the extended state observer comprises the following steps: selecting the nonlinear coefficients and the observer poles that satisfy a configuration condition; the configuration condition is 0.5.ltoreq.F 0 /F min ＜0.7、At the same time make the nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth value of two endpoints +.>If the nonlinear gain F is F min /F 0 ,F max /F 0 The bandwidth values of the two endpoints are not satisfiedThen the observer pole is increased; wherein F0 is a nonlinear coefficient; ρ is the observer pole; the nonlinear gain F varies over a range (F min ,F max )；/>Observing the bandwidth for the desired disturbance; omega b Is nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth values of two endpoints; determining the observer coefficients from the nonlinear coefficients and the observer poles;
compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage;
adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus;
according to the DC bus voltage transition value, the DC bus voltage observed value and the observed voltage differential value, determining an initial control quantity by utilizing a nonlinear state error feedback control law, wherein the method specifically comprises the following steps:
Determining a transition voltage differential value according to the direct current bus voltage transition value;
determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value;
determining an initial control quantity by using a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value, wherein the method specifically comprises the following steps of:
calculating a first difference value between the DC bus voltage transition value and the DC bus voltage observation value;
calculating a second difference value of the transition voltage differential value and the observed voltage differential value;
using formula u 0 ＝β 1 fal(e 1 ,α 1 ,δ)+β 2 fal(e 2 ,α 2 δ) determining the initial control amount; wherein u is 0 For the initial control amount; fal is a nonlinear function; e, e 1 Is the first difference; e, e 2 Is the second difference; alpha 1 、α 2 、β 1 、β 2 And delta is a parameter of the nonlinear state error feedback control law;
compensating the initial control quantity according to the disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity, wherein the method specifically comprises the following steps:
Using formula u 1 ＝u 0 -z 3 B determining the DC bus voltage control quantity; wherein u is 1 A control amount for the DC bus voltage; u (u) 0 For the initial control amount; z 3 Is the total disturbance quantity; b is a system parameter of the flywheel energy storage system;
using the formulaDetermining system parameters of the flywheel energy storage system; wherein omega r The electrical rotational angular velocity of the flywheel rotor; psi phi type m Flux linkage for permanent magnet synchronous motor/generator; l (L) q The equivalent inductance is q-axis; u (u) dc The output value is the voltage of the direct current bus; c is the DC bus capacitor.
3. A dc bus voltage control system, comprising:
the data acquisition module is used for acquiring a DC bus voltage set value and a DC bus voltage output value of the flywheel energy storage system; the flywheel energy storage system comprises a plurality of flywheel arrays which are connected in parallel through alternating current buses; the flywheel array comprises a flywheel body, a permanent magnet synchronous motor/generator, a machine side converter and a net side converter which are sequentially connected; the machine side converter is connected with the grid side converter through a direct current bus; the grid-side converter is connected with the alternating current bus; the alternating current bus is connected to the station service bus through the power conversion system and the step-up transformer;
The transition module is used for transitioning the set value of the DC bus voltage by using a tracking differentiator to obtain a transition value of the DC bus voltage;
the initial control quantity determining module is used for determining initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observation voltage differential value; the direct current bus voltage observation value is obtained by observing the direct current bus voltage by using an extended state observer; the observed voltage differential value is a differential value of a direct current bus voltage observed value;
the compensation module is used for compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the total disturbance quantity is obtained by observing system disturbance by using an extended state observer; the system disturbance is the disturbance of the load power of the flywheel energy storage system to the DC bus voltage;
the adjusting module is used for adjusting the voltage output value of the direct current bus to reach the voltage set value of the direct current bus according to the voltage control quantity of the direct current bus;
the active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback control law unit; the input end of the extended state observer is connected with the direct current bus; the extended state observer is used for observing the DC bus voltage and the disturbance of the load power of the flywheel energy storage system to the DC bus voltage to obtain a DC bus voltage observation value and total disturbance quantity; the output end of the extended state observer and the tracking differentiator are connected with the input end of the nonlinear state error feedback control law unit; the tracking differentiator is used for carrying out transition on the DC bus voltage set value to obtain a DC bus voltage transition value; the nonlinear state error feedback control law unit is used for determining an initial control quantity according to the direct current bus voltage transition value, the direct current bus voltage observation value and the observed voltage differential value by utilizing a nonlinear state error feedback control law, and compensating the initial control quantity according to the total disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity; the output end of the nonlinear state error feedback control law unit is connected with the machine side converter; the nonlinear state error feedback control law unit is further used for outputting the direct-current bus voltage control quantity to the machine side converter so as to adjust a direct-current bus voltage output value and enable the direct-current bus voltage to reach the direct-current bus voltage set value; parameters of the extended state observer comprise nonlinear coefficients, observer poles and observer coefficients; the parameter configuration of the extended state observer comprises the following steps: selecting the nonlinear coefficients and the observer poles that satisfy a configuration condition; the configuration condition is 0.5.ltoreq.F 0 /F min ＜0.7、At the same time make the nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth value of two endpoints +.>If the nonlinear gain F is F min /F 0 ,F max /F 0 The bandwidth values of the two endpoints are not satisfiedThen the observer pole is increased; wherein F0 is a nonlinear coefficient; ρ is the observer pole; the nonlinear gain F varies over a range (F min ,F max )；/>Observing the bandwidth for the desired disturbance; omega b Is nonlinear gain F at F min /F 0 ,F max /F 0 Bandwidth values of two endpoints; determining the observer coefficients from the nonlinear coefficients and the observer poles;
according to the DC bus voltage transition value, the DC bus voltage observed value and the observed voltage differential value, determining an initial control quantity by utilizing a nonlinear state error feedback control law, wherein the method specifically comprises the following steps:
determining a transition voltage differential value according to the direct current bus voltage transition value;
determining an initial control quantity by utilizing a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value;
determining an initial control quantity by using a nonlinear state error feedback control law according to the direct current bus voltage transition value, the transition voltage differential value, the direct current bus voltage observed value and the observed voltage differential value, wherein the method specifically comprises the following steps of:
Calculating a first difference value between the DC bus voltage transition value and the DC bus voltage observation value;
calculating a second difference value of the transition voltage differential value and the observed voltage differential value;
using formula u 0 ＝β 1 fal(e 1 ,α 1 ,δ)+β 2 fal(e 2 ,α 2 δ) determining the initial control amount; wherein u is 0 For the initial control amount; fal is a nonlinear function; e, e 1 Is the first difference; e, e 2 Is the second difference; alpha 1 、α 2 、β 1 、β 2 And delta is a parameter of the nonlinear state error feedback control law;
compensating the initial control quantity according to the disturbance quantity and the system parameters of the flywheel energy storage system to obtain a direct current bus voltage control quantity, wherein the method specifically comprises the following steps:
using formula u 1 ＝u 0 -z 3 B determining the DC bus voltage control quantity; wherein u is 1 A control amount for the DC bus voltage; u (u) 0 For the initial control amount; z 3 Is the total disturbance quantity; b is a system parameter of the flywheel energy storage system;
using the formulaDetermining system parameters of the flywheel energy storage system; wherein omega r The electrical rotational angular velocity of the flywheel rotor; psi phi type m Flux linkage for permanent magnet synchronous motor/generator; l (L) q The equivalent inductance is q-axis; u (u) dc The output value is the voltage of the direct current bus; c is the DC bus capacitor.
4. An electronic device, comprising: a memory for storing a computer program, and a processor that runs the computer program to cause the electronic device to execute the dc bus voltage control method of claim 2.
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