A controller parameter design method and device of an energy storage converter

Abstract

The application relates to the technical field of voltage source converter operation, and particularly provides a controller parameter design method of an energy storage converter, aiming to solve the technical problem that it is difficult to realize performance index design of a double-loop control system of the energy storage converter. The scheme establishes two-dimensional and three-dimensional coordinate systems of control parameters as shaft systems, adopts a graphic method to analyze performance indexes, and further achieves the purpose of quantitatively analyzing the performance index and parameter change relationship, can be applied to voltage source converter application occasions, completes multi-target visual design of controller parameters, reveals the change relationship between time domain and frequency domain performance indexes and the controller parameters, and realizes design of all parameter sets of a voltage-current double-loop control system.

Description

Technical Field

[0001] This invention relates to the field of voltage source converter operation technology, and specifically to a controller parameter design method and device for an energy storage converter. Background Technology

[0002] Energy is a crucial foundation for social and economic development. With dwindling reserves of traditional fossil fuels and increasingly severe environmental pollution, the search for alternative and sustainable clean energy sources has become a hot topic of research and development for many countries, leading to the rapid development of renewable energy sources such as solar, wind, and ocean energy. However, wind and solar power generation are intermittent and unstable, causing significant disruptions to the power grid. Consequently, the curtailment of wind and solar power is a serious problem in actual operation.

[0003] Large-scale energy storage is an effective means of solving this problem because it can smooth the output power of wind and solar power, eliminate the harm to grid stability, improve system stability, provide rapid active power support, and enhance the grid frequency regulation capability, thereby enabling large-scale wind and solar power to be conveniently and reliably integrated into the grid.

[0004] As the interface between the DC-side battery system and the AC-side power grid, the energy storage converter enables bidirectional power regulation between the energy storage battery and the grid, as well as other auxiliary functions. It is the core and key component of the entire energy storage system. Therefore, the control performance of the energy storage converter directly determines the performance of the entire energy storage system. Typically, energy storage converters employ a dual-loop control system, with an inner current loop and an outer voltage loop. Therefore, improving the control performance of the energy storage converter requires designing a dual-loop control system that considers multiple performance indicators.

[0005] Control system design methods can be divided into time-domain methods and frequency-domain methods. Time-domain methods analyze data in the time domain and include typical system tuning methods, Routh criterion, and root locus methods. Frequency-domain methods mainly include the Nyquist plot method and the Bode plot method. The Nyquist plot is used for stability assessment, while the Bode plot can be used to solve for phase margin and gain margin. However, these methods have the following main drawbacks:

[0006] 1) For high-order control systems with time delays, the use of an approximate linear approach for parameter design reduces the accuracy of control system analysis and design;

[0007] 2) It can only be designed for a limited number of performance indicators, does not reveal the relationship between system performance indicators and parameter changes, and cannot realize the design of all parameter sets of the voltage-current dual-loop control system. Summary of the Invention

[0008] To overcome the above-mentioned defects, this invention is proposed to provide a method and apparatus for designing controller parameters for an energy storage converter, which solves or at least partially solves the technical problem of the difficulty in designing the performance indicators of a dual-loop control system for an energy storage converter.

[0009] Firstly, a method for designing controller parameters for an energy storage converter is provided, the method comprising:

[0010] Select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient.

[0011] Select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters.

[0012] In the pre-established three-dimensional coordinate graph of current loop proportional coefficient, current loop integral coefficient and frequency domain performance index, select the controller of the energy storage converter that meets the frequency domain performance index requirements, and select the range of voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller.

[0013] In the pre-established three-dimensional coordinate diagram of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, select the controller of the energy storage converter that meets the time-domain performance index requirements. The range of values ​​for the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller is selected.

[0014] The optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient are respectively used as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter. The design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient in the controller of the energy storage converter are selected from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements.

[0015] The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

[0016] Preferably, when the current sensor is located on the bridge arm side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller is... ol The formula for calculating (s) is as follows:

[0017]

[0018] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0019]

[0020] When the current sensor is located on the load side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows:

[0021]

[0022] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0023]

[0024] In the above formula, K PWM For pulse width modulation gain, K pi Here, s represents the proportional term coefficient of the current loop controller in the energy storage converter's current loop controller, s is the Laplace operator, and K is... ii L1 and L2 are the integral coefficients of the current loop controller in the energy storage converter's controller, respectively; L1 and L2 are the first and second inductance values ​​of the LCL-type output filter of the energy storage converter; C is the capacitance of the output filter of the energy storage converter; and K is the capacitance of the output filter of the energy storage converter. pv K is the voltage loop proportional term coefficient of the voltage loop controller in the energy storage converter controller. iv G represents the voltage loop integral term coefficient of the voltage loop controller in the energy storage converter controller. l(s) is the load transfer function.

[0025] Preferably, the step of selecting the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from a pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient includes:

[0026] The region enclosed by the curve formed by the proportional coefficient and integral coefficient of the current loop and the horizontal and vertical coordinate axes in the two-dimensional coordinate graph of the current loop proportional coefficient and the current loop integral coefficient is taken as the stability region of the current loop proportional coefficient and the current loop integral coefficient.

[0027] The proportional and integral coefficients of the current loop corresponding to the center point coordinates of the stability region are taken as the optimal values ​​of the proportional and integral coefficients of the current loop in the controller of the energy storage converter.

[0028] Preferably, the system parameters are the first inductance value, the second inductance value, or the capacitance of the LCL-type output filter of the energy storage converter.

[0029] Preferably, the step of selecting the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters includes:

[0030] In the three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters, select the current loop proportional term coefficient value that maximizes the area enclosed by the curve formed by the current loop integral term coefficient and the system parameters, the coordinate axis of the current loop integral term coefficient, and the coordinate axis of the system parameters, and use this current loop proportional term coefficient value as the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter.

[0031] Preferably, the range of values ​​for the voltage loop proportional term coefficient and voltage loop integral term coefficient of the voltage loop controller in the step of selecting the controller of the energy storage converter that meets the frequency domain performance requirements from the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the frequency domain performance index includes:

[0032] In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and frequency domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given frequency domain performance index range.

[0033] Preferably, in the pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, current loop integral term coefficient, and time-domain performance indicators, the voltage loop controller of the energy storage converter that meets the time-domain performance indicator requirements has the following value range for the voltage loop proportional term coefficient and voltage loop integral term coefficient:

[0034] In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given time-domain performance index range.

[0035] Preferably, the frequency domain performance index is phase margin or amplitude margin, and the time domain performance index is settling time or overshoot.

[0036] Secondly, a controller parameter design device for an energy storage converter is provided, the controller parameter design device for the energy storage converter comprising:

[0037] The first selection module is used to select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from a pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient.

[0038] The second selection module is used to select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the three-dimensional coordinate diagram of the pre-established current loop proportional term coefficient, current loop integral term coefficient and system parameters.

[0039] The third selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient and frequency domain performance index, and to select the controller of the energy storage converter that meets the frequency domain performance index requirements. The voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller are in the range of values.

[0040] The fourth selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient and the time domain performance index, and to select the controller of the energy storage converter that meets the time domain performance index requirements. The voltage loop controller's voltage loop proportional term coefficient and voltage loop integral term coefficient range are also selected.

[0041] The design module is used to take the optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter, respectively, and select the design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient of the controller of the energy storage converter from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements;

[0042] The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

[0043] Thirdly, a storage device is provided, wherein a plurality of program codes are stored, the program codes being adapted to be loaded and run by a processor to execute the controller parameter design method for the energy storage converter described in any of the above technical solutions.

[0044] Fourthly, a control device is provided, comprising a processor and a storage device, the storage device being adapted to store multiple program codes, the program codes being adapted to be loaded and run by the processor to execute the controller parameter design method for the energy storage converter described in any of the above technical solutions.

[0045] The above-described technical solutions of the present invention have at least one or more of the following beneficial effects:

[0046] The present invention provides a controller parameter design method and apparatus for an energy storage converter. This scheme establishes two-dimensional and three-dimensional coordinate systems with control parameters as the axis, and uses a graphical approach to analyze performance indicators, thereby achieving the purpose of quantitatively analyzing the relationship between performance indicators and parameter changes. This method does not require any linear approximation of the system model, thus having high accuracy. It uses a visual approach to quantitatively analyze the relationship between multiple performance indicators and parameter changes, which is intuitive and convenient. It can be applied to high-order control systems with time delays, without the need for approximate linear processing, thus having high accuracy. It can also perform visual design for time-domain and frequency-domain performance indicators, and uses a graphical approach to quantitatively analyze the relationship between multiple performance indicators and parameter changes, which is intuitive and convenient. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating the main steps of a controller parameter design method for an energy storage converter according to an embodiment of the present invention.

[0048] Figure 2 This is the control principle diagram of the energy storage converter based on voltage-current dual loop in this embodiment;

[0049] Figure 3 This is a block diagram of the dual-loop control when the current sensor is on the bridge arm side in this embodiment;

[0050] Figure 4 This is a block diagram of the dual-loop control when the current sensor is on the load side in this embodiment;

[0051] Figure 5 This is a current loop stability analysis diagram where the current sampling point is located on the load side in this embodiment;

[0052] Figure 6 This is an analysis diagram of the voltage loop stability range when the current loop Kp changes linearly and Ki remains constant in this embodiment;

[0053] Figure 7 This is a voltage loop stability analysis diagram where the current sampling point is located on the load side in this embodiment;

[0054] Figure 8 This is a distribution diagram of the phase margin index in this embodiment;

[0055] Figure 9 This is a distribution chart of the amplitude margin index in this embodiment;

[0056] Figure 10 This is a distribution chart of adjustment time indicators in this embodiment;

[0057] Figure 11 This is a distribution chart of overshoot variation index in this embodiment;

[0058] Figure 12This is a main structural block diagram of a controller parameter design device for an energy storage converter according to an embodiment of the present invention. Detailed Implementation

[0059] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] To address the challenge of designing performance indicators for dual-loop control systems of energy storage converters using existing methods, this invention provides a controller parameter design method for energy storage converters. (See attached document.) Figure 1 , Figure 1 This is a schematic flowchart illustrating the main steps of a controller parameter design method for an energy storage converter according to an embodiment of the present invention. Figure 1 As shown, the controller parameter design method for the energy storage converter in this embodiment of the invention mainly includes the following steps:

[0062] Step S101: Select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient.

[0063] Step S102: Select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, the current loop integral term coefficient and the system parameters.

[0064] Step S103: Select the controller of the energy storage converter that meets the frequency domain performance requirements from the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient and frequency domain performance index. Select the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meet the frequency domain performance index requirements.

[0065] Step S104: Select the controller of the energy storage converter that meets the time-domain performance index requirements from the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient and time-domain performance index. Select the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the voltage loop controller.

[0066] Step S105: The optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient are respectively used as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter. The design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient in the controller of the energy storage converter are selected from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements.

[0067] The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

[0068] In this embodiment, the control principle diagram of the energy storage converter based on the voltage-current dual loop is as follows: Figure 2 As shown, it includes two parts: a hardware circuit and a control circuit. The hardware circuit contains an energy storage battery U. dc The system consists of a voltage source converter, current transformers, an output LC filter, and a load. The voltage source converter is composed of three-phase bridge-type fully controlled power electronic devices. The current transformers collect three-phase current signals from the bridge arm side, and the voltage transformers collect three-phase voltage signals from the load side. The load can be resistive, capacitive, inductive, or nonlinear. The control loop consists of an inner current loop and an outer voltage loop. The setpoint of the outer voltage loop is the target voltage control value, and the feedback value is the three-phase voltage signal collected by the voltage transformer. A proportional-integral (PI) controller is used for position voltage regulation. The PI expression is:

[0069]

[0070] Among them, K pv K is the proportionality coefficient. iv This is the coefficient of the integral term.

[0071] The current inner loop setpoint is the voltage loop PI output value, and the feedback value is the three-phase current signal collected by the current transformer. A proportional-integral (PI) controller is also used for position current regulation. The PI expression is:

[0072]

[0073] Among them, K pi K is the proportionality coefficient. ii This is the coefficient of the integral term.

[0074] Figure 3 This is a block diagram of a dual-loop control when the current sensor is located on the load side. Figure 4 This is a block diagram of a dual-loop control system when the current sensor is located on the bridge arm side. The input signal is the voltage command value v. * Output energy storage converter voltage v, K PWM For controller gain, PIv represents the voltage controller, Pii represents the current controller, L1, L2, and C represent the inductance and capacitance parameters of the converter output filter, respectively, and G... l (s) represents the load transfer function. From Figure 3 and Figure 4 The current and voltage-current transfer functions when the current sensor is located at different positions can be obtained.

[0075] Therefore, when the current sensor is located on the bridge arm side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows:

[0076]

[0077] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0078]

[0079] When the current sensor is located on the load side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows:

[0080]

[0081] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0082]

[0083] In the above formula, K PWM For pulse width modulation gain, K pi Here, s represents the proportional term coefficient of the current loop controller in the energy storage converter's current loop controller, s is the Laplace operator, and K is... iiL1 and L2 are the integral coefficients of the current loop controller in the energy storage converter's controller, respectively; L1 and L2 are the first and second inductance values ​​of the LCL-type output filter of the energy storage converter; C is the capacitance of the output filter of the energy storage converter; and K is the capacitance of the output filter of the energy storage converter. pv K is the voltage loop proportional term coefficient of the voltage loop controller in the energy storage converter controller. iv G represents the voltage loop integral term coefficient of the voltage loop controller in the energy storage converter controller. l (s) is the load transfer function.

[0084] In one embodiment, the following methods can be used to plot a two-dimensional coordinate graph of the pre-established current loop proportional coefficients and current loop integral coefficients, a three-dimensional coordinate graph of the pre-established current loop proportional coefficients, current loop integral coefficients and system parameters, a three-dimensional coordinate graph of the pre-established current loop proportional coefficients, current loop integral coefficients and frequency domain performance indicators, and a three-dimensional coordinate graph of the pre-established current loop proportional coefficients, current loop integral coefficients and time domain performance indicators, specifically including:

[0085] To plot the stability domain of the control parameters, a two-dimensional plane coordinate system is established with the proportional and integral coefficients of the controller as axes. Based on the current loop mathematical model, the stability domain of the current loop controller parameters is plotted. Then, based on the voltage-current dual-loop mathematical model, the stability domain of the voltage loop controller parameters is plotted.

[0086] The impact of system parameter changes on the voltage-current loop control system is analyzed. A three-dimensional spatial coordinate system is established with the proportional term coefficient, integral term coefficient, and the variable parameter of the controller as axes to analyze the impact of parameter changes on system stability.

[0087] The relationship between frequency domain performance indicators and controller parameters is analyzed. A three-dimensional spatial coordinate system is established with the controller proportional term coefficient, integral term coefficient, and frequency domain performance indicators as axes to analyze the quantitative relationship between frequency domain performance indicators and controller parameters.

[0088] The relationship between time-domain performance indicators and controller parameters is analyzed. A three-dimensional spatial coordinate system is established with the controller proportional term coefficient, integral term coefficient, and time-domain performance indicators as axes to analyze the quantitative relationship between time-domain performance indicators and controller parameters.

[0089] Furthermore, in this embodiment, the voltage-current dual-loop controller parameter design needs to be completed graphically, taking into account the load variation range and desired performance indicators under actual operating conditions. Specifically, in this embodiment, step S101 can be implemented as follows:

[0090] The region enclosed by the curve formed by the proportional and integral terms of the current loop in the two-dimensional coordinate graph of the current loop and the horizontal and vertical coordinate axes is taken as the stability region of the proportional and integral terms of the current loop. Figure 5 As shown;

[0091] Different Kpi correspond to different Kii value ranges. To ensure good parameter robustness of the current loop, in this embodiment, the proportional and integral coefficients of the current loop corresponding to the center point coordinates of the stability domain are taken as the optimal values ​​of the proportional and integral coefficients of the current loop in the current loop controller of the energy storage converter. These values ​​are furthest from the boundary of the stability domain and exhibit the best stability.

[0092] In this embodiment, step S102 can be implemented in the following manner:

[0093] A pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters can reflect the three-dimensional relationship between the current loop controller parameters and system stability, such as... Figure 6 As shown, the stability range of the voltage loop changes with the change of Kpi. Each Kpi value corresponds to a voltage loop parameter stability region, such as... Figure 7 As shown. Figure 6 In the process, as Kpi increases, the voltage loop parameter stability region first increases and then decreases. Therefore, in the three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters, the value of the current loop proportional term coefficient that maximizes the area enclosed by the curve formed by the current loop integral term coefficient and the system parameters, the coordinate axis of the current loop integral term coefficient, and the coordinate axis of the system parameters is selected, and this value of the current loop proportional term coefficient is taken as the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter.

[0094] The system parameters are the first inductance value, the second inductance value, or the capacitance of the LCL-type output filter of the energy storage converter.

[0095] In this embodiment, the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the frequency domain performance index can reflect the three-dimensional relationship between the frequency domain performance index and the controller parameters, such as... Figure 8 and Figure 9 As shown, Figure 8 A three-dimensional graph showing the phase margin index as a function of the voltage loop PI parameters is presented, with different PI parameter values ​​corresponding to different phase margin values. Therefore, given a desired phase margin range, a corresponding PI parameter region can be obtained, which satisfies the phase margin requirement. Similarly, Figure 9A three-dimensional graph showing the gain margin index as a function of the voltage loop PI parameters is presented, with different PI parameter values ​​corresponding to different gain margin values. Therefore, given a desired gain margin range, a corresponding PI parameter region can be obtained, which satisfies the gain margin requirement. In summary... Figure 8 and Figure 9 Thus, the region that meets the frequency domain performance index requirements can be obtained. Therefore, in this embodiment, the voltage loop proportional term coefficient and voltage loop integral term coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given frequency domain performance index range are selected from the three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient and the frequency domain performance index.

[0096] In one embodiment, the frequency domain performance metric is phase margin or amplitude margin;

[0097] In this embodiment, the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the time-domain performance index can reflect the three-dimensional relationship between the time-domain performance index and the controller parameters, such as... Figure 10 and Figure 11 As shown. Figure 10 A three-dimensional graph showing the settling time index as a function of the voltage loop PI parameters is presented, with different PI parameter values ​​corresponding to different settling time values. Therefore, given a desired settling time range, a corresponding PI parameter region can be obtained, which satisfies the settling time requirement. Similarly, Figure 11 A three-dimensional graph showing the overshoot index as a function of the voltage loop PI parameters is provided, with different PI parameter values ​​corresponding to different overshoot values. Therefore, in this embodiment, the voltage loop proportional and integral coefficients of the voltage loop controller in the energy storage converter's controller are selected from the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, within a given time-domain performance index range.

[0098] Furthermore, by combining the desired frequency-domain and time-domain performance regions, a preferred region for the voltage loop PI parameters can be obtained, where all parameters satisfy the system performance requirements. If better system dynamics are required, points closer to the desired time-domain performance region are selected within the preferred PI parameter region; if better system stability is required, points closer to the desired frequency-domain performance region are selected. The values ​​of Kpv and Kiv can then be used as the proportional and integral term coefficients of the voltage loop.

[0099] Based on the above solutions, this invention provides an application scenario, using a 500kW energy storage converter as an example to illustrate the implementation of this patent. The energy storage converter has a rated power of 500kW, a DC input voltage of 650V, an output line voltage of 380V, a switching frequency of 3200Hz, a fundamental frequency of 50Hz, an output filter with an inductance of 0.1mH and a capacitance of 80uF, and a current sensor located on the load side. The load can be connected to a resistor, capacitor, or inductor.

[0100] Figure 5 For the current loop stability analysis when the current sensor is located on the load side, the complete set of parameters that satisfy current loop stability can be obtained from the figure. The current loop controller parameters need to be selected within the stability region; otherwise, the system will be unstable. If the current loop controller parameters are selected as (0.4, 500), and the load is purely inductive (1mH), the stability region of the voltage loop can be obtained as follows: Figure 6 As shown.

[0101] Furthermore, in order to analyze the impact of changes in current loop parameters on the voltage loop, we assume K ii For 200, K ip The value varies from 0.1 to 0.6, thus allowing us to obtain the parameter stability region of the voltage loop as the proportional term coefficient of the current loop changes, such as... Figure 7 As shown in the figure, the parameters of the current loop controller affect the stability of the voltage loop, and the closer the current loop controller parameters are to the center, the greater the stability of the voltage loop.

[0102] Based on the obtained parameter stability domain, the system's frequency and time domain performance indicators can be analyzed. Frequency domain performance indicators mainly include phase margin and gain margin. Assuming the set range of the phase margin indicator is [0, 60]°, the phase margin indicator distribution diagram can be obtained as follows: Figure 8 As shown. If the phase margin of the system is required to be within [30, 50]°, then we can obtain Figure 8 The expected region of phase margin in the data. Assuming the set range of the gain margin index is [0, 40] dB, the gain margin index distribution map can be obtained, as shown below. Figure 9 As shown. If the phase margin of the system is required to be within [15, 25] dB, then we can obtain Figure 9 The expected range of magnitude margin.

[0103] Frequency domain performance metrics mainly include settling time and overshoot. Assuming the settling time is set to a range of [0, 0.2] s, the settling time metric distribution can be obtained, as shown in the diagram. Figure 10 As shown. If the system settling time is required to be within [0.03, 0.05] s, then we can obtain... Figure 10The expected range of the gain margin is defined as [0, 100]%. Assuming the overshoot range is set to [0, 100]%, the overshoot index distribution can be obtained, as shown in the figure. Figure 11 As shown. If the overshoot of the system is required to be within [5, 10]%, then we can obtain... Figure 11 The expected range of magnitude margin.

[0104] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders, and these variations are all within the scope of protection of the present invention.

[0105] Based on the same inventive concept, the present invention also provides a controller parameter design device for an energy storage converter, such as... Figure 12 As shown, the controller parameter design device for the energy storage converter includes:

[0106] The first selection module is used to select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from a pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient.

[0107] The second selection module is used to select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the three-dimensional coordinate diagram of the pre-established current loop proportional term coefficient, current loop integral term coefficient and system parameters.

[0108] The third selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient and frequency domain performance index, and to select the controller of the energy storage converter that meets the frequency domain performance index requirements. The voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller are in the range of values.

[0109] The fourth selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient and the time domain performance index, and to select the controller of the energy storage converter that meets the time domain performance index requirements. The voltage loop controller's voltage loop proportional term coefficient and voltage loop integral term coefficient range are also selected.

[0110] The design module is used to take the optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter, respectively, and select the design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient of the controller of the energy storage converter from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements;

[0111] The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

[0112] Preferably, when the current sensor is located on the bridge arm side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller is... ol The formula for calculating (s) is as follows:

[0113]

[0114] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0115]

[0116] When the current sensor is located on the load side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows:

[0117]

[0118] The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows:

[0119]

[0120] In the above formula, K PWMFor pulse width modulation gain, K pi Here, s represents the proportional term coefficient of the current loop controller in the energy storage converter's current loop controller, s is the Laplace operator, and K is... ii L1 and L2 are the integral coefficients of the current loop controller in the energy storage converter's controller, respectively; L1 and L2 are the first and second inductance values ​​of the LCL-type output filter of the energy storage converter; C is the capacitance of the output filter of the energy storage converter; and K is the capacitance of the output filter of the energy storage converter. pv K is the voltage loop proportional term coefficient of the voltage loop controller in the energy storage converter controller. iv G represents the voltage loop integral term coefficient of the voltage loop controller in the energy storage converter controller. l (s) is the load transfer function.

[0121] Preferably, the first selection module is specifically used for:

[0122] The region enclosed by the curve formed by the proportional coefficient and integral coefficient of the current loop and the horizontal and vertical coordinate axes in the two-dimensional coordinate graph of the current loop proportional coefficient and the current loop integral coefficient is taken as the stability region of the current loop proportional coefficient and the current loop integral coefficient.

[0123] The proportional and integral coefficients of the current loop corresponding to the center point coordinates of the stability region are taken as the optimal values ​​of the proportional and integral coefficients of the current loop in the controller of the energy storage converter.

[0124] Preferably, the system parameters are the first inductance value, the second inductance value, or the capacitance of the LCL-type output filter of the energy storage converter.

[0125] Preferably, the second selection module is specifically used for:

[0126] In the three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters, select the current loop proportional term coefficient value that maximizes the area enclosed by the curve formed by the current loop integral term coefficient and the system parameters, the coordinate axis of the current loop integral term coefficient, and the coordinate axis of the system parameters, and use this current loop proportional term coefficient value as the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter.

[0127] Preferably, the third selection module is specifically used for:

[0128] In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and frequency domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given frequency domain performance index range.

[0129] Preferably, the fourth selection module is specifically used for:

[0130] In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given time-domain performance index range.

[0131] Preferably, the frequency domain performance index is phase margin or amplitude margin, and the time domain performance index is settling time or overshoot.

[0132] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0133] Furthermore, the present invention also provides a storage device. In one embodiment of the storage device according to the present invention, the storage device can be configured to store a program for executing the controller parameter design method of the energy storage converter described in the above-described method embodiments. This program can be loaded and run by a processor to implement the controller parameter design method of the energy storage converter described above. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The storage device can be a storage device device comprising various electronic devices. Optionally, in the embodiments of the present invention, the storage is a non-transitory computer-readable storage medium.

[0134] Furthermore, the present invention also provides a control device. In one embodiment of the control device according to the present invention, the control device includes a processor and a storage device. The storage device can be configured to store a program for executing the controller parameter design method of the energy storage converter described in the above-described method embodiments. The processor can be configured to execute the program in the storage device, which includes, but is not limited to, the program for executing the controller parameter design method of the energy storage converter described in the above-described method embodiments. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. This control device can be a control device device comprising various electronic devices.

[0135] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for designing controller parameters for an energy storage converter, characterized in that, The method includes: Select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient. Select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters. In the pre-established three-dimensional coordinate graph of current loop proportional coefficient, current loop integral coefficient and frequency domain performance index, select the controller of the energy storage converter that meets the frequency domain performance index requirements, and select the range of voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller. In the pre-established three-dimensional coordinate diagram of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, select the controller of the energy storage converter that meets the time-domain performance index requirements. The range of values ​​for the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller is selected. The optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient are respectively used as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter. The design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient in the controller of the energy storage converter are selected from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements. The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

2. The method as described in claim 1, characterized in that, When the current sensor is located on the bridge arm side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows: The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows: When the current sensor is located on the load side of the energy storage converter, the open-loop transfer function G of the current loop of the energy storage converter controller... ol The formula for calculating (s) is as follows: The open-loop transfer function G of the voltage-current dual-loop control system of the energy storage converter controller op The formula for calculating (s) is as follows: In the above formula, K PWM For pulse width modulation gain, K pi Here, s represents the proportional term coefficient of the current loop controller in the energy storage converter's current loop controller, s is the Laplace operator, and K is... ii L1 and L2 are the integral coefficients of the current loop controller in the energy storage converter's controller, respectively; L1 and L2 are the first and second inductance values ​​of the LCL-type output filter of the energy storage converter; C is the capacitance of the output filter of the energy storage converter; and K is the capacitance of the output filter of the energy storage converter. pv K is the voltage loop proportional term coefficient of the voltage loop controller in the energy storage converter controller. iv G represents the voltage loop integral term coefficient of the voltage loop controller in the energy storage converter controller. l (s) is the load transfer function.

3. The method as described in claim 1, characterized in that, The step of selecting the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from a pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient includes: The region enclosed by the curve formed by the proportional coefficient and integral coefficient of the current loop and the horizontal and vertical coordinate axes in the two-dimensional coordinate graph of the current loop proportional coefficient and the current loop integral coefficient is taken as the stability region of the current loop proportional coefficient and the current loop integral coefficient. The proportional and integral coefficients of the current loop corresponding to the center point coordinates of the stability region are taken as the optimal values ​​of the proportional and integral coefficients of the current loop in the controller of the energy storage converter.

4. The method as described in claim 1, characterized in that, The system parameters are the first inductance value, the second inductance value, or the capacitance of the LCL-type output filter of the energy storage converter.

5. The method as described in claim 1, characterized in that, The step of selecting the optimal value of the current loop proportional term coefficient of the current loop controller in the energy storage converter controller from a pre-established three-dimensional coordinate diagram of the current loop proportional term coefficient, the current loop integral term coefficient, and system parameters includes: In the three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient, and the system parameters, select the current loop proportional term coefficient value that maximizes the area enclosed by the curve formed by the current loop integral term coefficient and the system parameters, the coordinate axis of the current loop integral term coefficient, and the coordinate axis of the system parameters, and use this current loop proportional term coefficient value as the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter.

6. The method as described in claim 1, characterized in that, The range of values ​​for the voltage loop proportional term coefficient and voltage loop integral term coefficient of the voltage loop controller in the process of selecting the controller of the energy storage converter that meets the frequency domain performance requirements from the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, current loop integral term coefficient, and frequency domain performance index includes: In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and frequency domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given frequency domain performance index range.

7. The method as described in claim 1, characterized in that, In the pre-established three-dimensional coordinate diagram of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance indicators, select the controller of the energy storage converter that meets the time-domain performance requirements. The value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller includes: In the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient, and time-domain performance index, select the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter corresponding to the given time-domain performance index range.

8. The method as described in claim 1, characterized in that, The frequency domain performance index is phase margin or amplitude margin, and the time domain performance index is settling time or overshoot.

9. A controller parameter design device for an energy storage converter, characterized in that, The device includes: The first selection module is used to select the optimal value of the current loop integral term coefficient of the current loop controller in the controller of the energy storage converter from a pre-established two-dimensional coordinate graph of the current loop proportional term coefficient and the current loop integral term coefficient. The second selection module is used to select the optimal value of the current loop proportional term coefficient of the current loop controller in the controller of the energy storage converter from the three-dimensional coordinate diagram of the pre-established current loop proportional term coefficient, current loop integral term coefficient and system parameters. The third selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional coefficient, current loop integral coefficient and frequency domain performance index, and to select the controller of the energy storage converter that meets the frequency domain performance index requirements. The voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller are in the range of values. The fourth selection module is used to select the controller of the energy storage converter from the pre-established three-dimensional coordinate graph of the current loop proportional term coefficient, the current loop integral term coefficient and the time domain performance index, and to select the controller of the energy storage converter that meets the time domain performance index requirements. The voltage loop controller's voltage loop proportional term coefficient and voltage loop integral term coefficient range are also selected. The design module is used to take the optimal values ​​of the current loop integral coefficient and the current loop proportional coefficient as the design values ​​of the current loop integral coefficient and the current loop proportional coefficient of the current loop controller in the controller of the energy storage converter, respectively, and select the design values ​​of the voltage loop proportional coefficient and voltage loop integral coefficient of the controller of the energy storage converter from the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the frequency domain performance index requirements or the value range of the voltage loop proportional coefficient and voltage loop integral coefficient of the voltage loop controller in the controller of the energy storage converter that meets the time domain performance index requirements; The pre-established two-dimensional coordinate graphs of the current loop proportional coefficient and the current loop integral coefficient are established based on the open-loop transfer function of the current loop of the energy storage converter controller. The pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and system parameters, the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and frequency domain performance indicators, and the pre-established three-dimensional coordinate graphs of the current loop proportional coefficient, the current loop integral coefficient and time domain performance indicators are established based on the open-loop transfer function of the voltage-current dual-loop control system of the energy storage converter controller.

10. A storage device storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the controller parameter design method for the energy storage converter according to any one of claims 1 to 8.

11. A control device, comprising a processor and a storage device, said storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the controller parameter design method for the energy storage converter according to any one of claims 1 to 8.

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