Resonance suppression method, system and device for distributed energy storage network configuration type control

Abstract

The present application relates to the technical field of resonance suppression, and particularly relates to a resonance suppression method, system and equipment for distributed energy storage network construction control. By acquiring stable integral gain and stable differential gain, it can ensure that the PID controller is more agile in the control process, optimize the dynamic performance of the system, and appropriate stable integral gain helps to eliminate steady-state error. By acquiring the response characteristic curve in real time, it helps to dynamically adjust the gain, quickly respond 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 energy storage system, thereby effectively improving the performance of the PID control and reducing the risk of resonance. By judging the stability margin, the stability of the energy storage system can be evaluated in real time, potential problems can be found 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 to solve the resonance problem in the energy storage system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of resonance suppression, and in particular to a resonance suppression method, system and device for distributed energy storage network-type control. BACKGROUND

[0002] Currently, wind power and photovoltaic power generation have become the second largest installed capacity power source in China, and their access proportion continues to rise. However, the generation capacity of new energy is limited by wind and sunlight changes, resulting in limited regulation capacity, making it difficult to maintain balance between supply and demand power and stability of system voltage and frequency. Therefore, developing large-scale energy storage systems has become a key step in building a new power system. In the new power system, due to the replacement of a large number of synchronous generators by new energy grid-connected units, the trend of low inertia and weak damping is presented. Distributed network-type energy storage has advantages in terms of geographical layout and scale expansion, and network-type energy storage can independently build voltage and frequency and provide inertia support, becoming an important guarantee for stable and reliable operation of the new power system. Distributed network-type energy storage refers to the use of distributed energy storage devices (such as batteries, super capacitors, etc.) to support the stability and reliability of the power grid in the power system.

[0003] With the widespread application of distributed new energy, network-type control strategies are widely used in power electronic devices to simulate the behavior of synchronous generators, such as proportional-integral-derivative control method. If the gain is not properly set (for example, high gain), the system may be too sensitive to disturbances, resulting in excessive amplification of feedback signals and causing resonance phenomenon. After the resonance phenomenon occurs, the grid voltage will fluctuate or distort, affecting power quality. SUMMARY

[0004] The main purpose of the present application is to provide a resonance suppression method for distributed energy storage network-type control, which aims to solve the technical problems in the prior art.

[0005] The present application provides a resonance suppression method for distributed energy storage network-type control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, comprising:

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

[0007] Obtaining a plurality of incremental response steady-state values according to the initial proportional gain, drawing a proportional incremental curve according to the initial proportional gain and the plurality of incremental response steady-state values, and obtaining a stable proportional gain value according to the proportional incremental curve;

[0008] Obtaining a stable integral gain value according to the initial integral gain and a stable derivative gain value according to the initial derivative gain;

[0009] 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 the response characteristic curve of the distributed energy storage system in real time, wherein the response characteristic curve comprises an amplitude-frequency characteristic curve and a phase-frequency characteristic curve;

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

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

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

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

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

[0015] As a preferred, the step of obtaining a plurality of incremental response steady-state values according to the initial proportional gain, drawing a proportional increment curve according to the initial proportional gain and the plurality of incremental response steady-state values, and obtaining the stable proportional gain value according to the proportional increment curve, comprises:

[0016] Obtain a preset proportional increment;

[0017] Increase the initial proportional gain by a preset number of times according to the preset proportional increment to obtain a plurality of incremental proportional gain factors;

[0018] Adjust the proportional parameter of the controller in the sub-energy storage system to each of the incremental proportional gain factors in turn, and 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 incremental response steady-state values;

[0019] Adjust the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain, and obtain the response value output by the sub-energy storage system to obtain an initial response steady-state value;

[0020] Take the proportional gain as the X-axis and the response steady-state value as the Y-axis, and divide the distance between adjacent two response steady-state values by the same first preset time period to establish a proportional increment coordinate axis;

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

[0022] Connect the starting point and the plurality of connection points in sequence through a curve to obtain an incremental proportional gain curve;

[0023] According to the first preset time period, the incremental proportional gain curve is divided into a plurality of line segments;

[0024] Obtain the average curvature of each line segment, and determine whether each average curvature is the same as the preset standard curvature;

[0025] If all the average curvatures are different from the preset standard curvature, the incremental 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 incremental response steady-state value corresponding to the average curvature is determined as the stable proportional gain value.

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

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

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

[0030] Obtain a plurality of incremental integral gain factors according to the initial integral gain, and extract an incremental integral gain factor greater than the first integral gain factor from the plurality of incremental integral gain factors to obtain an input incremental integral gain factor;

[0031] Adjust the integral parameter of the controller in the sub-energy storage system to each input incremental integral gain factor in sequence to obtain a plurality of steady-state output values;

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

[0033]

[0034] Wherein, 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, W(S) i represents the i-th steady-state output value, i represents the serial number of the steady-state output value, and n represents the number of steady-state output values.

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

[0036] obtaining a stable integral gain value and a stable proportional gain value;

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

[0038] adjusting the integral parameter, the proportional parameter and the differential parameter of the controller in the sub-energy storage system to the stable integral gain value, the stable proportional gain value and each incremental differential gain factor in turn, and monitoring a plurality of incremental output signal curves of the sub-energy storage system in real time within a second preset time period;

[0039] obtaining a plurality of peak values and valley values of each of the incremental output signal curves, and obtaining an oscillation amplitude of each of the incremental output signal curves according to the second preset time period, the plurality of peak values and the valley values;

[0040] selecting an incremental differential gain factor corresponding to an incremental output signal curve with the smallest oscillation amplitude in the plurality of incremental output signal curves as the stable differential gain value.

[0041] As preferred, the step of 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 comprises:

[0042] obtaining an amplitude-frequency cross frequency according to the amplitude-frequency characteristic curve;

[0043] obtaining an amplitude-frequency gain value according to the amplitude-frequency cross frequency and the amplitude-frequency characteristic curve, and obtaining the gain margin according to the amplitude-frequency gain value;

[0044] obtaining a phase cross frequency according to the phase-frequency characteristic curve;

[0045] obtaining a phase value according to the phase cross frequency and the phase-frequency characteristic curve, and obtaining the phase margin according to the phase value;

[0046] obtaining the stability margin according to the sum of the gain margin and the phase margin.

[0047] As preferred, the step of introducing a lag compensator to adjust the gain margin if the phase margin is greater than a preset phase margin threshold, or introducing a phase compensator to adjust the phase margin if the phase margin is not greater than the preset phase margin threshold, so as to make the stability margin greater than a preset stability margin threshold comprises:

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

[0049] The hysteresis compensator is connected in series with the distributed energy storage system, and a first preset input value and a corresponding first output value of the distributed energy storage system after being connected in series are obtained;

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

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

[0052] The phase compensator is obtained when the phase margin is not greater than a preset phase margin threshold;

[0053] The phase compensator is connected in series with the distributed energy storage system, and a second preset input value and a corresponding second output value of the distributed energy storage system after being connected in series are obtained;

[0054] A second open-loop gain is obtained according to a ratio of the second preset input value and the second output value, and a compensated phase margin is obtained 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 the preset phase margin threshold.

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

[0057] A first obtaining module is configured to obtain 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 is configured to obtain a plurality of incremental response steady-state values according to the initial proportional gain, draw a proportional incremental curve according to the initial proportional gain and the plurality of incremental response steady-state values, and obtain a stable proportional gain value according to the proportional incremental curve;

[0059] A second obtaining module is configured to obtain a stable integral gain value according to the initial integral gain and a stable differential gain value according to the initial differential gain;

[0060] An adjusting module is configured 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] The third acquisition module is configured 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] The judging module is configured 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 stability of the distributed energy storage system is higher at this time.

[0064] If the stability margin is not greater than the preset stability margin threshold, it is judged whether the phase margin is greater than a preset phase margin threshold.

[0065] If the phase margin is greater than the preset phase margin threshold, a lag compensator is introduced to adjust the gain margin, and 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] The acquisition unit is configured to acquire a preset proportional increment.

[0068] The increasing unit is configured to increase the initial proportional gain by the preset proportional increment for a preset number of times to obtain a plurality of incremental proportional gain factors.

[0069] The monitoring unit is configured to adjust the proportional parameter of the controller in the sub-energy storage system to each of the incremental proportional gain factors in turn, and acquire a response value output by the sub-energy storage system in a first preset time period in real time to obtain a plurality of incremental response steady-state values.

[0070] The input unit is configured to adjust the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain, and acquire a response value output by the sub-energy storage system to obtain an initial response steady-state value.

[0071] The establishing unit is configured to take the proportional gain as the X-axis, take the response steady-state value as the Y-axis, and segment the distance between adjacent two response steady-state values with the same first preset time period to establish a proportional increment coordinate axis.

[0072] The drawing unit is configured to take the initial proportional gain and the initial response steady-state value as a starting point, take each incremental proportional gain factor and the corresponding incremental response steady-state value as a connection point, and draw on the proportional increment coordinate axis.

[0073] The connecting unit is configured to connect the starting point and the plurality of connection points in turn through a curve to obtain a proportional increment curve.

[0074] The segmentation unit is configured to segment the proportional increment curve into a plurality of line segments according to the first preset time period.

[0075] a judging unit configured to obtain average curvatures of each line segment and determine whether each of the average curvatures is identical to a preset standard curvature;

[0076] if all the average curvatures are different from the preset standard curvature, selecting a value corresponding to the average curvature closest to the preset standard curvature as the stable proportional gain value;

[0077] if only one of the average curvatures is identical to the preset standard curvature, determining that the value corresponding to the average curvature is the stable proportional gain value.

[0078] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the resonant suppression method for distributed energy storage network control when executing the computer program.

[0079] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the resonant suppression method for distributed energy storage network control when executed by a processor.

[0080] The application has the following beneficial effects: the proportional gain value can be selected stably through the proportional gain value curve, so that the resonant phenomenon can be effectively suppressed, and the overall performance and stability of the sub-energy storage system can be improved; the stable integral gain and stable differential gain can be obtained, so that the response of the PID controller in the control process can be more agile, the dynamic performance of the system can be optimized, the stable integral gain can help eliminate steady-state error, the stable differential gain can reduce overshoot and improve the overall response quality of the system; the response characteristic curve is obtained in real time, which helps dynamically adjust the gain, quickly respond to changes, reduce the risk of resonance, and 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, so that the performance of the PID control can be effectively improved, the risk of the resonant phenomenon can be reduced, and the stability and reliability of the distributed energy storage system can be improved; the changes in the gain margin and the phase margin can be monitored, and early warning can be performed before the resonance occurs, so that the parameters can be adjusted in time to avoid problems; the stability of the distributed energy storage system can be evaluated in real time by judging the stability margin, potential problems can be found in time, and resonance can be avoided; according to the judgment result of the stability margin, the lag compensator or the phase compensator can be selected for adjustment, so that the resonant problem in the distributed energy storage system can be solved more specifically; the stability margin is checked first, and if it does not meet the requirements, the phase margin is checked, which helps maintain the overall stability of the system in the control process and avoid instability caused by excessive adjustment; on the premise of ensuring stability, the gain and the phase margin can be adjusted, so that the response speed and the steady-state performance of the system can be optimized at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0081] Fig. 1 A method flowchart of an embodiment of the present application.

[0082] Fig. 2 A device structure diagram of an embodiment of the present application.

[0083] Fig. 3 A computer device internal structure diagram of an embodiment of the present application.

[0084] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0085] It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0086] As shown in the drawings, the present application provides a resonance suppression method for distributed energy storage network construction control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, comprising: Figs. 1-3 S1, obtaining initial characteristic information of each sub-energy storage system, wherein the initial characteristic information includes initial proportional gain, initial integral gain and initial differential gain;

[0087] S2, obtaining a plurality of incremental response steady-state values according to the initial proportional gain, drawing a proportional incremental curve according to the initial proportional gain and the plurality of incremental response steady-state values, and obtaining a stable proportional gain value according to the proportional incremental curve;

[0088] 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;

[0089] 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 obtaining 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;

[0090] 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;

[0091] S6, judging whether the stability margin is greater than a preset stability margin threshold;

[0092] If the stability margin is greater than the preset stability margin threshold, it is determined that the stability of the distributed energy storage system is high at this time;

[0093]

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

[0095] If the phase margin is greater than the preset phase margin threshold, a lag compensator is introduced to adjust the gain margin, and 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, at present, in the new power system, due to a large number of synchronous generators being replaced by new energy grid-connected units, it presents a trend of low inertia and weak damping, and the distributed network-type energy storage has advantages in terms of geographical layout and scale expansion, and can independently build voltage and frequency and provide inertia support, thus becoming an important guarantee for stable and reliable operation of the new power system. The distributed network-type energy storage refers to the use of distributed energy storage devices (such as batteries, super capacitors, etc.) in the power system to support the stability and reliability of the power grid. With the widespread application of distributed new energy, network-type control strategies are widely used in power electronic devices to simulate the behavior of synchronous generators, such as proportional-integral-derivative control method. If the gain is not properly set (for example, high gain), the system may be too sensitive to disturbances, leading to excessive amplification of feedback signals and causing resonance phenomenon. After the resonance phenomenon occurs, the grid voltage will fluctuate or distort, affecting power quality. The present application obtains the initial proportional gain, the initial integral gain and the initial derivative 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 adjusting the controller output by accumulating (integrating) the error over time at the initial time, and the initial derivative gain refers to adjusting the controller output by calculating the rate of change (derivative) of the error at the initial time. According to the initial proportional gain, a plurality of incremental response steady-state values are obtained, wherein the incremental 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.), a proportional increment curve is drawn according to the initial proportional gain and the plurality of incremental response steady-state values, and a stable proportional gain value is obtained according to the proportional increment curve, wherein the stable proportional gain value refers to the proportional gain value at which the dynamic response of the system remains stable around the set value. The proportional increment curve drawn by the initial proportional gain and the plurality of incremental response steady-state values can intuitively show the influence of the proportional gain on the response of the sub-energy storage system, and by analyzing the curve, the gain range in which resonance occurs can also be effectively identified, thereby providing a basis for adjustment. Through the proportional increment curve, it can be determined which gain values will cause the stability of the system to decrease, and 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 application obtains stable integral gain value according to initial integral gain, obtains stable differential gain value according to initial differential gain, adjusts each sub-energy storage system according to stable differential gain value, stable integral gain value and stable proportional gain value, and obtains response characteristic curve of distributed energy storage system in real time, wherein the response characteristic includes amplitude-frequency characteristic curve and phase-frequency characteristic curve, the amplitude-frequency characteristic curve refers to gain (amplitude) characteristic of the energy storage system under different frequencies, the ability of the distributed energy storage system to amplify or attenuate different frequency signals can be understood by analyzing the amplitude-frequency characteristic curve, so that the stability and response characteristic of the distributed energy storage system can be judged, the phase-frequency characteristic curve refers to the phase characteristic of the energy storage system under different frequencies, the phase delay and phase margin of the distributed energy storage system can be understood by analyzing the phase-frequency characteristic curve, the stable integral gain and the stable differential gain can ensure that the PID controller is more agile in the control process, optimize the dynamic performance of the system, appropriate stable integral gain helps to eliminate steady-state error, and stable differential gain can reduce overshoot and improve the overall response quality of the system, by analyzing the initial gain, identifying and adjusting the settings that may cause resonance, so that the occurrence of resonance phenomenon can be effectively avoided, by obtaining the response characteristic curve in real time, it is helpful to dynamically adjust the gain, quickly respond to changes and reduce the risk of resonance, and the amplitude-frequency characteristic curve and the phase-frequency characteristic curve provide intuitive evaluation of the stability and response speed of the energy storage system, so that the performance of the PID control can be effectively improved, the risk of resonance phenomenon can be reduced, and the stability and reliability of the energy storage system can be improved, the application obtains gain margin according to the amplitude-frequency characteristic curve, obtains phase margin according to the phase-frequency characteristic curve, and obtains stability margin according to the gain margin and the phase margin, wherein the gain margin refers to the amplitude that the gain can be increased under the premise of keeping the energy storage system stable, the phase margin refers to how much margin the phase of the energy storage system has when reaching the critical stable state, and the stability margin usually refers to the comprehensive evaluation of the gain margin and the phase margin, reflecting the overall stability of the energy storage system when facing gain and phase changes, since the gain margin and the phase margin provide quantitative evaluation of the stability of the energy storage system, it is helpful to identify potential resonance risk, 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 the appropriate gain range and avoids resonance phenomenon, and monitoring the changes of the gain margin and the phase margin can also provide early warning before resonance occurs, and the parameters can be adjusted in time to avoid problems.

[0098] The application judges whether the stability margin is greater than the preset stability margin threshold value, if yes, it is determined that the stability of the distributed energy storage system is higher at this time, otherwise, it further judges whether the phase margin is greater than the preset phase margin threshold value, if yes, 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 value, by judging the stability margin, the stability of the distributed energy storage system can be evaluated in real time, potential problems can be found in time, and resonance can be avoided, according to the judgment result of the stability margin, the lag compensator or the phase compensator is selected for adjustment, the resonance problem in the distributed energy storage system can be solved more targetedly, the stability margin is first checked, if not satisfied, the phase margin is checked, this step-by-step optimization mode is helpful to maintain the overall stability of the system in the control process, and instability caused by excessive adjustment can be avoided, under the premise of ensuring stability, the gain and phase margin can be adjusted, and the response speed and steady-state performance of the system can be optimized at the same time.

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

[0100] S21, obtaining a preset proportional gain increment;

[0101] S22, sequentially increasing the initial proportional gain according to the preset proportional gain increment for a preset number of times to obtain a plurality of incremental proportional gain factors;

[0102] S23, sequentially adjusting the proportional parameter of the controller in the sub-energy storage system to each of the incremental proportional gain factors, and monitoring and obtaining the response value output by the sub-energy storage system in a first preset time period in real time to obtain a plurality of incremental 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 an 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 segmenting the distance between adjacent two response steady-state values by the same first preset time period to establish a proportional gain increment coordinate axis;

[0105] S26, taking the initial proportional gain and the initial response steady-state value as a starting point, and taking each incremental proportional gain factor and the corresponding incremental response steady-state value as a connection point to draw on the proportional gain increment coordinate axis;

[0106] S27, sequentially connecting the starting point and the plurality of connection points by a curve to obtain a proportional gain increment curve;

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

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

[0109] If all the average curvatures are different from the preset standard curvature, selecting an average curvature corresponding to a gain response steady state value closest to the preset standard curvature as the stable proportional gain value.

[0110] If only one average curvature is identical to the preset standard curvature, determining that the average curvature corresponding to the gain response steady state value is the stable proportional gain value.

[0111] As described in steps S21-S29, the application obtains multiple incremental proportional gain factors by sequentially increasing the initial proportional gain according to a preset proportional increment multiple times, and by gradually increasing the proportional gain, the influence of each gain setting on the stability of the energy storage system can be systematically evaluated, avoiding instability caused by one-time adjustment. The proportional parameter of the controller in the sub-energy storage system is sequentially adjusted to each of the incremental proportional gain factors, and the response values output in the sub-energy storage system within a first preset time period are monitored and obtained to obtain multiple incremental response steady-state values. The incremental 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. By monitoring the output response in real time, unsuitable gain settings can be quickly found, ensuring that the system can be adjusted in time, reducing the risk of resonance. By obtaining multiple incremental response steady-state values, rich data support can be provided to help more accurately identify the optimal gain. Moreover, more detailed gain settings can improve the response accuracy of the system, reduce overshoot and steady-state error. By adjusting the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain to obtain an initial response steady-state value, and taking the proportional gain as the X-axis and the response steady-state value as the Y-axis, the distance between adjacent two response steady-state values is divided by the same first preset time period to establish a proportional increment coordinate axis. The initial proportional gain and the initial response steady-state value are taken as the starting point, and each incremental proportional gain factor and the corresponding incremental response steady-state value are taken as the connection point to draw on the proportional increment coordinate axis. Then, the starting point and multiple connection points are sequentially connected by a curve to obtain a proportional increment curve. Since the proportional increment curve can directly show the relationship between the proportional gain and the response steady-state value, by observing the change of the curve, the influence of the gain setting on the system stability can be judged, and the gain range that may cause resonance can be identified to avoid resonance phenomenon caused by improper setting. According to the first preset time period, the proportional increment curve is divided into multiple line segments, and the average curvature of each line segment is obtained. Then, it is judged whether each average curvature is the same as the preset standard curvature. If all average curvatures are different from the preset standard curvature, the incremental 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 incremental response steady-state value corresponding to the average curvature is determined as the stable proportional gain value. Since the average curvature reflects the response rate of the energy storage system, it can more accurately evaluate the system stability and identify unsuitable gain settings. By selecting the gain corresponding to the average curvature closest to the preset standard curvature, the proportional gain can be scientifically optimized to reduce the risk of resonance. Selecting the most suitable 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 obtaining a stable integral gain value according to the initial integral gain comprises:

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

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

[0115] S33, obtain a plurality of incremental integral gain factors according to the initial integral gain, and extract an incremental integral gain factor greater than the first integral gain factor from the plurality of incremental integral gain factors to obtain an input incremental integral gain factor;

[0116] S34, adjust an integral parameter of the controller in the sub-energy storage system to each of the input incremental integral gain factors in sequence, and obtain a plurality of steady-state output values;

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

[0118]

[0119] wherein 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, W(S) i represents the i-th steady-state output value, i represents the serial number of the steady-state output value, and n represents the number of the steady-state output values.

[0120] As described in steps S31-S35, the application obtains a stable proportional gain value, adjusts the proportional parameter of the controller in the sub-energy storage system to the stable proportional gain value to obtain a first steady-state output value, obtains a first integral gain factor according to the first steady-state output value, obtains a plurality of incremental integral gain factors according to the initial integral gain, adjusts the integral gain more systematically by obtaining the plurality of incremental integral gain factors, thereby reducing the disturbance to the sub-energy storage system and avoiding the occurrence of resonance, selects an incremental integral gain factor greater than the first integral gain factor from the plurality of incremental integral gain factors to obtain an input incremental integral gain factor, selects the incremental integral gain greater than the first integral gain factor, which not only helps to prevent control instability caused by excessive adjustment, thereby more effectively preventing resonance, but also quickly adapts to system requirements and improves the dynamic response characteristics of the system, and adjusts the integral parameter of the controller in the sub-energy storage system to each of the input incremental integral gain factors in turn to obtain a plurality of steady-state output values. By obtaining a preset steady-state setting value and calculating a stable integral gain value according to the steady-state setting value, the stable proportional gain value, and the plurality of steady-state output values, the steady-state performance of the sub-energy storage system can be more accurately evaluated by inputting and comparing the steady-state output values multiple times, and it is ensured that the selected gain value can effectively eliminate resonance. When calculating the stable integral gain value, the steady-state setting value and the output value are considered comprehensively, which helps to reduce the overshoot phenomenon and steady-state error of the sub-energy storage system, improves the control accuracy, and effectively suppresses the resonance phenomenon caused by improper gain setting.

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

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

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

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

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

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

[0127] As described in steps S36-S310 above, the present application obtains stable integral gain value and stable proportional gain value, obtains multiple incremental differential gain factors according to initial differential gain, and then adjusts the integral parameter, proportional parameter and differential parameter of the controller in the sub energy storage system to stable integral gain value, stable proportional gain value and each incremental differential gain factor in turn, and monitors the multiple incremental output signal curves of the sub energy storage system in the second preset time period in real time. By obtaining the incremental differential gain factor and monitoring the incremental output signal curve, the abnormality of system behavior can be found in time through real-time monitoring of the output signal curve, the gain setting is adjusted quickly to prevent resonance phenomenon, and the stable integral, proportional and differential gain setting helps to comprehensively optimize the control strategy and improve the stability of 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. Through analysis of the incremental output signal curve, the system performance and the rationality of the gain setting can be more scientifically evaluated, the stability of the PID control method in the energy storage system is effectively enhanced, and the resonance risk is reduced. The multiple peak values and valley values of each incremental output signal curve are obtained, and the oscillation amplitude of each incremental output signal curve is obtained according to the second preset time period, the multiple peak values and valley values. The calculation formula of the oscillation amplitude of the incremental output signal curve according to the second preset time period, the multiple peak values and valley values is: Wherein, Z(D) represents the oscillation amplitude, T represents the second preset time period, F(Z) e represents the e th peak value, G(Z) e represents the e th valley value, e represents the serial number of the valley value, and m represents the number of valley values. The incremental differential gain factor corresponding to the incremental output signal curve with the minimum oscillation amplitude in the multiple incremental output signal curves is selected as the stable differential gain value. By selecting the output signal curve with the minimum 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 excessive reaction. The differential gain corresponding to the minimum oscillation amplitude helps to improve the control accuracy of the system, reduce steady state error, and reduce the resonance risk.

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

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

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

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

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

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

[0134] As described in steps S51-S55, the amplitude-frequency cross-over frequency is obtained according to the amplitude-frequency characteristic curve, wherein the amplitude-frequency cross-over frequency refers to a frequency at which the amplitude-frequency characteristic curve crosses the 0dB (unit gain) line, the amplitude-frequency gain value is obtained according to the amplitude-frequency cross-over frequency and the amplitude-frequency characteristic curve, and the gain margin is obtained according to the amplitude-frequency gain value, wherein the calculation formula is: Wherein, Z(Y) represents the gain margin, F(Y) represents the amplitude-frequency gain value, by obtaining the amplitude-frequency cross frequency, the dynamic response characteristics of the energy storage system can be clearly understood, thereby providing a basis for gain adjustment, reducing the risk of resonance, since the gain margin is an important indicator of the stability of the control system, it can reflect the tolerance of the system to gain changes, ensure stable operation without resonance, according to the amplitude-frequency gain value and the gain margin, the PID parameters can be accurately adjusted to ensure that the gain is set within a safe range, reduce resonance phenomena caused by improper setting, reasonable gain setting can improve the dynamic response characteristics of the system, enhance the adaptability of the system to disturbances, reduce the risk of resonance caused by improper gain setting, according to the phase-frequency characteristic curve, the phase cross frequency is obtained, wherein the phase cross frequency refers to the frequency at which the phase is-180° on the phase-frequency characteristic curve, according to the phase cross frequency and the phase-frequency characteristic curve, the phase value is obtained, and according to the value, the phase margin is obtained, wherein the calculation formula is: X(Y)=180°+X(Z), wherein X(Y) represents the phase margin, X(Z) represents the phase value, by obtaining the phase cross frequency, it can be determined that the energy storage system will be unstable at which frequency, helping to identify potential resonance risks, since the phase margin is an important indicator of system stability, a higher phase margin means that the system has 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, reducing resonance caused by improper gain setting, appropriate phase margin can effectively reduce overshoot and oscillation, ensuring the smoothness of the system near the steady state, reducing the risk of resonance, the sum of the gain margin and the phase margin is the stability margin, by adding the gain margin and the phase margin, a more comprehensive stability indicator-stability margin can be obtained, thereby reflecting the comprehensive sensitivity of the energy storage system to gain and phase changes, facilitating the identification of potential resonance risks, the stability margin provides a basis for adjusting the PID control parameters, allowing for more reasonable selection of gain and phase, ensuring that the system operates within an appropriate range, which can effectively reduce overshoot and oscillation, ensuring smooth operation of the system and further reducing resonance phenomena.

[0135] In one embodiment, if the phase margin is greater than the preset phase margin threshold, a lag compensator is introduced to adjust the gain margin, and 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 in step S6, comprising:

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

[0137] S62, the lag compensator is connected in series with the distributed energy storage system, and the first preset input value and the corresponding first output value of the distributed energy storage system after series connection are obtained;

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

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

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

[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 being connected in series;

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

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

[0144] As described in steps S61-S68, when the phase margin is greater than the preset phase margin threshold, the application obtains a lag compensator, connects the lag compensator with the distributed energy storage system in series, and improves the gain margin of the system through the lag compensator, so that the distributed energy storage system is more stable when facing dynamic changes, thereby reducing the risk of resonance caused by improper gain setting. The first preset input value and the first output value of the distributed energy storage system after being connected in series are obtained, wherein the first preset input value refers to the preset input value of the distributed energy storage system after being connected in series for detecting and adjusting the gain margin, and the first output value refers to the output value of the system after the distributed energy storage system inputs the first preset input value. The first open-loop gain is obtained according to the ratio of the first preset input value and the first output value, and the compensated gain margin is obtained according to the first open-loop gain. By gradually increasing the gain of the lag compensator, the compensated gain margin of the distributed energy storage system is greater than the preset gain margin. By obtaining the first open-loop gain after compensation, the gain margin of the system can be accurately evaluated, so that targeted adjustment can be made to ensure that the system operates within a reasonable gain range, reduce oscillation, and prevent resonance. By gradually increasing the gain of the lag compensator, it is ensured that the compensated gain margin 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, a phase compensator is obtained, and the phase compensator is connected with the distributed energy storage system in series. The second preset input value and the second output value of the distributed energy storage system after being connected in series are obtained. 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, 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 when facing 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, the second open-loop gain after being connected in series can help accurately evaluate and adjust the performance of the distributed energy storage system, ensure that the gain is set reasonably, and the phase compensator can improve the dynamic response of the system, so that it can 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 application also provides a resonance suppression system for distributed energy storage network construction type control, wherein the distributed energy storage includes a plurality of electrically connected sub-energy storage systems, comprising:

[0146] The first obtaining module is configured to obtain 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, configured to acquire a plurality of incremental response steady-state values according to the initial proportional gain, draw a proportional gain increment curve according to the initial proportional gain and the plurality of incremental response steady-state values, and acquire a stable proportional gain value according to the proportional gain increment curve;

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

[0149] an adjustment module, configured to adjust each sub-energy storage system according to the stable derivative gain value, the stable integral gain value and the stable proportional gain value, and acquire 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, configured 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 judgment module, configured 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 stability of the distributed energy storage system is high at this time;

[0153] if the stability margin is not greater than the preset stability margin threshold, it is judged whether the phase margin is greater than a preset phase margin threshold;

[0154] if the phase margin is greater than the preset phase margin threshold, a lag compensator is introduced to adjust the gain margin, and 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 comprises:

[0156] an acquisition unit, configured to acquire a preset proportional gain increment;

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

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

[0159] an input unit, configured to adjust a proportional parameter of a controller in a sub-energy storage system to an initial proportional gain, and acquire a response value output by the sub-energy storage system, to obtain an initial response steady-state value.

[0160] A establishing unit is configured to establish a proportional gain value coordinate axis by taking proportional gain as an X axis, taking a response steady state value as a Y axis, and dividing a distance between two adjacent response steady state values by a same first preset time period;

[0161] A drawing unit is configured to draw an initial proportional gain and an initial response steady state value as a starting point, and draw each proportional gain value factor and a corresponding response steady state value as a connecting point on the proportional gain value coordinate axis;

[0162] A connecting unit is configured to connect the starting point and the multiple connecting points in sequence through a curve to obtain a proportional gain value curve diagram;

[0163] A dividing unit is configured to divide the proportional gain value curve diagram into multiple line segments according to the first preset time period;

[0164] A judging unit is configured to obtain an average curvature of each line segment, and judge whether each average curvature is the same as a preset standard curvature;

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

[0166] If only one average curvature is the same as the preset standard curvature, an incremental response steady state value corresponding to the average curvature is determined as the stable proportional gain value.

[0167] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the resonant suppression method for distributed energy storage network control when executing the computer program.

[0168] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the resonant suppression method for distributed energy storage network control when executed by a processor.

[0169] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, storage, databases, or other media in this application and in examples provided herein, unless specifically stated otherwise, can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many 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 document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, device, article, or method that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, device, article, or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, device, article, or method that includes the element.

[0171] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, based on the content of the present application specification and drawings, is also included in the patent protection scope of the present application.

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: Acquiring 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; 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; 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 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, characterized in that: The steps 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 include: Get the preset ratio of value added; Increasing the initial proportional gain by a preset number of times according to the preset proportional increment to obtain a plurality of incremental proportional gain factors; adjusting the proportional parameters of the controller in the sub-energy storage system to each of the value-added proportional gain factors in sequence, and monitoring and acquiring the response value output by the sub-energy storage system within a first preset time period in real time to obtain a plurality of value-added response steady-state values; Adjusting the proportional parameter of the controller in the sub-energy storage system to the initial proportional gain, and obtaining the response value of the sub-energy storage system output 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 an average curvature of each line segment, and determining whether each average curvature 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; Obtaining 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 a 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; adjusting the integral parameter of the controller in the sub-energy storage system in sequence to obtain a plurality of steady-state output values ​​by adjusting each of the input value-added integral gain factors; Obtain a preset steady-state set value, and calculate a stable integral gain value based on the steady-state set value, a stable proportional gain value, and multiple 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 integral gain value. i 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 steady-state output values.

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; Obtaining a plurality of incremental differential gain factors according to the initial differential gain; 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; Acquire multiple peak values ​​and valley values ​​of each value-added output signal curve, and acquire an oscillation amplitude of each value-added output signal curve 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 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 comprises: Obtaining an amplitude-frequency crossover frequency according to the amplitude-frequency characteristic curve; 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; Obtaining a phase crossover frequency according to the phase-frequency characteristic curve; 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; A 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, introducing a lag compensator to adjust the gain margin; if the phase margin is not greater than the preset phase margin threshold, introducing a phase compensator 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 is configured 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, configured to obtain a plurality of 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 plurality of value-added response steady-state values, and obtain 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, configured 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, configured 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, configured 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 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, characterized in that: The drawing module includes: An acquisition unit, used to obtain a preset proportional value 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, configured to sequentially adjust a proportional parameter of a controller in the sub-energy storage system to each of the value-added proportional gain factors, and to monitor and acquire in real time a response value output by the sub-energy storage system within a first preset time period, thereby obtaining 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 configured 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 graph; 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, configured to obtain an average curvature of each line segment and judge whether each average curvature 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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