Resonance suppression method, system and equipment for distributed energy storage network construction type control

Abstract

The invention relates to the technical field of resonance suppression, in particular to a resonance suppression method, system and equipment for distributed energy storage network construction type control. By obtaining the stable integral gain and the stable differential gain, the response of the PID controller in the control process can be ensured to be more agile, the dynamic performance of the system can be optimized, the appropriate stable integral gain is beneficial to eliminating steady-state errors, and by obtaining the response characteristic curve in real time, the gain can be dynamically adjusted, the change can be quickly responded, and the resonance risk can be reduced. The amplitude-frequency characteristic curve and the phase-frequency characteristic curve provide visual evaluation for the stability and the response speed of the energy storage system, so that the PID control performance can be effectively improved, the risk of a resonance phenomenon is reduced, the stability of the energy storage system can be evaluated in real time by judging the stability margin, potential problems can be found in time, resonance is avoided, and the reliability of the system is improved. According to the judgment result of the stability margin, a lag compensator or a phase compensator is selected for adjustment, and the resonance problem in the energy storage system is solved.

Description

Technical Field

[0001] The present invention relates to the field of resonance suppression technology, and in particular to a resonance suppression method, system and device for distributed energy storage grid control. Background Art

[0002] At present, wind power and photovoltaic power generation have become the second largest power source in my country, and their access ratio continues to rise. However, the power generation capacity of new energy is limited by the changes in wind and sunshine, resulting in limited regulation capacity, making it difficult to maintain the balance of supply and demand and the stability of system voltage and frequency. Therefore, the development of large-scale energy storage systems has become a key step in building a new power system. In the new power system, since a large number of synchronous generators are replaced by new energy grid-connected units, they show a trend of low inertia and weak damping. Distributed grid-type energy storage has advantages in regional layout and scale expansion, and grid-type energy storage can independently build voltage and frequency and provide inertia support, which has become an important guarantee for the stable and reliable operation of the new power system. Distributed grid-type energy storage refers to the use of distributed energy storage equipment (such as batteries, supercapacitors, etc.) in the power system to support the stability and reliability of the power grid.

[0003] With the widespread application of distributed renewable energy, grid-based control strategies are widely used in power electronic equipment to simulate the behavior of synchronous generators, such as the proportional-integral-differential control method. If the gain is set improperly (for example, high gain), the system may be too sensitive to disturbances, resulting in excessive amplification of the feedback signal, thereby inducing resonance. After the resonance occurs, the grid voltage will fluctuate or be distorted, affecting the power quality. Summary of the invention

[0004] The main purpose of the present invention is to provide a resonance suppression method for distributed energy storage grid control, aiming to solve the technical problems in the prior art.

[0005] The present invention proposes a resonance suppression method for distributed energy storage grid control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, including:

[0006] Acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain;

[0007] Acquire multiple value-added response steady-state values ​​according to the initial proportional gain, draw a proportional value-added curve diagram according to the initial proportional gain and the multiple value-added response steady-state values, and acquire a stable proportional gain value according to the proportional value-added curve diagram;

[0008] Acquire a stable integral gain value according to the initial integral gain, and acquire a stable differential gain value according to the initial differential gain;

[0009] Adjusting each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and acquiring a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve;

[0010] Acquire a gain margin according to the amplitude-frequency characteristic curve, acquire a phase margin according to the phase-frequency characteristic curve, and acquire a stability margin according to the gain margin and the phase margin;

[0011] Determining whether the stability margin is greater than a preset stability margin threshold;

[0012] If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time;

[0013] If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold;

[0014] If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

[0015] Preferably, the step of obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram comprises:

[0016] Get the preset value-added ratio;

[0017] The initial proportional gain is increased by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors;

[0018] The proportional parameters of the controller in the sub-energy storage system are adjusted to each of the value-added proportional gain factors in turn, and the response value output by the sub-energy storage system in the first preset time period is monitored and acquired in real time to obtain a plurality of value-added response steady-state values;

[0019] The proportional parameter of the controller in the sub-energy storage system is adjusted to the initial proportional gain, and the response value of the sub-energy storage system output is obtained to obtain the initial response steady-state value;

[0020] The proportional gain is used as the X-axis, the response steady-state value is used as the Y-axis, and the distance between two adjacent response steady-state values ​​is divided by the same first preset time period to establish a proportional value-added coordinate axis;

[0021] Taking the initial proportional gain and the initial response steady-state value as the starting point, each incremental proportional gain factor and the corresponding incremental response steady-state value are plotted on the proportional incremental coordinate axis as the connection point;

[0022] Connect the starting point and multiple connection points in sequence through curves to obtain a proportional value-added curve graph;

[0023] dividing the proportional value-added curve graph into a plurality of line segments according to the first preset time period;

[0024] Obtaining the average curvature of each line segment, and determining whether each of the average curvatures is the same as a preset standard curvature;

[0025] If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value;

[0026] If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

[0027] Preferably, the step of obtaining a stable integral gain value according to the initial integral gain comprises:

[0028] Obtaining a stable proportional gain value, adjusting a proportional parameter of a controller in the sub-energy storage system to the stable proportional gain value, and obtaining a first steady-state output value;

[0029] Acquire a first integral gain factor according to the first steady-state output value;

[0030] Acquire multiple value-added integral gain factors according to the initial integral gain, and extract the value-added integral gain factor greater than the first integral gain factor from the multiple value-added integral gain factors to obtain the input value-added integral gain factor;

[0031] The integral parameter of the controller in the sub-energy storage system is adjusted in turn to each of the input value-added integral gain factors to obtain a plurality of steady-state output values;

[0032] A preset steady-state setting value is obtained, and a stable integral gain value is calculated according to the steady-state setting value, a stable proportional gain value, and a plurality of steady-state output values, wherein the calculation formula is:

[0033]

[0034] Where W(J) represents the stable integral gain value, Y(W) represents the preset steady-state setting value, W(B) represents the stable proportional gain value, and W(S) represents the stable proportional gain value. i It represents the i-th steady-state output value, i represents the sequence number of the steady-state output value, and n represents the number of the steady-state output value.

[0035] Preferably, the step of obtaining a stable differential gain value according to the initial differential gain comprises:

[0036] Obtain stable integral gain value and stable proportional gain value;

[0037] Acquire a plurality of incremental differential gain factors according to the initial differential gain;

[0038] The integral parameter, proportional parameter and differential parameter of the controller in the sub-energy storage system are adjusted to a stable integral gain value, a stable proportional gain value and each value-added differential gain factor in sequence, and multiple value-added output signal curves of the sub-energy storage system within a second preset time period are acquired by real-time monitoring;

[0039] Acquire multiple peak values ​​and valley values ​​of each of the value-added output signal curves, and acquire the oscillation amplitude of each of the value-added output signal curves according to the second preset time period, the multiple peak values ​​and valley values;

[0040] The value-added differential gain factor corresponding to the value-added output signal curve with the smallest oscillation amplitude among the multiple value-added output signal curves is selected as the stable differential gain value.

[0041] Preferably, the step of obtaining the gain margin according to the amplitude-frequency characteristic curve, obtaining the phase margin according to the phase-frequency characteristic curve, and obtaining the stability margin according to the gain margin and the phase margin comprises:

[0042] Acquire the amplitude-frequency crossover frequency according to the amplitude-frequency characteristic curve;

[0043] Acquire an amplitude-frequency gain value according to the amplitude-frequency crossover frequency and the amplitude-frequency characteristic curve, and acquire a gain margin according to the amplitude-frequency gain value;

[0044] Acquire a phase crossover frequency according to the phase-frequency characteristic curve;

[0045] Acquire a phase value according to the phase crossover frequency and the phase-frequency characteristic curve, and acquire a phase margin according to the phase value;

[0046] The stability margin is obtained according to the sum of the gain margin and the phase margin.

[0047] Preferably, if the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold, the step comprises:

[0048] When the phase margin is greater than a preset phase margin threshold, obtaining a lag compensator;

[0049] Connecting the hysteresis compensator in series with the distributed energy storage system, and obtaining a first preset input value and a corresponding first output value of the distributed energy storage system after the series connection;

[0050] Obtaining a first open-loop gain according to a ratio of the first preset input value to the first output value, and obtaining a compensated gain margin according to the first open-loop gain;

[0051] gradually increasing the gain of the hysteresis compensator until the compensated gain margin of the distributed energy storage system is greater than a preset gain margin;

[0052] When the phase margin is not greater than a preset phase margin threshold, obtaining a phase compensator;

[0053] Connecting the phase compensator in series with the distributed energy storage system, and obtaining a second preset input value and a corresponding second output value of the distributed energy storage system after the series connection;

[0054] Obtaining a second open-loop gain according to a ratio of the second preset input value to the second output value, and obtaining a compensated phase margin according to the second open-loop gain;

[0055] The gain of the phase compensator is gradually increased until the compensated phase margin of the distributed energy storage system is greater than a preset phase margin threshold.

[0056] The present application also provides a resonance suppression system for distributed energy storage grid-type control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, including:

[0057] A first acquisition module, used to acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain;

[0058] A drawing module, used for obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram;

[0059] A second acquisition module, configured to acquire a stable integral gain value according to the initial integral gain, and acquire a stable differential gain value according to the initial differential gain;

[0060] An adjustment module, used to adjust each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and obtain a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve;

[0061] A third acquisition module, used to acquire a gain margin according to the amplitude-frequency characteristic curve, acquire a phase margin according to the phase-frequency characteristic curve, and acquire a stability margin according to the gain margin and the phase margin;

[0062] A judging module, used to judge whether the stability margin is greater than a preset stability margin threshold;

[0063] If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time;

[0064] If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold;

[0065] If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

[0066] Preferably, the drawing module comprises:

[0067] An acquisition unit, used for acquiring a preset proportional increase;

[0068] An increasing unit, configured to increase the initial proportional gain by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors;

[0069] A monitoring unit, used to adjust the proportional parameters of the controller in the sub-energy storage system to each of the value-added proportional gain factors in turn, and to monitor and obtain the response value output by the sub-energy storage system in a first preset time period in real time to obtain a plurality of value-added response steady-state values;

[0070] An input unit adjusts a proportional parameter of a controller in the sub-energy storage system to an initial proportional gain, and obtains a response value output by the sub-energy storage system to obtain an initial response steady-state value;

[0071] An establishing unit is used to establish a proportional gain coordinate axis by taking the proportional gain as the X-axis and the response steady-state value as the Y-axis and dividing the distance between two adjacent response steady-state values ​​by the same first preset time period;

[0072] A drawing unit is used to draw the initial proportional gain and the initial response steady-state value as starting points, and each incremental proportional gain factor and the corresponding incremental response steady-state value as connection points on the proportional incremental coordinate axis;

[0073] A connection unit, used to connect the starting point and multiple connection points in sequence through curves to obtain a proportional value-added curve diagram;

[0074] A segmentation unit, configured to segment the proportional value-added curve graph into a plurality of line segments according to the first preset time period;

[0075] A judging unit, used for obtaining an average curvature of each line segment, and judging whether each of the average curvatures is the same as a preset standard curvature;

[0076] If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value;

[0077] If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

[0078] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned resonance suppression method for distributed energy storage grid control are implemented.

[0079] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned resonance suppression method for distributed energy storage grid-type control are implemented.

[0080] The beneficial effects of the present invention are as follows: the present invention can select a stable proportional gain value through the proportional value-added curve diagram, thereby not only effectively suppressing the resonance phenomenon, but also improving the overall performance and stability of the sub-energy storage system; by obtaining a stable integral gain and a stable differential gain, it can ensure that the PID controller reacts more quickly during the control process and optimize the dynamic performance of the system; an appropriate stable integral gain helps to eliminate steady-state errors, while a stable differential gain can reduce overshoot and improve the overall response quality of the system; by obtaining the response characteristic curve in real time, it helps to dynamically adjust the gain, respond quickly to changes, and reduce the risk of resonance; the amplitude-frequency characteristic curve and the phase-frequency characteristic curve provide an intuitive evaluation of the stability and response speed of the distributed energy storage system, thereby effectively improving the performance of PID control and reducing the risk of resonance. Risk, improve the stability and reliability of distributed energy storage systems, monitor changes in gain margin and phase margin, and issue early warnings before resonance occurs, and adjust parameters in time to avoid problems. By judging the stability margin, the stability of the distributed energy storage system can be evaluated in real time, potential problems can be discovered in time, and resonance can be avoided. According to the judgment result of the stability margin, the lag compensator or phase compensator is selected for adjustment, which can solve the resonance problem in the distributed energy storage system more specifically. Check the stability margin first. If it is not satisfied, check the phase margin. This step-by-step optimization method helps to maintain the overall stability of the system during the control process and avoid instability caused by over-adjustment. Under the premise of ensuring stability, the gain and phase margins are adjusted to optimize the response speed and steady-state performance of the system at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 The figure is a schematic diagram of a method flow according to an embodiment of the present invention.

[0082] Figure 2 FIG. 1 is a schematic diagram of a device structure according to an embodiment of the present invention.

[0083] Figure 3 A schematic diagram of the internal structure of a computer device according to an embodiment of the present application.

[0084] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0085] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0086] like Figure 1-Figure 3 As shown, the present application provides a resonance suppression method for distributed energy storage grid control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, including:

[0087] S1. Acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain;

[0088] S2. acquiring a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and acquiring a stable proportional gain value according to the proportional value-added curve diagram;

[0089] S3, obtaining a stable integral gain value according to the initial integral gain, and obtaining a stable differential gain value according to the initial differential gain;

[0090] S4, adjusting each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and acquiring a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve;

[0091] S5, obtaining a gain margin according to the amplitude-frequency characteristic curve, obtaining a phase margin according to the phase-frequency characteristic curve, and obtaining a stability margin according to the gain margin and the phase margin;

[0092] S6. Determine whether the stability margin is greater than a preset stability margin threshold;

[0093] If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time;

[0094] If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold;

[0095] If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

[0096] As described in the above steps S1-S6, in the new power system, a large number of synchronous generators are replaced by new energy grid-connected units, showing a trend of low inertia and weak damping. Distributed grid-type energy storage has advantages in regional layout, scale expansion, etc., and the grid-type energy storage can independently build voltage and frequency and provide inertia support, becoming an important guarantee for the stable and reliable operation of the new power system. Distributed grid-type energy storage refers to the use of distributed energy storage devices (such as batteries, supercapacitors, etc.) in the power system to support the stability and reliability of the power grid. With the widespread application of distributed new energy, grid-type control strategies are widely used in power electronic equipment to simulate the behavior of synchronous generators, such as proportional-integral-differential control method. If the gain is improperly set (for example, high gain), the system may be too sensitive to disturbances, resulting in excessive amplification of the feedback signal, thereby causing resonance. After the resonance phenomenon occurs, the grid voltage will fluctuate or distort, affecting the power quality. The present invention obtains the initial proportional gain, initial integral gain and initial differential gain of each sub-energy storage system, wherein the initial proportional gain refers to the proportional relationship between the controller output and the error at the initial time, the error is the difference between the set value (target value) and the actual output value, the initial integral gain refers to the initial adjustment of the controller output by accumulating (integrating) the error over time, the initial differential gain refers to the initial adjustment of the controller output by calculating the rate of change (derivative) of the error, and obtains multiple value-added response steady-state values ​​according to the initial proportional gain, wherein the value-added response steady-state value refers to the final stable output value of the system under the action of a specific input signal (such as a step signal, a pulse signal, etc.), according to the initial proportional gain and multiple value-added response steady-state values. A proportional value-added curve is drawn according to the response steady-state value, and then a stable proportional gain value is obtained according to the proportional value-added curve, wherein the stable proportional gain value refers to a proportional gain value at which the dynamic response of the system remains stable near the set value. The proportional value-added curve drawn by the present invention through the initial proportional gain and multiple value-added response steady-state values ​​can intuitively display the influence of the proportional gain on the response of the sub-energy storage system, and by analyzing the curve graph, the gain range in which resonance occurs can be effectively identified, thereby providing a basis for adjustment. Through the proportional value-added curve graph, it can be clearly determined which gain values ​​will cause the stability of the system to decrease. Selecting a stable proportional gain value can not only effectively suppress the resonance phenomenon, but also improve the overall performance and stability of the sub-energy storage system.

[0097] The present invention obtains a stable integral gain value according to an initial integral gain, obtains a stable differential gain value according to an initial differential gain, adjusts each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and obtains a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve, wherein the amplitude-frequency characteristic curve refers to the gain (amplitude) characteristic of the energy storage system at different frequencies, and by analyzing the amplitude-frequency characteristic curve, the amplification or attenuation capability of the distributed energy storage system for signals of different frequencies can be understood, thereby judging the stability and response characteristics of the distributed energy storage system, and the phase-frequency characteristic curve refers to the phase characteristic of the energy storage system at different frequencies, and by analyzing the phase-frequency characteristic curve, the phase delay and phase margin of the distributed energy storage system can be understood, and by obtaining a stable integral gain and a stable differential gain, it can be ensured that the PID controller responds more quickly during the control process, and the dynamic performance of the system is optimized, and an appropriate stable integral gain helps to eliminate steady-state errors, and a stable differential gain can reduce overshoot and improve the overall response quality of the system, and by analyzing the initial gain, the settings that may cause resonance are identified and adjusted, thereby effectively avoiding the occurrence of resonance, and by obtaining the response in real time The characteristic curve is helpful to dynamically adjust the gain, respond to changes quickly, and reduce the risk of resonance, while the amplitude-frequency characteristic curve and the phase-frequency characteristic curve provide an intuitive evaluation of the stability and response speed of the energy storage system, thereby effectively improving the performance of PID control, reducing the risk of resonance, and improving the stability and reliability of the energy storage system. The present invention obtains the gain margin according to the amplitude-frequency characteristic curve, obtains the phase margin according to the phase-frequency characteristic curve, and obtains the stability margin according to the gain margin and the phase margin, wherein the gain margin refers to the amplitude by which the gain can be increased under the premise of maintaining the stability of the energy storage system, and the phase margin refers to how much margin the phase of the energy storage system has when the critical stable state is reached. The stability margin usually refers to a comprehensive evaluation of the gain margin and the phase margin, reflecting the overall stability of the energy storage system in the face of gain and phase changes. Since the gain margin and the phase margin provide a quantitative evaluation of the stability of the energy storage system, it is helpful to identify potential resonance risks. According to the gain margin and the phase margin data, the PID parameters can be accurately adjusted to ensure that the energy storage system operates within a suitable gain range and avoid resonance. By monitoring the changes in the gain margin and the phase margin, it is also possible to give an early warning before the resonance occurs and adjust the parameters in time to avoid problems.

[0098] The present invention determines whether the stability margin is greater than a preset stability margin threshold. If so, it is determined that the stability of the distributed energy storage system is relatively high at this time. Otherwise, it is further determined whether the phase margin is greater than the preset phase margin threshold. If so, a lag compensator is introduced to adjust the gain margin. Otherwise, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold. By judging the stability margin, the stability of the distributed energy storage system can be evaluated in real time, potential problems can be discovered in time, and resonance can be avoided. According to the judgment result of the stability margin, a lag compensator or a phase compensator is selected for adjustment, which can solve the resonance problem in the distributed energy storage system in a more targeted manner. The stability margin is checked first. If it is not satisfied, the phase margin is checked. This step-by-step optimization method helps to maintain the overall stability of the system during the control process and avoid instability caused by excessive adjustment. Under the premise of ensuring stability, the gain and phase margins are adjusted to simultaneously optimize the response speed and steady-state performance of the system.

[0099] In one embodiment, the step S2 of obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram comprises:

[0100] S21, obtaining a preset value-added ratio;

[0101] S22, increasing the initial proportional gain by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors;

[0102] S23, adjusting the proportional parameters of the controller in the sub-energy storage system to each of the value-added proportional gain factors in turn, and monitoring and acquiring the response value output by the sub-energy storage system within the first preset time period in real time to obtain a plurality of value-added response steady-state values;

[0103] S24, adjusting the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain, and obtaining the response value output by the sub-energy storage system to obtain the initial response steady-state value;

[0104] S25, taking the proportional gain as the X-axis and the response steady-state value as the Y-axis, and dividing the distance between two adjacent response steady-state values ​​by the same first preset time period to establish a proportional value-added coordinate axis;

[0105] S26, taking the initial proportional gain and the initial response steady-state value as starting points, and drawing each value-added proportional gain factor and the corresponding value-added response steady-state value as connection points on the proportional value-added coordinate axis;

[0106] S27, connecting the starting point and the plurality of connection points in sequence through curves to obtain a proportional value-added curve graph;

[0107] S28, dividing the proportional value-added curve graph into a plurality of line segments according to the first preset time period;

[0108] S29, obtaining the average curvature of each line segment, and determining whether each of the average curvatures is the same as a preset standard curvature;

[0109] If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value;

[0110] If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

[0111] As described in the above steps S21-S29, the present invention obtains multiple value-added proportional gain factors by increasing the initial proportional gain by a preset number of times according to a preset proportional increment. By gradually increasing the proportional gain, the influence of each gain setting on the stability of the energy storage system can be systematically evaluated to avoid instability caused by a one-time adjustment. The proportional parameters of the controller in the sub-energy storage system are adjusted to each of the value-added proportional gain factors in turn, and the response value output in the sub-energy storage system within the first preset time period is monitored and obtained in real time to obtain multiple value-added response steady-state values, wherein the value-added response steady-state value refers to the final output value of the energy storage system to a constant input signal after a period of dynamic process, which is obtained by real-time monitoring. By measuring the output response, inappropriate gain settings can be quickly discovered, ensuring that the system can be adjusted in time to reduce the risk of resonance. By obtaining multiple value-added response steady-state values, rich data support can be provided to help identify the optimal gain more accurately. Moreover, more detailed gain settings can improve the response accuracy of the system and reduce overshoot and steady-state errors. The initial response steady-state value is obtained by adjusting the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain, and the proportional gain is used as the X-axis and the response steady-state value is used as the Y-axis. The distance between two adjacent response steady-state values ​​is divided by the same first preset time period to establish a proportional value-added coordinate axis. The initial proportional gain and the initial response steady-state value are used as the starting point. The value-added proportional gain factors and the corresponding value-added response steady-state values ​​are plotted as connection points on the proportional value-added coordinate axis, and then the starting point and multiple connection points are sequentially connected through curves to obtain a proportional value-added curve diagram. Since the proportional value-added curve diagram can intuitively display the relationship between the proportional gain and the response steady-state value, by observing the changes in the curve, the influence of the gain setting on the system stability can be judged, the gain range that may cause resonance can be identified, and the resonance phenomenon caused by improper settings can be avoided. The present invention divides the proportional value-added curve diagram into multiple line segments according to the first preset time period, and obtains the average curvature of each line segment, and then judges whether each average curvature is the same as the preset standard curvature. If all the average curvatures are the same as the preset standard, If the curvatures are different, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value. If only one average curvature is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be the stable proportional gain value. Since the average curvature reflects the rate of change of the energy storage system response, it can more accurately evaluate the system stability and identify inappropriate gain settings. By selecting the gain corresponding to the average curvature closest to the preset standard curvature, the proportional gain can be scientifically optimized and the risk of resonance can be reduced. Selecting the most appropriate stable proportional gain value can improve the response speed and steady-state performance of the system and reduce the risk of resonance caused by improper gain setting.

[0112] In one embodiment, the step S3 of acquiring a stable integral gain value according to the initial integral gain includes:

[0113] S31, obtaining a stable proportional gain value, adjusting a proportional parameter of a controller in the sub-energy storage system to the stable proportional gain value, and obtaining a first steady-state output value;

[0114] S32, obtaining a first integral gain factor according to the first steady-state output value;

[0115] S33, acquiring multiple value-added integral gain factors according to the initial integral gain, and extracting the value-added integral gain factor greater than the first integral gain factor from the multiple value-added integral gain factors to obtain an input value-added integral gain factor;

[0116] S34, adjusting the integral parameter of the controller in the sub-energy storage system in turn to each of the input value-added integral gain factors to obtain a plurality of steady-state output values;

[0117] S35, obtaining a preset steady-state setting value, and calculating a stable integral gain value according to the steady-state setting value, a stable proportional gain value, and a plurality of steady-state output values, wherein the calculation formula is:

[0118]

[0119] Where W(J) represents the stable integral gain value, Y(W) represents the preset steady-state setting value, W(B) represents the stable proportional gain value, and W(S) represents the stable proportional gain value. i It represents the i-th steady-state output value, i represents the sequence number of the steady-state output value, and n represents the number of the steady-state output value.

[0120] As described in the above steps S31-S35, the present invention obtains a first steady-state output value by obtaining a stable proportional gain value and adjusting the proportional parameter of the controller in the sub-energy storage system to the stable proportional gain value, obtains a first integral gain factor according to the first steady-state output value, obtains a plurality of value-added integral gain factors according to the initial integral gain, and by obtaining a plurality of value-added integral gain factors, the integral gain can be adjusted more systematically, thereby reducing disturbances to the sub-energy storage system and avoiding the occurrence of resonance, and an input value-added integral gain factor is obtained by extracting a value-added integral gain factor greater than the first integral gain factor from a plurality of value-added integral gain factors, and by selecting a value-added integral gain greater than the first integral gain factor, it is not only helpful to prevent control instability caused by over-adjustment, but also to avoid the occurrence of resonance. It can more effectively prevent resonance, quickly adapt to system requirements, improve the dynamic response characteristics of the system, and then adjust the integral parameters of the controller in the sub-energy storage system in turn to obtain multiple steady-state output values ​​for each input value-added integral gain factor. By obtaining a preset steady-state set value, and calculating a stable integral gain value based on the steady-state set value, a stable proportional gain value and multiple steady-state output values, and by inputting and comparing the steady-state output values ​​multiple times, the steady-state performance of the sub-energy storage system can be more accurately evaluated to ensure that the selected gain value can effectively eliminate resonance. When calculating the stable integral gain value, the steady-state set value and the output value are comprehensively considered, which helps to reduce overshoot and steady-state errors of the sub-energy storage system, improve control accuracy, and effectively suppress resonance caused by improper gain setting.

[0121] In one embodiment, the step S3 of acquiring a stable differential gain value according to the initial differential gain includes:

[0122] S36, obtaining a stable integral gain value and a stable proportional gain value;

[0123] S37, obtaining a plurality of value-added differential gain factors according to the initial differential gain;

[0124] S38, adjusting the integral parameter, proportional parameter and differential parameter of the controller in the sub-energy storage system to a stable integral gain value, a stable proportional gain value and each value-added differential gain factor in sequence, and monitoring in real time to obtain multiple value-added output signal curves of the sub-energy storage system within a second preset time period;

[0125] S39, obtaining a plurality of peak values ​​and valley values ​​of each of the value-added output signal curves, and obtaining an oscillation amplitude of each of the value-added output signal curves according to the second preset time period, the plurality of peak values ​​and valley values;

[0126] S310 , selecting a value-added differential gain factor corresponding to a value-added output signal curve with the smallest oscillation amplitude among a plurality of value-added output signal curves as a stable differential gain value.

[0127] As described in the above steps S36-S310, the present invention obtains a plurality of value-added differential gain factors according to the initial differential gain by obtaining a stable integral gain value and a stable proportional gain value, and then adjusts the integral parameter, proportional parameter and differential parameter of the controller in the sub-energy storage system to a stable integral gain value, a stable proportional gain value and each value-added differential gain factor in turn, and monitors and obtains a plurality of value-added output signal curves of the sub-energy storage system within a second preset time period in real time, and by obtaining the value-added differential gain factor and monitoring the value-added output signal curve, the output signal curve can be monitored in real time to timely discover the abnormality of the system behavior, and quickly adjust the gain setting to prevent resonance, and combine the stable integral, proportional and differential gain. The setting is helpful to fully optimize the control strategy and improve the stability of the system response. The appropriate differential gain can reduce overshoot and ensure the stability of the system when it is close to steady state, thereby effectively suppressing resonance. By analyzing the value-added output signal curve, the system performance and the rationality of the gain setting can be evaluated more scientifically, which effectively enhances the stability of the PID control method in the energy storage system and reduces the risk of resonance. By obtaining multiple peaks and valleys of each value-added output signal curve, and obtaining the oscillation amplitude of each value-added output signal curve according to the second preset time period, multiple peaks and valleys, the calculation formula for calculating the oscillation amplitude of the value-added output signal curve according to the second preset time period, multiple peaks and valleys is: Wherein, Z(D) represents the oscillation amplitude, T represents the second preset time period, and F(Z) e represents the e-th peak, G(Z) e Represents the e-th valley value, e represents the sequence number of the valley value, and m represents the number of valley values. Then, the value-added differential gain factor corresponding to the value-added output signal curve with the smallest oscillation amplitude among multiple value-added output signal curves is selected as the stable differential gain value. By selecting the output signal curve with the smallest oscillation amplitude, the oscillation of the system is effectively reduced, and the resonance phenomenon caused by improper gain setting is reduced. The selected stable differential gain value can help the system respond to input changes more smoothly and avoid instability caused by overreaction. The differential gain corresponding to the minimum oscillation amplitude helps to improve the control accuracy of the system, reduce steady-state errors, and reduce the risk of resonance.

[0128] In one embodiment, the step S5 of acquiring the gain margin according to the amplitude-frequency characteristic curve, acquiring the phase margin according to the phase-frequency characteristic curve, and acquiring the stability margin according to the gain margin and the phase margin comprises:

[0129] S51, obtaining an amplitude-frequency crossover frequency according to the amplitude-frequency characteristic curve;

[0130] S52, obtaining an amplitude-frequency gain value according to the amplitude-frequency crossover frequency and the amplitude-frequency characteristic curve, and obtaining a gain margin according to the amplitude-frequency gain value;

[0131] S53, obtaining a phase crossover frequency according to the phase-frequency characteristic curve;

[0132] S54, obtaining a phase value according to the phase crossover frequency and the phase-frequency characteristic curve, and obtaining a phase margin according to the phase value;

[0133] S55. Obtain a stability margin according to the sum of the gain margin and the phase margin.

[0134] As described in the above steps S51-S55, the present invention obtains the amplitude-frequency crossover frequency through the amplitude-frequency characteristic curve, wherein the amplitude-frequency crossover frequency refers to the frequency at which the amplitude-frequency characteristic curve crosses the 0dB (unit gain) line, and obtains the amplitude-frequency gain value according to the amplitude-frequency crossover frequency and the amplitude-frequency characteristic curve, and obtains the gain margin according to the amplitude-frequency gain value, wherein the calculation formula is: Among them, Z(Y) represents the gain margin, F(Y) represents the amplitude-frequency gain value. By obtaining the amplitude-frequency crossover frequency, the dynamic response characteristics of the energy storage system can be clearly understood, thereby providing a basis for gain adjustment and reducing the risk of resonance. Since the gain margin is an important indicator of the stability of the control system, it can reflect the system's tolerance to gain changes and ensure stable operation without resonance. According to the amplitude-frequency gain value and gain margin, the PID parameters can be accurately adjusted to ensure that the gain is set within a safe range and reduce the resonance phenomenon caused by improper settings. Reasonable gain settings can improve the dynamic response characteristics of the system, enhance the system's adaptability to disturbances, and reduce the risk of resonance caused by improper gain settings. The phase crossover frequency is obtained according to the phase-frequency characteristic curve, wherein the phase crossover frequency refers to the frequency with a phase of -180° on the phase-frequency characteristic curve. The phase value is obtained according to the phase crossover frequency and the phase-frequency characteristic curve, and the phase margin is obtained according to the value. The calculation formula is: X(Y)=180°+X(Z), wherein X(Y) represents the phase margin, and X(Z) represents the phase value. By obtaining The phase crossover frequency can determine at what frequency the energy storage system will become unstable, helping to identify potential resonance risks. Since the phase margin is an important indicator for measuring system stability, a higher phase margin means that the system has a strong tolerance to gain changes, thereby reducing the possibility of resonance. Using the phase margin information, the PID control parameters can be accurately adjusted to ensure that the system operates within a safe range and reduce the resonance caused by improper gain setting. The appropriate phase margin can effectively reduce overshoot and oscillation, ensure the stability of the system when it is close to steady state, and reduce the risk of resonance. The stability margin is obtained according to the sum of the gain margin and the phase margin. By adding the gain margin and the phase margin, a more comprehensive stability indicator - the stability margin can be obtained, which can reflect the comprehensive sensitivity of the energy storage system to gain and phase changes, and facilitate the identification of potential resonance risks. The stability margin provides a basis for adjusting the PID control parameters, which can more reasonably select the gain and phase to ensure that the system operates within an appropriate range, effectively reduce overshoot and oscillation, ensure the smooth operation of the system, and further reduce the resonance phenomenon.

[0135] In one embodiment, if the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold, step S6 includes:

[0136] S61, when the phase margin is greater than a preset phase margin threshold, obtaining a lag compensator;

[0137] S62, connecting the hysteresis compensator in series with the distributed energy storage system, and obtaining a first preset input value and a corresponding first output value of the distributed energy storage system after the series connection;

[0138] S63, obtaining a first open-loop gain according to a ratio of the first preset input value to the first output value, and obtaining a compensated gain margin according to the first open-loop gain;

[0139] S64, gradually increasing the gain of the hysteresis compensator until the compensated gain margin of the distributed energy storage system is greater than the preset gain margin;

[0140] S65, when the phase margin is not greater than a preset phase margin threshold, obtaining a phase compensator;

[0141] S66, connecting the phase compensator in series with the distributed energy storage system, and obtaining a second preset input value and a corresponding second output value of the distributed energy storage system after the series connection;

[0142] S67, obtaining a second open-loop gain according to a ratio of the second preset input value to the second output value, and obtaining a compensated phase margin according to the second open-loop gain;

[0143] S68. Gradually increase the gain of the phase compensator until the compensated phase margin of the distributed energy storage system is greater than a preset phase margin threshold.

[0144] As described in the above steps S61-S68, the present invention obtains a hysteresis compensator when the phase margin is greater than a preset phase margin threshold value, and connects the hysteresis compensator in series with the distributed energy storage system. Since the hysteresis compensator can improve the gain margin of the system, the distributed energy storage system is more stable when facing dynamic changes, thereby reducing the risk of resonance caused by improper gain setting, and obtains a first preset input value and a first output value of the distributed energy storage system after the series connection, wherein the first preset input value refers to the preset input value of the distributed energy storage system used to detect and adjust the gain margin after the series connection, and the first output value refers to the output value corresponding to the system after the distributed energy storage system inputs the first preset input value, and then obtains the first open-loop gain according to the ratio of the first preset input value to the first output value, and obtains the compensated gain margin according to the first open-loop gain, and gradually increases the gain of the hysteresis compensator until the compensated gain margin of the distributed energy storage system is greater than the preset gain margin. By obtaining the compensated first open-loop gain, the gain margin of the system can be accurately evaluated, so as to make targeted adjustments to ensure that the system operates within a reasonable gain range, reduce oscillation, and prevent resonance. The gain of the large lag compensator ensures that the gain margin after compensation is always greater than the preset value, which provides a guarantee for the stable operation of the distributed energy storage system. Similarly, when the phase margin is not greater than the preset phase margin threshold, the phase compensator is obtained, and the phase compensator is connected in series with the distributed energy storage system to obtain the second preset input value and the second output value of the distributed energy storage system after the series connection, and the second open-loop gain is obtained according to the ratio of the second preset input value and the second output value, and the compensated phase margin is obtained according to the second open-loop gain. By gradually increasing the gain of the phase compensator until the compensated phase margin of the distributed energy storage system is greater than the preset phase margin threshold, by increasing the phase margin, the stability of the energy storage system in the face of disturbances and changes is significantly improved, and the risk of resonance caused by improper gain setting is reduced. When the phase margin is not greater than the preset phase margin threshold, obtaining the second open-loop gain after series connection can help accurately evaluate and adjust the performance of the distributed energy storage system, ensure that the gain setting is reasonable, and the phase compensator can improve the dynamic response of the system, make it adapt to changes faster, and reduce the possibility of oscillation and resonance. By reasonably setting the gain of the phase compensator, overshoot and oscillation can be effectively reduced.

[0145] The present application also provides a resonance suppression system for distributed energy storage grid-type control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, including:

[0146] A first acquisition module, used to acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain;

[0147] A drawing module, used for obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram;

[0148] A second acquisition module, configured to acquire a stable integral gain value according to the initial integral gain, and acquire a stable differential gain value according to the initial differential gain;

[0149] An adjustment module, used to adjust each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and obtain a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve;

[0150] A third acquisition module, used to acquire a gain margin according to the amplitude-frequency characteristic curve, acquire a phase margin according to the phase-frequency characteristic curve, and acquire a stability margin according to the gain margin and the phase margin;

[0151] A judging module, used to judge whether the stability margin is greater than a preset stability margin threshold;

[0152] If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time;

[0153] If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold;

[0154] If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

[0155] In one embodiment, the drawing module includes:

[0156] An acquisition unit, used for acquiring a preset proportional increase;

[0157] An increasing unit, configured to increase the initial proportional gain by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors;

[0158] A monitoring unit, used to adjust the proportional parameters of the controller in the sub-energy storage system to each of the value-added proportional gain factors in turn, and to monitor and obtain the response value output by the sub-energy storage system in a first preset time period in real time to obtain a plurality of value-added response steady-state values;

[0159] An input unit adjusts a proportional parameter of a controller in the sub-energy storage system to an initial proportional gain, and obtains a response value output by the sub-energy storage system to obtain an initial response steady-state value;

[0160] An establishing unit is used to establish a proportional gain coordinate axis by taking the proportional gain as the X-axis and the response steady-state value as the Y-axis and dividing the distance between two adjacent response steady-state values ​​by the same first preset time period;

[0161] A drawing unit is used to draw the initial proportional gain and the initial response steady-state value as starting points, and each incremental proportional gain factor and the corresponding incremental response steady-state value as connection points on the proportional incremental coordinate axis;

[0162] A connection unit, used to connect the starting point and multiple connection points in sequence through curves to obtain a proportional value-added curve diagram;

[0163] A segmentation unit, configured to segment the proportional value-added curve graph into a plurality of line segments according to the first preset time period;

[0164] A judging unit, used for obtaining an average curvature of each line segment, and judging whether each of the average curvatures is the same as a preset standard curvature;

[0165] If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value;

[0166] If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

[0167] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned resonance suppression method for distributed energy storage grid control are implemented.

[0168] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned resonance suppression method for distributed energy storage grid-type control are implemented.

[0169] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0170] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0171] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A resonance suppression method for distributed energy storage grid control, wherein: Distributed energy storage includes multiple electrically connected sub-energy storage systems, characterized by including: Acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain; Acquire multiple value-added response steady-state values ​​according to the initial proportional gain, draw a proportional value-added curve diagram according to the initial proportional gain and the multiple value-added response steady-state values, and acquire a stable proportional gain value according to the proportional value-added curve diagram; Acquire a stable integral gain value according to the initial integral gain, and acquire a stable differential gain value according to the initial differential gain; Adjusting each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and acquiring a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve; Acquire a gain margin according to the amplitude-frequency characteristic curve, acquire a phase margin according to the phase-frequency characteristic curve, and acquire a stability margin according to the gain margin and the phase margin; Determining whether the stability margin is greater than a preset stability margin threshold; If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time; If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold; If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

2. The resonance suppression method for distributed energy storage grid control according to claim 1 is characterized in that: The step of obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram comprises: Get the preset value-added ratio; The initial proportional gain is increased by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors; The proportional parameters of the controller in the sub-energy storage system are adjusted to each of the value-added proportional gain factors in turn, and the response value output by the sub-energy storage system in the first preset time period is monitored and acquired in real time to obtain a plurality of value-added response steady-state values; The proportional parameter of the controller in the sub-energy storage system is adjusted to the initial proportional gain, and the response value of the sub-energy storage system output is obtained to obtain the initial response steady-state value; The proportional gain is used as the X-axis, the response steady-state value is used as the Y-axis, and the distance between two adjacent response steady-state values ​​is divided by the same first preset time period to establish a proportional value-added coordinate axis; Taking the initial proportional gain and the initial response steady-state value as the starting point, each incremental proportional gain factor and the corresponding incremental response steady-state value are plotted on the proportional incremental coordinate axis as the connection point; Connect the starting point and multiple connection points in sequence through curves to obtain a proportional value-added curve graph; dividing the proportional value-added curve graph into a plurality of line segments according to the first preset time period; Obtaining the average curvature of each line segment, and determining whether each of the average curvatures is the same as a preset standard curvature; If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value; If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

3. The resonance suppression method for distributed energy storage grid control according to claim 1, characterized in that: The step of obtaining a stable integral gain value according to the initial integral gain comprises: Obtaining a stable proportional gain value, adjusting a proportional parameter of a controller in the sub-energy storage system to the stable proportional gain value, and obtaining a first steady-state output value; Acquire a first integral gain factor according to the first steady-state output value; Acquire multiple value-added integral gain factors according to the initial integral gain, and extract the value-added integral gain factor greater than the first integral gain factor from the multiple value-added integral gain factors to obtain the input value-added integral gain factor; The integral parameter of the controller in the sub-energy storage system is adjusted in turn to each of the input value-added integral gain factors to obtain a plurality of steady-state output values; A preset steady-state setting value is obtained, and a stable integral gain value is calculated according to the steady-state setting value, a stable proportional gain value, and a plurality of steady-state output values, wherein the calculation formula is: Where W(J) represents the stable integral gain value, Y(W) represents the preset steady-state setting value, W(B) represents the stable proportional gain value, and W(S) represents the stable proportional gain value. i It represents the i-th steady-state output value, i represents the sequence number of the steady-state output value, and n represents the number of the steady-state output value.

4. The resonance suppression method for distributed energy storage grid control according to claim 1, characterized in that: The step of obtaining a stable differential gain value according to the initial differential gain comprises: Obtain stable integral gain value and stable proportional gain value; Acquire a plurality of incremental differential gain factors according to the initial differential gain; The integral parameter, proportional parameter and differential parameter of the controller in the sub-energy storage system are adjusted to a stable integral gain value, a stable proportional gain value and each value-added differential gain factor in sequence, and multiple value-added output signal curves of the sub-energy storage system within a second preset time period are acquired by real-time monitoring; Acquire multiple peak values ​​and valley values ​​of each of the value-added output signal curves, and acquire the oscillation amplitude of each of the value-added output signal curves according to the second preset time period, the multiple peak values ​​and valley values; The value-added differential gain factor corresponding to the value-added output signal curve with the smallest oscillation amplitude among the multiple value-added output signal curves is selected as the stable differential gain value.

5. The resonance suppression method for distributed energy storage grid control according to claim 1, characterized in that: The step of obtaining the gain margin according to the amplitude-frequency characteristic curve, obtaining the phase margin according to the phase-frequency characteristic curve, and obtaining the stability margin according to the gain margin and the phase margin comprises: Acquire the amplitude-frequency crossover frequency according to the amplitude-frequency characteristic curve; Acquire an amplitude-frequency gain value according to the amplitude-frequency crossover frequency and the amplitude-frequency characteristic curve, and acquire a gain margin according to the amplitude-frequency gain value; Acquire a phase crossover frequency according to the phase-frequency characteristic curve; Acquire a phase value according to the phase crossover frequency and the phase-frequency characteristic curve, and acquire a phase margin according to the phase value; The stability margin is obtained according to the sum of the gain margin and the phase margin.

6. The resonance suppression method for distributed energy storage grid control according to claim 1, characterized in that: If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold, the step includes: When the phase margin is greater than a preset phase margin threshold, obtaining a lag compensator; Connecting the hysteresis compensator in series with the distributed energy storage system, and obtaining a first preset input value and a corresponding first output value of the distributed energy storage system after the series connection; Obtaining a first open-loop gain according to a ratio of the first preset input value to the first output value, and obtaining a compensated gain margin according to the first open-loop gain; gradually increasing the gain of the hysteresis compensator until the compensated gain margin of the distributed energy storage system is greater than a preset gain margin; When the phase margin is not greater than a preset phase margin threshold, obtaining a phase compensator; Connecting the phase compensator in series with the distributed energy storage system, and obtaining a second preset input value and a corresponding second output value of the distributed energy storage system after the series connection; Obtaining a second open-loop gain according to a ratio of the second preset input value to the second output value, and obtaining a compensated phase margin according to the second open-loop gain; The gain of the phase compensator is gradually increased until the compensated phase margin of the distributed energy storage system is greater than a preset phase margin threshold.

7. A resonance suppression system for distributed energy storage grid control, wherein: Distributed energy storage includes multiple electrically connected sub-energy storage systems, characterized by including: A first acquisition module, used to acquire initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes an initial proportional gain, an initial integral gain, and an initial differential gain; A drawing module, used for obtaining a plurality of value-added response steady-state values ​​according to the initial proportional gain, drawing a proportional value-added curve diagram according to the initial proportional gain and the plurality of value-added response steady-state values, and obtaining a stable proportional gain value according to the proportional value-added curve diagram; A second acquisition module, configured to acquire a stable integral gain value according to the initial integral gain, and acquire a stable differential gain value according to the initial differential gain; An adjustment module, used to adjust each sub-energy storage system according to the stable differential gain value, the stable integral gain value and the stable proportional gain value, and obtain a response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve; A third acquisition module, used to acquire a gain margin according to the amplitude-frequency characteristic curve, acquire a phase margin according to the phase-frequency characteristic curve, and acquire a stability margin according to the gain margin and the phase margin; A judging module, used to judge whether the stability margin is greater than a preset stability margin threshold; If the stability margin is greater than the preset stability margin threshold, it is determined that the distributed energy storage system has a high stability at this time; If the stability margin is not greater than the preset stability margin threshold, determining whether the phase margin is greater than the preset phase margin threshold; If the phase margin is greater than a preset phase margin threshold, a lag compensator is introduced to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, a phase compensator is introduced to adjust the phase margin so that the stability margin is greater than the preset stability margin threshold.

8. The resonance suppression system for distributed energy storage grid control according to claim 7 is characterized in that: The drawing module comprises: An acquisition unit, used for acquiring a preset proportional increase; An increasing unit, configured to increase the initial proportional gain by a preset number of times in sequence according to the preset proportional increment to obtain a plurality of increment proportional gain factors; A monitoring unit, used to adjust the proportional parameters of the controller in the sub-energy storage system to each of the value-added proportional gain factors in turn, and to monitor and obtain the response value output by the sub-energy storage system in a first preset time period in real time to obtain a plurality of value-added response steady-state values; An input unit adjusts a proportional parameter of a controller in the sub-energy storage system to an initial proportional gain, and obtains a response value output by the sub-energy storage system to obtain an initial response steady-state value; An establishing unit is used to establish a proportional gain coordinate axis by taking the proportional gain as the X-axis and the response steady-state value as the Y-axis and dividing the distance between two adjacent response steady-state values ​​by the same first preset time period; A drawing unit is used to draw the initial proportional gain and the initial response steady-state value as starting points, and each incremental proportional gain factor and the corresponding incremental response steady-state value as connection points on the proportional incremental coordinate axis; A connection unit, used to connect the starting point and multiple connection points in sequence through curves to obtain a proportional value-added curve diagram; A segmentation unit, configured to segment the proportional value-added curve graph into a plurality of line segments according to the first preset time period; A judging unit, used for obtaining an average curvature of each line segment, and judging whether each of the average curvatures is the same as a preset standard curvature; If all the average curvatures are different from the preset standard curvature, the value-added response steady-state value corresponding to the average curvature closest to the preset standard curvature is selected as the stable proportional gain value; If only one of the average curvatures is the same as the preset standard curvature, the value-added response steady-state value corresponding to the average curvature is determined to be a stable proportional gain value.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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