Rotating speed regulation compound control method and system for variable-speed pumped storage unit in power master control mode

Abstract

The invention relates to a rotating speed regulation compound control method and system for a variable-speed pumped storage unit in a power master control mode. The method comprises the following steps: acquiring a rotating speed instruction, a power instruction change signal and an actual unit rotating speed change signal to a compound controller for processing; the composite controller comprises a power disturbance compensation feedforward controller, a rotation speed input compensation feedforward controller and a unit rotation speed PID feedback controller. In the process of processing the input signal, a genetic algorithm is used for optimizing and setting a composite adjustment coefficient in the composite controller, and a control signal is output in a coordinated manner; and the control signal is input to a guide vane servo module in the hydraulic speed regulation system, and the output of the water turbine module is regulated. The method can compensate power and rotating speed instruction signal changes in the load increasing and decreasing process of the variable-speed pumped storage unit in advance, guarantees the rotating speed adjustment stability and accuracy of the unit, quickly responds to input and disturbance changes, improves the dynamic response speed, reduces torque unbalance impact, and inhibits large fluctuation of the rotating speed.

Description

Technical Field

[0001] The present invention relates to the technical field of pumped storage unit control, and in particular to a speed regulation composite control method and system for a variable speed pumped storage unit in a power master control mode. Background Art

[0002] Driven by the "dual carbon" strategy, the integration of large-scale renewable energy into future power systems places higher demands on grid stability. Pumped storage offers one of the best solutions to effectively mitigate this challenge. Compared to fixed-speed pumped storage technology using synchronous motors, variable-speed pumped storage units can adjust the speed and power of the unit through a speed governor and excitation system. These units offer advantages such as fast regulation, high operational efficiency, and control flexibility, making them suitable for pumped storage power plants that require rapid support for grid stability.

[0003] To meet the grid's rapid frequency regulation requirements, most existing variable-speed pumped-storage units operate in a power-master control mode. This means that a coordinated controller outputs a power command to the rotor-side converter excitation system based on water head and grid frequency regulation requirements to control unit power, and outputs a speed command to the turbine speed control system for stable speed control. However, the excitation system's regulation speed is much faster than that of the turbine speed control system. Therefore, at the moment the regulation command is received, the imbalance between the excitation torque on the shaft and the turbine input torque not only impacts the shaft's mechanical structure but also causes significant fluctuations in the unit's speed, potentially exceeding the unit's steady-state operating range. The traditional speed regulation system uses a PID controller for speed feedback regulation. The controller takes action only after detecting a large change in speed. The regulation speed is slow and the robustness is poor. Some new control methods such as sliding mode control and model predictive control have also begun to be applied to the control system of variable-speed pumped storage. However, these methods are complex in calculation and design, and difficult to promote in industry. In addition, some researchers have added control strategies such as speed pullback control and multi-gear control to the excitation control system to suppress large fluctuations in the unit speed, but at the same time sacrificed the response speed of the power regulation of the variable-speed pumped storage unit. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a composite control method and system for speed regulation in the power master control mode of a variable-speed pumped storage unit, which is used to accelerate the adjustment speed of the speed regulation system while quickly adjusting the power of the unit, suppress large speed fluctuations of the unit, and optimize the stable operation of the unit: the feedforward controller for power instruction disturbance compensation detects the change of the power instruction signal and outputs a power disturbance compensation signal, the feedforward controller for speed instruction input compensation detects the change of the speed instruction signal and outputs a speed disturbance compensation signal, and the unit speed PID controller detects the deviation between the unit speed and the given speed instruction in real time and adjusts the output to stabilize the unit at the target speed, thereby realizing precise adjustment of the speed; in the process of processing the signal, the power disturbance compensation coefficient K of the power disturbance compensation feedforward controller is adjusted by using a genetic algorithm. ΔP , the speed input compensation coefficient K of the speed input compensation feedforward controller Δω and the proportional adjustment coefficient K of the PID controller p , integral adjustment coefficient K i and differential adjustment coefficient K d Perform optimization tuning to coordinate the output of the composite controller to achieve the best control effect.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A composite control method for speed regulation in a power master control mode of a variable-speed pumped storage unit comprises:

[0007] Obtaining the speed command, power command change signal and actual unit speed change signal to a composite controller for processing; the composite controller includes: a power disturbance compensation feedforward controller, a speed input compensation feedforward controller and a unit speed PID feedback controller;

[0008] In the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite adjustment coefficient in the composite controller to coordinate the output control signal;

[0009] The control signal is input into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

[0010] Optionally, the control signal processed by the composite controller after obtaining the changes in the power command and the speed command includes:

[0011] When the power disturbance compensation feedforward controller detects a change in the unit power command, it outputs a first power disturbance compensation control signal; when the speed input compensation feedforward controller detects a change in the unit speed command, it outputs a second speed disturbance compensation control signal; when the unit speed PID feedback controller detects a deviation between the unit speed and a given speed command, it outputs a third power feedback control signal.

[0012] Optionally, the relationship between the control signal and the power instruction includes:

[0013] The relationship between the first power disturbance compensation control signal and the change in the unit power command is:

[0014]

[0015] Among them, u1(s) is the first power disturbance compensation control signal, K ΔP is the power disturbance compensation coefficient, T1 is the time constant of the leading link, T2 is the time constant of the lagging link, K Δω is the speed input compensation coefficient, ΔP ref is the unit power command change, s is a complex variable;

[0016] The relationship between the second speed disturbance compensation control signal and the change in the unit speed command is:

[0017] u2(s)=K Δω Δω ref

[0018] Wherein, u2(s) is the second speed disturbance compensation control signal, Δω ref is the speed command change, K Δω Enter the compensation factor for the speed;

[0019] The relationship between the third power feedback control signal and the deviation between the unit speed and the given speed command is:

[0020]

[0021] Among them, u3(s) is the third power feedback control signal, K p is the proportional adjustment coefficient, K i is the integral adjustment coefficient, K d is the differential adjustment coefficient, Δ(ω ref -ω) is the deviation between the actual speed and the given speed command.

[0022] Optionally, adjusting the output of the turbine module includes:

[0023] The control signal is subjected to output saturation limiting and rate limiting processing, and the processed control signal is input into the guide vane servo module to adjust the output of the turbine module.

[0024] Optionally, the composite adjustment coefficient includes: a power disturbance compensation coefficient, a speed input compensation coefficient, a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient.

[0025] Optionally, optimizing and adjusting the composite adjustment coefficient in the composite controller by using the genetic algorithm includes:

[0026] Step S1: Modeling the hydraulic speed control system, determining the parameter range of the composite adjustment coefficient, and binary encoding the composite control parameters to form individuals and initialize the population;

[0027] Step S2: operating the population through selection, crossover and mutation algorithms to generate offspring populations, and evaluating individuals in the offspring populations according to the objective function;

[0028] Step S3: If the objective function value of the offspring population individual meets the termination condition, the optimal performance individual is output, and the optimal performance individual is the optimal control parameter of the composite adjustment coefficient; if the objective function value of the offspring population individual does not meet the termination condition, step S2 is repeated until the termination condition is met or the preset evolutionary generation is reached;

[0029] The termination condition is that the objective function value of the individuals in the offspring population is the smallest.

[0030] Optionally, the hydraulic speed control system includes: a speed governor module, a guide vane servo module and a turbine module.

[0031] Optionally, the objective function includes:

[0032]

[0033] Wherein, e(t) is the error between the actual speed and the target speed of the unit, u(t) is the output of the controller, τ is the rise time, eω(t) is the difference between the speed of the unit at the previous moment and the speed at the next moment; δ1, δ2, δ3, δ4 are the weights corresponding to e(t), u(t), τ, eω(t), respectively, Δω ref The speed command changes.

[0034] To achieve the above objectives, the present invention provides a speed regulation composite control system for a variable-speed pumped storage unit in a power master control mode, comprising:

[0035] A signal processing unit is used to obtain the speed command, power command change signal and actual unit speed change signal and send them to the composite controller for processing; the composite controller includes: a power disturbance compensation feedforward controller, a speed input compensation feedforward controller and a unit speed PID feedback controller;

[0036] In the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite adjustment coefficient in the composite controller to coordinate the output control signal;

[0037] The signal execution unit is used to input the control signal into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

[0038] The beneficial effects of the present invention are:

[0039] (1) Compared with the traditional unit's speed PID regulator, which starts to adjust the controller output only after detecting the speed change, the present invention can compensate for the changes in the power and speed command signals in advance, and can respond to input and disturbance changes more quickly on the basis of ensuring the stability and accuracy of the unit's speed regulation. While ensuring the rapidity of the unit's power, it improves the unit's dynamic response speed, reduces the impact caused by torque imbalance, and suppresses large fluctuations in speed.

[0040] (2) The present invention uses genetic algorithms to adjust the various parameters of the optimization control method and coordinate the control outputs of various parts to achieve the optimal control effect, avoiding the tedious parameter adjustment and debugging process of traditional methods.

[0041] (3) The structure of the present invention is simple, and there is no need to make large-scale modifications to the traditional unit control structure. It does not rely on the precise model of the unit, is easy to promote, and is suitable for practical engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is a flow chart of a speed regulation composite control method in a power master control mode of a variable-speed pumped storage unit according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a unit control system in an AC excitation variable speed pumped storage power master control mode using a speed compound regulation and control method according to an embodiment of the present invention;

[0045] Figure 3 This is a control structure diagram of a hydraulic regulation system using the composite control method according to an embodiment of the present invention;

[0046] Figure 4 This is a flow chart of optimizing and adjusting control parameters using a genetic algorithm according to an embodiment of the present invention;

[0047] Figure 5 Graph showing the iterative results of the objective function F according to an embodiment of the present invention;

[0048] Figure 6This is a comparison diagram of the speed regulation composite control method and traditional PID control speed regulation effects in the power master control mode of a variable-speed pumped storage unit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] like Figure 1 As shown, this embodiment discloses a composite control method for speed regulation in a power master control mode of a variable-speed pumped storage unit, including: obtaining a speed command, a power command change signal, and an actual unit speed change signal to a composite controller for processing; the composite controller includes: a feedforward controller for power disturbance compensation, a feedforward controller for speed input compensation, and a unit speed PID feedback controller; in the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite adjustment coefficient in the composite controller to coordinate the output control signal; the control signal is input into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

[0052] Furthermore, the control signals processed by the composite controller after obtaining the changes in the power command and the speed command include: when the power disturbance compensation feedforward controller detects a change in the unit power command, outputting a first power disturbance compensation control signal; when the speed input compensation feedforward controller detects a change in the unit speed command, outputting a second speed disturbance compensation control signal; when the unit speed PID feedback controller detects a deviation between the unit speed and a given speed command, outputting a third feedback control signal.

[0053] According to the power disturbance compensation feedforward controller, the speed input compensation feedforward controller and the unit speed PID feedback controller, the above three controllers jointly output control signals to achieve stable control of the speed of the variable speed pumped storage unit.

[0054] Furthermore, Figure 1 The structure diagram of the speed regulation composite control method is shown in the figure. When the power disturbance compensation feedforward controller detects the change of the unit power command, it outputs the power disturbance compensation control signal. The output signal u1 and the power command ΔP ref The relationship between the disturbances is:

[0055]

[0056] Among them, K ΔP is the power disturbance compensation coefficient; T1 is the time constant of the leading link. Since the turbine speed control system is a minimum phase system, it is physically difficult to achieve full compensation. Therefore, it is designed with reference to the approximate first-order inertia time constant of its control channel; T2 is the time constant of the lagging link, which is designed with reference to the time constant of the power control channel of the generator-side converter.

[0057] When the speed input feedforward controller detects the change of the unit speed command, it outputs the speed disturbance compensation control signal. The output signal u2 is proportional to the speed command input command change Δω. ref The relationship between them is:

[0058] u2(s)=K Δω Δω ref (2)

[0059] Among them, K Δω is the speed command change compensation coefficient.

[0060] The unit speed PID feedback controller detects the deviation Δω between the unit speed and the given speed command in real time and outputs the signal u3, which is expressed as:

[0061]

[0062] Among them, u3(s) is the third feedback control signal, K p is the proportional adjustment coefficient, K i is the integral adjustment coefficient, K d is the differential adjustment coefficient, Δ(ω ref -ω) is the deviation of the given speed command.

[0063] Furthermore, regulating the output of the turbine module includes: performing output saturation limiting and rate limiting processing on the control signal, inputting the processed control signal into the guide vane servo module, and regulating the output of the turbine module.

[0064] Specifically, the total output signal of the final composite control method is u=u1+u2+u3, which is output to the guide vane servo system after the output saturation limit and rate limit link. The guide vane servo system adjusts the output of the pump turbine by adjusting the guide vane opening, thereby achieving stable and precise control of the speed and improving the dynamic response of the unit. Taking the AC excitation variable speed pumped storage unit as an example, Figure 2 shown.

[0065] Furthermore, the optimization and adjustment of the composite adjustment coefficient in the composite controller using the genetic algorithm includes: Step S1: Modeling the hydraulic speed control system, determining the parameter range of the composite adjustment coefficient, and adjusting the composite control parameters, namely K Δω , K ΔP, K p , K i and K d , binary encoding is performed to form individuals and initialize the population; step S2: the population is operated through selection, crossover and mutation algorithms to generate an offspring population, and the offspring population individuals are evaluated according to the objective function; step S3: if the objective function value of the offspring population individual meets the termination condition, the optimal performance individual is output, and the optimal performance individual is the optimal control parameter of the composite adjustment coefficient; if the objective function value of the offspring population individual does not meet the termination condition, step S2 is repeated until the termination condition is met or the preset evolutionary generation is reached; wherein, the termination condition is that the objective function value of the individual in the offspring population is the smallest.

[0066] Specifically, if Figure 4 As shown, the genetic algorithm is used to adjust the power disturbance compensation coefficient K of each parameter of the composite control method. ΔP , speed input compensation coefficient K Δω , proportional adjustment coefficient K p , integral adjustment coefficient K i and differential adjustment coefficient K d Perform optimization and tuning to achieve the best control effect. The specific steps include:

[0067] S1: Model the hydraulic speed control system and determine the parameter K that needs to be optimized ΔP , K Δω , K p , K i , K d The parameter range is specified and binary encoded.

[0068] The hydraulic speed control system of the present invention is mainly composed of a speed governor module, a guide vane servo system, a turbine module and a generator module. Taking the output rate limiting link into consideration, the servo system module is often simplified to a first-order inertia link, which can be expressed as:

[0069]

[0070] Among them, T g is the comprehensive time constant of the guide vane servo system, y(s) is the guide vane opening signal of the pump turbine, and u(s) is the control signal received by the servo system.

[0071] The hydraulic conditions of the pump-turbine module are complex, but near the stable operating point, a rigid water-injection system is used, and the transfer function of the pump-turbine can be expressed as:

[0072]

[0073] in, e y ,eh are the transmission coefficients of turbine output torque to guide vane opening and water head respectively; e qy ,e qh are the transfer coefficients of flow to guide vane opening and water head respectively; T w is the water flow inertia time constant. According to the kinematic equation of the unit:

[0074]

[0075] Among them, J vsps is the unit's moment of inertia; ω is the unit's speed; T l is the pump turbine input torque; T em is the electromagnetic torque of the unit, and D is the damping coefficient. Therefore, the dynamic characteristics of the unit can be described by a first-order mathematical model:

[0076]

[0077] Among them, T vsps is the inertia time constant of the unit, e n is the unit self-regulation coefficient.

[0078] After closed-loop control of the excitation system, the relationship between electromagnetic torque and power command can be expressed as:

[0079]

[0080] Among them, K TP is the ratio coefficient of electromagnetic torque to active power, T pr is the power response time constant of the excitation system. Therefore, the control structure of the hydraulic regulation system using this composite controller can be expressed as follows: Figure 3 , when the variable speed pumped storage unit adjusts the power and speed commands simultaneously to achieve optimal efficiency, the speed of the unit can be expressed as:

[0081]

[0082] S2: Construct the objective function, select the appropriate population size and generate the initial population by computer, and first evaluate the fitness of the initial population.

[0083] Sampling at the set sampling period, input Δω ref Step command signal and ΔP ref Perturbation signal, the objective function is selected as:

[0084]

[0085] Among them, e(t) is the error between the actual speed of the unit and the target speed, u(t) is the output of the controller, τ is the rise time, eω(t)=ω(t)-ω(t-1), that is, the difference between the speed of the unit at the previous moment and the speed at the next moment; δ1, δ2, δ3, δ4 are the weights corresponding to e(t), u(t), τ, eω(t), respectively. In order to suppress overshoot and speed drop, when the speed change is opposite to the command change, that is, Δω ref When eω(t)<0, δ4|eω(t)| is introduced as the evaluation index. The individual with the smallest objective function value F is selected as the required optimal performance individual.

[0086] S3: The parent population is operated through selection, crossover and mutation algorithms to generate the offspring population, and the individuals in the population are evaluated according to the objective function value.

[0087] S4: If the individual objective function value of a certain generation of population meets the termination condition (here, the minimum value of the objective function is obtained by optimization), the algorithm stops and returns the optimal performance individual. The K corresponding to the optimal performance individual is ΔP , K Δω , K p , K i , K d The parameters are the optimal control parameters; if there is no individual that meets the termination conditions, S2 is repeated until the set evolutionary generations are reached.

[0088] This embodiment also provides a speed regulation composite control system under the power master control mode of a variable-speed pumped storage unit, comprising: a signal processing unit for acquiring a speed command, a power command change signal and an actual unit speed change signal to a composite controller for processing; the composite controller comprises: a power disturbance compensation feedforward controller, a speed input compensation feedforward controller and a unit speed PID feedback controller; in the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite regulation coefficient in the composite controller to coordinate the output control signal; a signal execution unit is used to input the control signal into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

[0089] Furthermore, in order to verify the effectiveness of the designed composite control method based on genetic algorithm optimization, a mathematical model of the variable speed pumped storage hydraulic speed regulation system was established, and the model data was selected as follows: T g =5, T vsps =7.85,e n =1.21, T w =2,e y =1.0,e qy =1.0,e qh =0.5,e h =1.5, K TP=1 / 100π, T1=12, T2=7.85, T pr =0.01. A corresponding simulation platform was built in MATLAB / Simulink to conduct simulation experiments: the unit was running stably at power P = 0.8pu and speed n = 0.95pu before 50s. At 50s, the load suddenly increased, and the instruction was ΔP ref =0.1pu,Δn ref =0.02pu; set the population size to 50, the crossover probability to 0.9, the mutation probability to 0.05, and the number of iterations to 150; parameter K p , K i , K d The range of is set to [0,5]; K ΔP , K Δω The value range of is set to [0,1]; the weight values ​​δ1, δ2, δ3, δ4 are set to 0.9, 0.1, 10, 2 respectively. The optimization process of the objective function F is as follows Figure 5 As shown, the optimal objective function value is F = 7.6252, and the optimized parameters are: K p =1.3251, K i =0.1342, K d =1.2087, K ΔP =0.2758, K Δω =0.1364. Comparison of the sudden load response of the optimized composite controller and the PID controller with appropriate parameters Figure 6 As shown in the figure, it can be seen that compared with the traditional PID controller, the variable speed unit speed regulation system using the composite control method has a slightly increased overshoot during load regulation, but the speed drop suppression effect is obvious, and it can reach a stable state faster, effectively reducing the impact caused by torque imbalance and optimizing the speed regulation performance of the unit.

[0090] In summary, the present invention discloses a composite control method and system for speed regulation in the power master control mode of a variable-speed pumped storage unit, and optimizes various controller parameters based on a genetic algorithm, and coordinates the outputs of various parts to optimize the control effect. This control method can compensate for changes in the power and speed command signals in advance on the basis of ensuring the stability and accuracy of the unit speed regulation. Without sacrificing the rapidity of the unit power regulation, it improves the dynamic response speed of the unit speed, reduces the impact caused by torque imbalance, and suppresses large fluctuations in speed. This control method has a simple structure, does not require large-scale modifications to the traditional unit control structure, and has low difficulty in promotion. The present invention introduces an application example of this composite control method in a control system in the power master control mode of an AC excitation variable-speed pumped storage unit, which is also applicable to full-power variable-speed pumped storage units.

[0091] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A speed regulation composite control method for a variable speed pumped storage unit in a power master control mode, characterized in that: include: Obtain the speed command, power command change signal and actual unit speed change signal to the composite controller for processing; The composite controller includes: a power disturbance compensation feedforward controller, a speed input compensation feedforward controller and a unit speed PID feedback controller; In the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite adjustment coefficient in the composite controller to coordinate the output control signal; The control signal is input into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

2. The speed regulation composite control method of the variable speed pumped storage unit in the power master control mode according to claim 1 is characterized in that: After obtaining the changes in power command and speed command, the control signals processed by the composite controller include: When the power disturbance compensation feedforward controller detects a change in the unit power command, it outputs a first power disturbance compensation control signal; when the speed input compensation feedforward controller detects a change in the unit speed command, it outputs a second speed disturbance compensation control signal; when the unit speed PID feedback controller detects a deviation between the unit speed and a given speed command, it outputs a third power feedback control signal.

3. The speed regulation composite control method in the power master control mode of the variable speed pumped storage unit according to claim 2 is characterized in that: The relationship between the control signal and the power instruction includes: The relationship between the first power disturbance compensation control signal and the change in the unit power command is: Among them, u1(s) is the first power disturbance compensation control signal, K ΔP is the power disturbance compensation coefficient, T1 is the time constant of the leading link, T2 is the time constant of the lagging link, K Δω is the speed input compensation coefficient, ΔP ref is the unit power command change, s is a complex variable; The relationship between the second speed disturbance compensation control signal and the change in the unit speed command is: u2(s)=K Δω Give ref Wherein, u2(s) is the second speed disturbance compensation control signal, Δω ref is the speed command change, K Δω Enter the compensation factor for the speed; The relationship between the third power feedback control signal and the deviation between the unit speed and the given speed command is: Among them, u3(s) is the third power feedback control signal, K p is the proportional adjustment coefficient, K i is the integral adjustment coefficient, K d is the differential adjustment coefficient, Δ(ω ref -ω) is the deviation between the actual speed and the given speed command.

4. The speed regulation composite control method of a variable speed pumped storage unit in a power master control mode according to claim 1, characterized in that: Adjusting the output of the turbine module includes: The control signal is subjected to output saturation limiting and rate limiting processing, and the processed control signal is input into the guide vane servo module to adjust the output of the turbine module.

5. The speed regulation composite control method in the power master control mode of the variable speed pumped storage unit according to claim 1 is characterized in that: The composite adjustment coefficient includes: a power disturbance compensation coefficient, a speed input compensation coefficient, a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient.

6. The speed regulation composite control method of a variable speed pumped storage unit in a power master control mode according to claim 1, characterized in that: Optimizing and adjusting the composite adjustment coefficient in the composite controller using the genetic algorithm includes: Step S1: Modeling the hydraulic speed control system, determining the parameter range of the composite adjustment coefficient, and binary encoding the composite control parameters to form individuals and initialize the population; Step S2: operating the population through selection, crossover and mutation algorithms to generate offspring populations, and evaluating individuals in the offspring populations according to the objective function; Step S3: If the objective function value of the offspring population individual meets the termination condition, the optimal performance individual is output, and the optimal performance individual is the optimal control parameter of the composite adjustment coefficient; if the objective function value of the offspring population individual does not meet the termination condition, step S2 is repeated until the termination condition is met or the preset evolutionary generation is reached; The termination condition is that the objective function value of the individuals in the offspring population is the smallest.

7. The speed regulation composite control method of a variable speed pumped storage unit in a power master control mode according to claim 6, characterized in that: The hydraulic speed regulation system comprises: a speed regulator module, a guide vane servo module and a turbine module.

8. The speed regulation composite control method in the power master control mode of a variable speed pumped storage unit according to claim 6, characterized in that: The objective function includes: Wherein, e(t) is the error between the actual speed and the target speed of the unit, u(t) is the output of the controller, τ is the rise time, eω(t) is the difference between the speed of the unit at the previous moment and the speed at the next moment; δ1, δ2, δ3, δ4 are the weights corresponding to e(t), u(t), τ, eω(t), respectively, Δω ref The speed command changes.

9. A speed regulation composite control system for a variable speed pumped storage unit in power master control mode, characterized in that: include: The signal processing unit is used to obtain the speed command, power command change signal and actual unit speed change signal to the composite controller for processing; The composite controller includes: a power disturbance compensation feedforward controller, a speed input compensation feedforward controller and a unit speed PID feedback controller; In the process of processing the input signal, a genetic algorithm is used to optimize and adjust the composite adjustment coefficient in the composite controller to coordinate the output control signal; The signal execution unit is used to input the control signal into the guide vane servo module in the hydraulic speed control system to adjust the output of the turbine module.

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