A control method and device for a solar-fossil fuel complementary energy storage power generation system

Abstract

This invention discloses a control method and device for a solar-fossil fuel complementary energy storage power generation system. The method includes the following steps: in response to a start command, acquiring the transfer parameters of the controlled object; acquiring a first input value and a first output value of the controlled object; inputting the first input value and the first output value into an extended state observer to obtain observation parameters; acquiring a first preset output value of the controlled object; calculating a second input value based on the first preset output value, observation parameters, transfer parameters, preset tuning coefficients, and a preset error feedback control model; updating the first input value based on the second input value; outputting the updated first input value to the controlled object, acquiring the updated first output value, and returning to execute the third step. The control method and device disclosed in this invention can improve the efficiency of disturbance suppression, thereby reducing the fluctuation range of the controlled object's output and improving stability.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method and equipment for a solar-fossil fuel complementary energy storage power generation system. Background Art

[0002] The solar-fossil fuel complementary energy storage power generation system (hereinafter referred to as the complementary energy storage power generation system) has the characteristics of high power generation efficiency and clean and environmentally friendly. The complementary energy storage power generation system uses cobalt as a solid energy storage material and cobalt oxide as an oxygen carrier, and methane can be used as a fossil fuel. After the reduction reaction occurs in the fuel chamber of the complementary energy storage power generation system, the gases produced are mainly carbon dioxide and water vapor, and there are fewer harmful gases. The complementary energy storage power generation system needs to balance the power load on the user side, so the electric power output of the complementary energy storage power generation system needs to be adjusted in real time according to the power load on the user side, and the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system can be further utilized through the waste heat conversion equipment, so the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system needs to be kept as constant as possible. During the operation of the complementary energy storage power generation system, it will be disturbed by various sources, resulting in instability of the electric power output of the complementary energy storage power generation system and the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system.

[0003] At present, the proportional-integral-differential control method is usually used to adjust the electric power output of the complementary energy storage power generation system and the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system. However, the proportional-integral-differential control method has a slow efficiency in suppressing disturbances, and the output of the complementary energy storage power generation system still fluctuates within a large range, resulting in poor stability. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a control method for a solar-fossil fuel complementary energy storage power generation system, which can improve the efficiency of suppressing disturbances and improve stability.

[0005] The present invention also provides a control device including the above control method.

[0006] The present invention also provides an electronic device including the above control method.

[0007] The present invention also provides a solar power generation system comprising the electronic device.

[0008] The present invention also provides a computer-readable storage medium including the above control method.

[0009] According to an embodiment of an aspect of the present invention, the control method comprises the following steps: in response to a start instruction, obtaining a transfer parameter of a controlled object; obtaining a first input value of the controlled object and a first output value of the controlled object; inputting the first input value and the first output value into an extended state observer to obtain an observation parameter; obtaining a first output preset value of the controlled object, and calculating a second input value according to the first output preset value, the observation parameter, the transfer parameter, a preset tuning coefficient and a preset error feedback control model; updating the first input value according to the second input value; outputting the updated first input value to the controlled object, obtaining the first output value updated by the controlled object according to the updated first input value, and returning to execute the step of inputting the first input value and the first output value into the extended state observer to obtain the observation parameter.

[0010] The control method according to the embodiment of the present invention has at least the following beneficial effects: the observation parameters are calculated by inputting the first input value of the previous calculation step and the first output value of the previous calculation step into the expanded state observer, and then a more accurate second input value is calculated by the observation parameter, the first output preset, the transfer parameter and the setting coefficient, and then the first input value and the first output value of the controlled object are updated, so as to improve the suppression efficiency, so as to reduce the fluctuation range of the output of the controlled object, which is conducive to improving stability.

[0011] According to some embodiments of the present invention, the observation parameters include calculation step measurement values, measurement derivatives and disturbance observation values, and the error feedback control model includes:

[0012]

[0013] Wherein, k represents the calculation step, u(k) represents the second input value, r(k) represents the first output preset value, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, k p represents the first feedback gain, k d represents the second feedback gain, b0 represents the first coefficient of the extended state observer; through the error feedback control model, a more accurate second input value is calculated to improve the efficiency of suppressing disturbances, which is beneficial to reducing the fluctuation range of the output of the controlled object and improving stability.

[0014] According to some embodiments of the present invention, the transfer parameter includes the order of the transfer function of the controlled object, the time constant of the transfer function of the controlled object and the gain of the transfer function of the controlled object, and the first feedback gain and the second feedback gain are determined by the following first tuning formula:

[0015]

[0016] Among them, ω c Represents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the setting coefficient, n represents the order of the transfer function, and T represents the time constant of the transfer function; through the first setting formula, the first feedback gain and the second feedback gain are adjusted through the setting coefficient, which reduces the number of parameters that need to be adjusted, is conducive to reducing the difficulty of parameter setting, and is conducive to timely adjusting the control sensitivity of the method, and further conducive to improving the efficiency of suppressing disturbances.

[0017] According to some embodiments of the present invention, the observation parameters include calculation step measurement values, measurement derivatives and disturbance observation values, and the observation parameters are calculated by the following first calculation formula:

[0018]

[0019] Among them, k represents the calculation step, h represents the calculation step length, u(k-1) represents the first input value, y(k-1) represents the first output value, b0 represents the first coefficient of the expanded state observer, β1 represents the second coefficient of the expanded state observer, β2 represents the third coefficient of the expanded state observer, β3 represents the fourth coefficient of the expanded state observer, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, z1(k-1) represents the calculation step measurement value of the previous calculation step, z2(k-1) represents the measurement derivative of the previous calculation step, and z3(k-1) represents the disturbance observation value of the previous calculation step; through the first calculation formula, it is convenient to determine the observation parameters, so as to facilitate the subsequent calculation of the second input value based on the observation parameters.

[0020] According to some embodiments of the present invention, the transfer parameter includes the order of the transfer function of the controlled object, the time constant of the transfer function of the controlled object and the gain of the transfer function of the controlled object, and the first coefficient, the second coefficient, the third coefficient and the fourth coefficient are determined by the following second tuning formula:

[0021]

[0022] Among them, ω cRepresents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the setting coefficient, n represents the order of the transfer function of the controlled object, T represents the time constant of the transfer function, K represents the gain of the transfer function, a1 represents the first constraint coefficient, and a2 represents the second constraint coefficient; through the second setting formula, the first coefficient, the second coefficient, the third coefficient and the fourth coefficient are adjusted through the setting coefficient, which reduces the number of parameters that need to be adjusted, helps to reduce the difficulty of parameter setting, and thus helps to timely adjust the control sensitivity of the method, and then helps to improve the efficiency of disturbance suppression.

[0023] According to some embodiments of the present invention, the first input value and the first output value have the following corresponding relationship: when the first input value adopts cobalt flow rate, the first output value adopts electric power; when the first input value adopts air flow rate, the first output value adopts waste heat flue gas temperature; by determining the corresponding relationship, the control effect on the controlled object can be improved.

[0024] According to another aspect of the present invention, a control device includes a configuration unit, a first acquisition unit, a second acquisition unit, a processing unit, a calculation unit, an update unit and a return unit; the configuration unit is used to receive and store a preset tuning coefficient and a preset error feedback control model; the first acquisition unit is used to obtain a transfer parameter of a controlled object in response to a start-up instruction; the second acquisition unit is used to obtain a first output preset value, a first input value of the controlled object and a first output value of the controlled object; the processing unit is used to input the first input value and the first output value into an extended state observer to obtain an observation parameter; the calculation unit is used to calculate the second input value according to the first output preset value, the observation parameter, the transfer parameter, the tuning coefficient and the error feedback control model; the update unit is used to update the first input value according to the second input value, and output the updated first input value to the controlled object so that the controlled object updates the first output value; the return unit is used to return to execute the second acquisition unit.

[0025] The control device according to the embodiment of the present invention has at least the following beneficial effects: through the mutual cooperation of the configuration unit, the first acquisition unit, the second acquisition unit, the processing unit, the calculation unit, the update unit and the return unit, the observation parameters of the current calculation step are calculated according to the first input value and the first output value of the previous calculation step, and a more accurate second input value of the controlled object is calculated according to the observation parameters of the current calculation step, the first output preset value, the transfer parameter and the setting coefficient, so as to update the first input value and the first output value of the controlled object, realize the control of the controlled object, and help to improve the efficiency of suppressing disturbances, reduce the fluctuation range of the output of the controlled object, so as to improve stability.

[0026] According to another embodiment of the present invention, an electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above control method when executing the computer program.

[0027] According to another embodiment of the present invention, a solar power generation system comprises a system body and the above-mentioned electronic device, wherein the system body is provided with a flow control valve, and the electronic device is electrically connected to the flow control valve.

[0028] According to a computer-readable storage medium in another embodiment of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions can implement the above control method when executed by a processor.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] Figure 1 A schematic diagram of an implementation environment of a control method provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of another implementation environment of the control method provided by an embodiment of the present invention;

[0033] Figure 3 A flow chart of a control method provided by an embodiment of the present invention;

[0034] Figure 4 A specific schematic diagram of another implementation environment of the control method provided by the embodiment of the present invention;

[0035] Figure 5 This is one of the schematic diagrams comparing the effects of the control methods provided in some embodiments of the present invention;

[0036] Figure 6 A second schematic diagram comparing the effects of the control methods provided in some embodiments of the present invention;

[0037] Figure 7 A schematic diagram of the structure of a control device provided in an embodiment of the present invention.

[0038] The reference numerals are as follows:

[0039] Configuration unit 110, first acquisition unit 120, second acquisition unit 130, processing unit 140, calculation unit 150, update unit 160, return unit 170, solar concentrating collector 201, methane inlet 202, air flow controller 203, air inlet 204, air flow control valve 205, compressor 206, first heat exchanger 207, reaction gas outlet 208, fuel reactor 209, cobalt storage tank 210, cobalt oxide storage tank 211, second heat exchanger 212, third heat exchanger 213, cobalt flow controller 214, cobalt flow control valve 215, air reactor 216, turbine 217, flue gas outlet 218, generator 219. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0043] Before further describing the embodiments of the present invention in detail, the nouns and terms involved in the embodiments of the present invention are described. The nouns and terms involved in the embodiments of the present invention are applicable to the following interpretations:

[0044] The transfer function is the ratio of the Laplace transform (or z-transform) of the linear system response (i.e., output) to the Laplace transform of the excitation (i.e., input) under zero initial conditions.

[0045] The calculation step size refers to the discrete time signal of the computer. The specific value of the calculation step size needs to be set according to the actual situation of the computer. The smaller the calculation step size, the greater the amount of calculation, but the higher the accuracy.

[0046] The computational sequence refers to the order in which a computer performs calculations.

[0047] Disturbance measurements refer to real-time observations of system nonlinear dynamics, model uncertainties, and external disturbances.

[0048] The solar-fossil fuel complementary energy storage power generation system (hereinafter referred to as the complementary energy storage power generation system) of the prior art belongs to a type of solar power generation system. The complementary energy storage power generation system will be affected by disturbances during operation, and the main sources of disturbances are the uncertainty of solar energy input, the coupling between control quantities, and the complexity of multiple components inside the power generation system. For example, affected by the low density and hourly fluctuations of solar energy flux, the gas temperature generated by the fuel reactor in the complementary energy storage power generation system is constantly changing, thereby causing disturbances, which will affect the stability of the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system; or, in the input of the complementary energy storage power generation system, due to the strong variable coupling between the cobalt flow and the air flow, the change of the input of one loop will cause the output of other loops to produce different degrees of disturbances, that is, the change of the cobalt flow can change the electric power output value of the complementary energy storage power generation system, and will also affect the waste heat flue gas temperature, and the change of the air flow can change the waste heat flue gas temperature, and will also affect the electric power output value of the complementary energy storage power generation system.

[0049] In the related art, a proportional-integral-differential control method is used to suppress disturbances in a complementary energy-storage power generation system. However, the effect of eliminating disturbances in the complementary energy-storage power generation system in the related art takes a long time to be reflected in the output of the power generation system. That is, the existing proportional-integral-differential control method has a delayed effect on suppressing disturbances and has a poor efficiency in suppressing disturbances.

[0050] In response to the problem that the proportional-integral-differential control method based on related technologies has poor disturbance suppression efficiency, an embodiment of the present invention provides a control method, device, equipment, system and storage medium. By updating the first input value and the first output value of the controlled object, as well as the first output preset value, transfer parameters and setting coefficients, the first input value and the first output value can be improved, the disturbance suppression efficiency can be improved, the fluctuation range of the output of the controlled object can be reduced, and it is beneficial to improve stability. The control method provided by the embodiment of the present invention can be applied to the above-mentioned complementary energy storage power generation system.

[0051] Reference Figure 1 , Figure 1 A schematic diagram of an implementation environment of a control method provided by an embodiment of the present invention, wherein the implementation environment includes a control terminal and a controlled object, and the control terminal is communicatively connected with the controlled object.

[0052] The control end may be an active disturbance rejection controller, a tablet computer, a laptop computer, a desktop computer, a smart phone, etc., but is not limited thereto. The control end and the controlled object may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0053] The controlled object may be a solar-fossil fuel complementary energy storage power generation system, a solar photovoltaic power generation system, a solar photochemical power generation system, a solar light induction power generation system, etc., but is not limited thereto.

[0054] Reference Figure 2 , Figure 2 A schematic diagram of another implementation environment of the control method provided in an embodiment of the present invention, wherein the implementation environment includes two control terminals and a solar fossil fuel complementary energy storage power generation system (hereinafter referred to as the complementary energy storage power generation system), and each control terminal is communicatively connected to the complementary energy storage power generation system.

[0055] based on Figure 1 The implementation environment shown is shown in Figure 3 , an embodiment of the present invention provides a control method, which is exemplarily applied to Figure 1 In the control end shown, the control method includes step S1000, step S2000, step S3000, step S4000, step S5000 and step S6000.

[0056] Step S1000, in response to a start instruction, obtaining a transfer parameter of the controlled object.

[0057] Step S2000: obtaining a first input value of a controlled object and a first output value of the controlled object.

[0058] Step S3000: input the first input value and the first output value into the extended state observer to obtain observation parameters.

[0059] Step S4000, obtaining a first output preset value of the controlled object, and calculating a second input value according to the first output preset value, observation parameters, transfer parameters, preset tuning coefficients and a preset error feedback control model.

[0060] Step S5000: update the first input value according to the second input value.

[0061] Step S6000: output the updated first input value to the controlled object, obtain the first output value updated by the controlled object according to the updated first input value, and return to execute step S3000.

[0062] The control end inputs the first input value of the previous calculation step and the first output value of the previous calculation step of the controlled object into the extended state observer to obtain the observation parameters of the current calculation step, and calculates the second input value based on the preset error feedback control model according to the first output preset value obtained in the current calculation step, the observation parameters of the current calculation step, the transfer coefficient and the preset setting coefficient, so as to update the second input value to the first input value of the current calculation step, so that the controlled object outputs the first output value of the current calculation step, thereby completing the update of the first input value and the first output value of the controlled object. The observation parameters are calculated by the extended state observer through real-time observation of unknown disturbances and real-time effects generated by the controlled object; the first output preset value is the target output value of the controlled object in the current step; the transfer coefficient and the setting coefficient are used to simplify the calculation process of the second input value; by observing the parameters, the first output preset value, the transfer coefficient and the setting coefficient, a more accurate second input value is calculated, which can improve the efficiency of suppressing disturbances, reduce the fluctuation range of the output of the controlled object, and is conducive to improving stability.

[0063] In addition, steps S3000 to S6000 are executed cyclically, thereby maintaining continuous control over the controlled object and making the controlled object maintain a more stable output. The transfer parameters of the controlled object can be identified using existing methods, for example, by combining step response with the least square method, so as to identify the transfer function and transfer parameters of the controlled object.

[0064] In addition, based on Figure 2 The implementation environment shown in FIG. 1 is to apply the above control method to Figure 2 In the control terminal shown; Figure 2 There are two control ends shown, one of which is used to control the electric power output value of the complementary energy storage power generation system by controlling the cobalt flow of the complementary energy storage power generation system. In addition, in this control end, the electric power output preset value is used as the first output preset value, the cobalt flow is used as the first input value, and the electric power output value is used as the first output value; the other control end is used to control the waste heat flue gas temperature of the complementary energy storage power generation system by controlling the air flow of the complementary energy storage power generation system. In addition, in this control end, the waste heat flue gas temperature preset value is used as the first output preset value, the air flow is used as the first input value, and the waste heat flue gas temperature is used as the first output value.

[0065] Taking the control end of the cobalt flow rate of the complementary energy storage power generation system as an example, further explanation is given. During the power generation process of the complementary energy storage power generation system, the complementary energy storage power generation system may be disturbed by multiple disturbance sources, resulting in a deviation between the electric power output value output by the complementary energy storage power generation system and the preset value of the electric power output. The control end obtains the electric power output value of the previous calculation step and the cobalt flow rate of the previous calculation step, and uses the extended state observer to calculate the observation parameters, thereby combining the preset value of the electric power output of the current calculation step, as well as the transfer parameters and the setting coefficients, to calculate the second input value, and then update the second input value to the cobalt flow rate of the current calculation step, thereby improving the efficiency of suppressing disturbances, so as to reduce the fluctuation range of the output of the controlled object, which is conducive to improving stability.

[0066] Reference Figure 4 , Figure 4 A specific schematic diagram of another implementation environment of the control method provided in an embodiment of the present invention, the implementation environment includes a specific complementary energy storage power generation system, and an air flow controller 203 and a cobalt flow controller 214. The specific complementary energy storage power generation system includes a solar concentrating collector 201, a methane inlet 202, an air inlet 204, an air flow control valve 205, a compressor 206, a first heat exchanger 207, a reaction gas outlet 208, a fuel reactor 209, a cobalt storage tank 210, a cobalt oxide storage tank 211, a second heat exchanger 212, a third heat exchanger 213, a cobalt flow control valve 215, an air reactor 216, a turbine 217, a flue gas outlet 218, and a generator 219.

[0067] In the fuel reactor 209, the fossil fuel methane input from the methane inlet 202 and the cobalt oxide output from the cobalt oxide storage tank 211 undergo a reduction reaction after absorbing the energy input from the solar concentrating collector 201, thereby producing solid energy storage material cobalt, carbon dioxide gas and water vapor; among them, the carbon dioxide gas and water vapor are input into the first heat exchanger 207; when the user's energy demand is relatively small, the solid energy storage material cobalt enters the cobalt storage tank 210; when the user's energy demand is relatively large, the solid energy storage material cobalt directly enters the second heat exchanger 212.

[0068] In the first heat exchanger 207, the compressed gas exchanges heat with the carbon dioxide gas and water vapor in the first heat exchanger 207. During this process, the water vapor is condensed, the carbon dioxide and the water vapor are separated, and high-temperature compressed gas and reaction gas are generated; wherein, the reaction gas is discharged from the reaction gas outlet 208, and the high-temperature compressed gas is input into the air reactor 216 after passing through the third heat exchanger 213; in addition, it should be noted that the compressor 206 compresses the air input from the air inlet 204 to obtain the above-mentioned compressed gas.

[0069] In the air reactor 216, the solid energy storage material cobalt that passes through the second heat exchanger 212 and the cobalt flow control valve 215 in turn undergoes an oxidation reaction with the high-temperature compressed gas to produce high-temperature flue gas and cobalt oxide; wherein the high-temperature flue gas passes through the turbine 217, so that the turbine 217 generates electricity, and then carries high-grade waste heat to be output from the flue gas outlet 218, and enables the generator 219 to generate electricity; and the cobalt oxide produced after the above oxidation reaction passes through the second heat exchanger 212 and the third heat exchanger 213 in turn, and enters the cobalt oxide storage tank 211, thereby realizing the circulation of the solid energy storage material cobalt and cobalt oxide in the complementary energy storage power generation system.

[0070] In the above Figure 4 In the implementation environment shown, the air flow controller 203 applies the above-mentioned control method to control the action of the air flow control valve 205 to control the air flow at the air inlet 204, thereby controlling the waste heat flue gas temperature at the flue gas outlet 218; the cobalt flow controller 214 applies the above-mentioned control method to control the action of the cobalt flow control valve 214 to control the flow of the solid energy storage material cobalt input into the air reactor 216, that is, the cobalt flow, thereby controlling the electric power generated by the turbine 217 and the generator 219.

[0071] It should be noted that in the above Figure 4 In the illustrated implementation environment, both the air flow controller 203 and the cobalt flow controller 214 may adopt active disturbance rejection controllers.

[0072] Reference Figure 5 , the user daily load curve represents the user's requirements for load at different times, the proportional-integral-differential curve represents the control effect of the existing control method on the complementary energy storage power generation system, and the distributed active disturbance rejection curve represents the control effect of the control method provided by the present invention on the complementary energy storage power generation system. It is easy to see that in terms of the control of the electric power of the power generation system, compared with the proportional-integral-differential curve, the distributed active disturbance rejection curve has a better fit with the user daily load curve, that is, using the control method provided by the present invention to control the complementary energy storage power generation system can obtain higher stability.

[0073] Reference Figure 6 , the temperature setting value curve represents the requirement for the waste heat flue gas temperature at the outlet of the complementary energy storage power generation system, the proportional-integral-differential curve represents the control effect of the existing control method on the complementary energy storage power generation system, and the distributed auto-disturbance rejection curve represents the control effect of the control method provided by the present invention on the complementary energy storage power generation system. It is easy to see that in the control of the waste heat flue gas temperature of the complementary energy storage power generation system, compared with the proportional-integral-differential curve, the distributed auto-disturbance rejection curve has a better fit with the temperature setting value curve, that is, using the control method provided by the present invention to control the complementary energy storage power generation system can obtain higher stability.

[0074] It should be noted that the observation parameters include the calculation step measurement value, the measurement derivative and the disturbance observation value. The above error feedback control model includes:

[0075]

[0076] Wherein, k represents the calculation step, u(k) represents the second input value, r(k) represents the first output preset value, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, and k p represents the first feedback gain, k d represents the second feedback gain, and b0 represents the first coefficient of the extended state observer.

[0077] Through the error feedback control model, the control end can calculate a more accurate second input value, so as to improve the efficiency of suppressing disturbances, reduce the fluctuation range of the output of the controlled object, and improve stability.

[0078] In addition, the first feedback gain and the second feedback gain need to be obtained by tuning. In the prior art, the first feedback gain and the second feedback gain can be obtained by tuning by exhaustive method, control variable method, etc. In the embodiment of the present invention, the controlled object has a corresponding transfer function, and the transfer parameters include the order of the transfer function, the time constant of the transfer function, and the gain of the transfer function. The first feedback gain and the second feedback gain can be determined by the following first tuning formula:

[0079]

[0080] Among them, ω c represents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the preset setting coefficient, n represents the order of the transfer function of the controlled object, and T represents the time constant of the transfer function.

[0081] Based on the first tuning formula, the control end establishes the relationship between the first feedback gain and the second feedback gain through the tuning coefficient, thereby reducing the number of parameters that need to be tuned, which is beneficial to reducing the complexity of the control method, so that the tuning coefficient can be adjusted in time according to actual needs, so that the control method provided by the embodiment of the present invention can change the calculated second input value in time, so that the first output value of the controlled object is closer to the first output preset value, thereby improving the efficiency of suppressing disturbances and improving stability.

[0082] In addition, the first intermediate quantity specifically refers to the bandwidth of the control end, and the second intermediate quantity specifically refers to the bandwidth of the extended state observer.

[0083] The above observation parameters are calculated by the following first calculation formula:

[0084]

[0085] Among them, k represents the calculation step, h represents the calculation step size, u(k-1) represents the first input value, y(k-1) represents the first output value, b0 represents the first coefficient of the expanded state observer, β1 represents the second coefficient of the expanded state observer, β2 represents the third coefficient of the expanded state observer, β3 represents the fourth coefficient of the expanded state observer, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, z1(k-1) represents the calculation step measurement value of the previous calculation step, z2(k-1) represents the measurement derivative of the previous calculation step, and z3(k-1) represents the disturbance observation value of the previous calculation step.

[0086] In addition, the first coefficient, the second coefficient, the third coefficient and the fourth coefficient need to be obtained by tuning. In the prior art, the first coefficient, the second coefficient, the third coefficient and the fourth coefficient can be obtained by tuning by exhaustive method, control variable method and the like. In the embodiment of the present invention, the first coefficient, the second coefficient, the third coefficient and the fourth coefficient can be determined by the following second tuning formula:

[0087]

[0088] Among them, ω c represents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the preset setting coefficient, n represents the order of the transfer function, T represents the time constant of the transfer function, K represents the gain of the transfer function, a1 represents the first constraint coefficient, and a2 represents the second constraint coefficient.

[0089] Based on the second setting formula, the control end establishes the relationship between the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient through the setting coefficient, thereby reducing the number of parameters that need to be set, which is beneficial to reducing the complexity of the control method, so that the setting coefficient can be adjusted in time according to actual needs, so that the control method provided by the embodiment of the present invention can change the calculated second input value in time, so that the first output value of the controlled object is closer to the first output preset value, thereby improving the efficiency of suppressing disturbances and improving stability.

[0090] In addition, by combining the first tuning formula and the second tuning formula, the control end establishes the relationship between the first feedback gain, the second feedback gain, the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient through the tuning coefficients, reducing the parameters that need to be tuned from 6 to 1, reducing the number of parameters that need to be tuned, and helping to reduce the complexity of the control method.

[0091] According to actual needs, the setting coefficient can range from 2 to 5, for example, the setting coefficient can be set to 2.5, 2.8, 3, 3.5, 3.8, 4 or 4.5. The first constraint coefficient and the second constraint coefficient are used to change the sensitivity of the control method to the controlled object; for different controlled objects, the first constraint coefficient and the second constraint coefficient may not be changed; the first constraint coefficient can range from 209 to 281, for example, 209.6, 239.5, 250, 269 or 280.2, and the second constraint coefficient can range from 139 to 186, for example, 139.1, 140, 159, 170 or 185; in some embodiments, the first constraint coefficient is selected as 239.5 and the second constraint coefficient is selected as 159, so as to improve the sensitivity of the control method to the controlled object.

[0092] It should be noted that, for different controlled objects, it is necessary to adjust the setting coefficient so that the control method can have a better control effect on the controlled object, while the first constraint coefficient and the second constraint coefficient may not be adjusted. That is, under the premise that the first constraint coefficient and the second constraint coefficient do not change, the setting coefficient is adjusted to improve the control effect, which is beneficial to reduce the number of parameters that need to be adjusted, reduce the complexity of the control method, and facilitate the application of the control method.

[0093] Reference Figure 7 The embodiment of the present invention further provides a control device, which includes a configuration unit 110, a first acquisition unit 120, a second acquisition unit 130, a processing unit 140, a calculation unit 150, an updating unit 160 and a returning unit 170; the configuration unit 110 is used to receive and store a preset tuning coefficient and a preset error feedback control model; the first acquisition unit 120 is used to obtain the transfer parameter of the controlled object in response to the start instruction; the second acquisition unit 130 is used to obtain the first output preset value, the first input value of the controlled object and the first output value of the controlled object; the processing unit 140 is used to input the first input value and the first output value into the extended state observer to obtain the observation parameter; the calculation unit 150 is used to calculate the second input value according to the first output preset value, the observation parameter, the transfer parameter, the tuning coefficient and the error feedback control model; the updating unit 160 is used to update the first input value according to the second input value, and output the updated first input value to the controlled object, so that the controlled object updates the first output value; the returning unit 170 is used to return to execute the second acquisition unit 130.

[0094] Figure 3 The contents of the control method embodiment shown in the figure are applicable to the control device embodiment. The functions specifically implemented by the control device embodiment are the same as those in the control method embodiment shown in the figure. Figure 3 The control method embodiment shown is the same as that of Figure 3The beneficial effects achieved by the control method embodiment shown are also the same. That is, Figure 4 The controls shown are Figure 3 The control method shown is based on the same inventive concept, therefore, the control device can also improve the efficiency of suppressing disturbances, reduce the fluctuation range of the output of the controlled object, and help improve stability.

[0095] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above control method when executing the computer program.

[0096] Figure 3 The contents of the control method embodiment shown in the figure are applicable to the electronic device embodiment. The functions specifically implemented by the electronic device embodiment are the same as those in the embodiment of FIG. Figure 3 The control method embodiment shown is the same as that of Figure 3 The beneficial effects achieved by the control method embodiment shown are also the same.

[0097] The embodiment of the present invention further provides a solar power generation system, including a system body and the above-mentioned electronic device, wherein a flow control valve is provided on the system body, and the electronic device is electrically connected to the flow control valve.

[0098] Figure 3 The contents of the control method embodiment shown in the figure are applicable to the embodiment of the solar power generation system. The functions specifically implemented by the embodiment of the solar power generation system are the same as those in the embodiment of the solar power generation system. Figure 3 The control method embodiment shown is the same as that of Figure 3 The beneficial effects achieved by the control method embodiment shown are also the same.

[0099] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the above-mentioned control method is implemented.

[0100] Figure 3 The contents of the control method embodiment shown in the figure are applicable to the computer-readable storage medium embodiment. The functions specifically implemented by the computer-readable storage medium embodiment are similar to those of Figure 3 The control method embodiment shown is the same as that of Figure 3 The beneficial effects achieved by the control method embodiment shown are also the same.

[0101] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be presented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of units is only a division of a logical function, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0102] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0103] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a computer software product, which is stored in a computer-readable storage medium and includes a number of computer-executable instructions for enabling a computer (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The above-mentioned computer-readable storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0104] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A control method for a solar-fossil fuel complementary energy storage power generation system, characterized in that: The following steps are involved: In response to the start instruction, acquiring the transfer parameters of the controlled object; Acquire a first input value of the controlled object and a first output value of the controlled object; Inputting the first input value and the first output value into an extended state observer to obtain an observation parameter; Obtaining a first output preset value of the controlled object, calculating a second input value according to the first output preset value, the observation parameter, the transfer parameter, a preset setting coefficient and a preset error feedback control model, and then updating the second input value to the cobalt flow rate of the current calculation step; updating the first input value according to the second input value; Outputting the updated first input value to the controlled object, obtaining the first output value updated by the controlled object according to the updated first input value, and returning to execute the step of inputting the first input value and the first output value into an extended state observer to obtain an observation parameter; The observation parameters include calculation step measurement values, measurement derivatives and disturbance observation values, and the error feedback control model includes: Wherein, k represents the calculation step, u(k) represents the second input value, r(k) represents the first output preset value, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, k p represents the first feedback gain, k d represents the second feedback gain, b0 represents the first coefficient of the extended state observer; The observation parameter is calculated by the following first calculation formula: Wherein, k represents the calculation step, h represents the calculation step length, u(k-1) represents the first input value, y(k-1) represents the first output value, b0 represents the first coefficient of the extended state observer, β1 represents the second coefficient of the extended state observer, β2 represents the third coefficient of the extended state observer, β3 represents the fourth coefficient of the extended state observer, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, z1(k-1) represents the calculation step measurement value of the previous calculation step, z2(k-1) represents the measurement derivative of the previous calculation step, and z3(k-1) represents the disturbance observation value of the previous calculation step; The first input value and the first output value have the following corresponding relationship: When the first input value adopts the cobalt flow rate, the first output value adopts the electric power; When the first input value adopts the air flow rate, the first output value adopts the waste heat flue gas temperature.

2. The control method according to claim 1, characterized in that: The transfer parameter includes the order of the transfer function of the controlled object and the time constant of the transfer function of the controlled object. The first feedback gain and the second feedback gain are determined by the following first tuning formula: Among them, ω c represents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the setting coefficient, n represents the order of the transfer function, and T represents the time constant of the transfer function.

3. The control method according to claim 1, characterized in that: The transfer parameters include the order of the transfer function of the controlled object, the time constant of the transfer function of the controlled object and the gain of the transfer function of the controlled object. The first coefficient, the second coefficient, the third coefficient and the fourth coefficient are determined by the following second tuning formula: Among them, ω c represents the first intermediate quantity, ω0 represents the second intermediate quantity, δ represents the setting coefficient, n represents the order of the transfer function, T represents the time constant of the transfer function, K represents the gain of the transfer function, a1 represents the first constraint coefficient, and a2 represents the second constraint coefficient.

4. A control device for a solar-fossil fuel complementary energy storage power generation system, characterized in that: include: A configuration unit, the configuration unit is used to receive and store a preset tuning coefficient and a preset error feedback control model; a first acquisition unit, the first acquisition unit being used to acquire a transfer parameter of a controlled object in response to a start instruction; a second acquisition unit, the second acquisition unit being used to acquire a first output preset value, a first input value of the controlled object, and a first output value of the controlled object; a processing unit, wherein the processing unit is used to input the first input value and the first output value into an extended state observer to obtain an observation parameter; a calculation unit, the calculation unit being used to calculate a second input value according to the first output preset value, the observation parameter, the transfer parameter, the setting coefficient and the error feedback control model, and then update the second input value to the cobalt flow rate of the current calculation step; an updating unit, the updating unit being configured to update the first input value according to the second input value, and output the updated first input value to the controlled object, so that the controlled object updates the first output value; a returning unit, the returning unit being used to return to execute the second acquiring unit; The observation parameters include calculation step measurement values, measurement derivatives and disturbance observation values, and the error feedback control model includes: Wherein, k represents the calculation step, u(k) represents the second input value, r(k) represents the first output preset value, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, k p represents the first feedback gain, k d represents the second feedback gain, b0 represents the first coefficient of the extended state observer; The observation parameter is calculated by the following first calculation formula: Wherein, k represents the calculation step, h represents the calculation step length, u(k-1) represents the first input value, y(k-1) represents the first output value, b0 represents the first coefficient of the extended state observer, β1 represents the second coefficient of the extended state observer, β2 represents the third coefficient of the extended state observer, β3 represents the fourth coefficient of the extended state observer, z1(k) represents the calculation step measurement value, z2(k) represents the measurement derivative, z3(k) represents the disturbance observation value, z1(k-1) represents the calculation step measurement value of the previous calculation step, z2(k-1) represents the measurement derivative of the previous calculation step, and z3(k-1) represents the disturbance observation value of the previous calculation step; The first input value and the first output value have the following corresponding relationship: When the first input value adopts the cobalt flow rate, the first output value adopts the electric power; When the first input value adopts the air flow rate, the first output value adopts the waste heat flue gas temperature.

5. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the control method according to any one of claims 1 to 3 when executing the computer program.

6. A solar power generation system, characterized in that: It comprises a system body and the electronic device as claimed in claim 5, wherein the system body is provided with a flow control valve, and the electronic device is electrically connected to the flow control valve.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the control method according to any one of claims 1 to 3 is implemented.

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