A wave power generator and coordinated control method and device thereof

Abstract

The present invention discloses a wave power generator and a coordinated control method and device thereof. Based on acquired historical operating data and real-time collected electrical and physical signals, predicted operating data for the wave power generator at the next moment is calculated. Based on the predicted operating data, the operating mode of each subunit is adjusted. Operating conditions of each subunit are simulated using the generated first adjustment control instructions corresponding to each subunit to obtain simulated operating data of the wave power generator. A determination is made as to whether the error between the simulated operating data and the predicted operating data is within a preset error threshold. If not, the electrical and physical signals of each subunit are recollected, and the predicted operating data for the wave power generator at the next moment is recalculated. If so, the operating modes of each subunit are adjusted based on the first adjustment control instructions, enabling coordinated control of the wave power generator under different operating conditions, thereby improving the power supply reliability of the wave power generator and the quality of grid-connected power.

Description

Technical Field

[0001] The present invention relates to the technical field of wave power generation systems, and in particular to a wave power generator and a coordinated control method and device thereof. Background Art

[0002] At present, the energy conversion system of wave power generators mainly consists of wave energy capture, hydraulic energy conversion, and electrical energy conversion. The various parts of the wave power generator energy conversion system are physically coupled and connected, and coordinate with each other to achieve multi-level energy conversion of "wave energy-hydraulic energy-electrical energy" and final power supply; the control system is the core part of the wave power generator energy conversion. At present, the various links of the wave power generator energy conversion system are independently controlled and lack coordination and cooperation with each other. The entire energy conversion path is an open-loop control method, resulting in poor power generation effect, poor operating stability, and difficulty in providing reliable power supply.

[0003] Most of the existing coordinated control technologies for wave power generation currently ignore the front-end wave capture and hydraulic energy conversion process. Their energy conversion path is an open-loop control method, and the degree of coupling between the various energy conversion units is not high, resulting in certain limitations in the stable operation of wave power generators under complex wave conditions. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a wave power generator and a coordinated control method and device thereof, so as to realize coordinated control of the wave power generator under different working conditions and further improve the power supply stability of the wave power generator.

[0005] In order to solve the above technical problems, the present invention provides a coordinated control method for a wave power generator, comprising:

[0006] Real-time collection of electrical and physical signals from each subunit of the wave power generator at the current moment, wherein each subunit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, and a grid-connected inverter unit;

[0007] Obtaining and calculating predicted operating data of the wave power generator at a next moment based on historical operating data of the wave power generator, the electrical signal, and the physical signal, adjusting the operating mode of each subunit based on the predicted operating data, and generating a first adjustment control instruction corresponding to each subunit;

[0008] An operating condition simulation is performed on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave generator. It is determined whether an error between the simulated operating data and the predicted operating data is within a preset error threshold. If not, the electrical signals and physical signals of each subunit of the wave generator at the current moment are recollected, and the process returns to the step of obtaining and calculating predicted operating data of the wave generator at a next moment based on the historical operating data of the wave generator, the electrical signals, and the physical signals. If so, the operating mode of each subunit of the wave generator is adjusted according to the first adjustment control instruction.

[0009] In a possible implementation, calculating predicted operating data of the wave power generator at a next moment based on the historical operating data of the wave power generator, the electrical signal, and the physical signal specifically includes:

[0010] Calculating the collected electrical signals and physical signals according to a power calculation formula to obtain the output power of the first hydraulic power generation and rectification unit and the load power consumption of the first grid-connected inverter unit at the current moment, wherein the electrical signals include the first DC bus voltage, the first generator output voltage and current signals, and the first grid-connected inverter unit load voltage and current signals, and the physical signals include the first accumulator pressure;

[0011] Historical operating data of the wave power generator is obtained, and the historical operating data, the output power of the first hydraulic generating and rectifying unit, and the load power consumption of the first grid-connected inverter unit are called according to an artificial neural network algorithm to obtain predicted operating data of the wave power generator at a next moment, wherein the predicted operating data includes the output power of the second hydraulic generating and rectifying unit, the load power consumption of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure.

[0012] In a possible implementation, adjusting the operating mode of each subunit according to the predicted operating data and generating a first adjustment control instruction corresponding to each subunit specifically includes:

[0013] Predicting the operating mode of each subunit at a next moment according to the predicted operating data, and obtaining the predicted operating mode corresponding to each subunit;

[0014] The current working mode is adjusted according to the predicted working mode, and a first adjustment control instruction corresponding to each subunit is generated.

[0015] In one possible implementation, predicting the operating mode of each subunit at the next moment based on the predicted operating data to obtain the predicted operating mode corresponding to each subunit specifically includes:

[0016] Setting the second accumulator pressure as the priority judgment signal, and simultaneously obtaining the hydraulic motor solenoid valve opening pressure and the accumulator limit pressure;

[0017] When the pressure of the second accumulator is less than the opening pressure of the hydraulic motor solenoid valve, it is predicted that the working mode of the wave power generator is a standby energy storage mode;

[0018] When the pressure of the second accumulator is not less than the opening pressure of the hydraulic motor solenoid valve, predicting that the working mode of the wave power generator is the power generation mode;

[0019] When the second accumulator pressure is not less than the accumulator limit pressure, it is predicted that the operating mode of the hydraulic power generation and rectification unit is a voltage source mode, and it is predicted that the operating mode of the grid-connected inverter unit is a current source mode.

[0020] The embodiment of the present invention further provides a coordinated control device for a wave power generator, comprising: a monitoring module, an optimization calculation module, a working condition simulation verification module, and a unit control module;

[0021] The monitoring module is used to collect the electrical and physical signals of each sub-unit of the wave power generator in real time, wherein each sub-unit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit and a grid-connected inverter unit;

[0022] The optimization calculation module is configured to calculate predicted operation data of the wave power generator at a next moment based on the historical operation data of the wave power generator, the electrical signal, and the physical signal, and to adjust the operation mode of each subunit based on the predicted operation data, thereby generating a first adjustment control instruction corresponding to each subunit;

[0023] The operating condition simulation verification module is used to perform operating condition simulation on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave power generator;

[0024] The operating condition simulation verification module is further configured to determine whether the error between the simulated operating data and the predicted operating data is within a threshold range; if not, to control the monitoring module to re-collect the electrical and physical signals of each subunit of the wave power generator at the current moment, and to generate a repeat optimization calculation instruction and a repeat operating condition simulation verification instruction; if yes, to execute the unit control module;

[0025] The unit control module is configured to adjust the operating mode of each subunit of the wave power generator according to the first adjustment control instruction;

[0026] The optimization calculation module is further configured to respond to the repeated optimization calculation instruction;

[0027] The operating condition simulation verification module is further configured to respond to the repeated operating condition simulation verification instruction.

[0028] The coordinated control device for a wave power generator provided by an embodiment of the present invention further includes: a human-computer interaction module;

[0029] The human-computer interaction module is used to display in real time the collected electrical signals and physical signals of each subunit of the wave power generator at the current moment.

[0030] In a possible implementation, the optimization calculation module is configured to calculate predicted operation data of the wave power generator at a next moment based on the historical operation data of the wave power generator, the electrical signal, and the physical signal, specifically including:

[0031] Calculating the collected electrical signals and physical signals according to a power calculation formula to obtain the output power of the first hydraulic power generation and rectification unit and the load power consumption of the first grid-connected inverter unit at the current moment, wherein the electrical signals include the first DC bus voltage, the first generator output voltage and current signals, and the first grid-connected inverter unit load voltage and current signals, and the physical signals include the first accumulator pressure;

[0032] Historical operating data of the wave power generator is obtained, and the historical operating data, the output power of the first hydraulic generating and rectifying unit, and the load power consumption of the first grid-connected inverter unit are called according to an artificial neural network algorithm to obtain predicted operating data of the wave power generator at a next moment, wherein the predicted operating data includes the output power of the second hydraulic generating and rectifying unit, the load power consumption of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure.

[0033] In one possible implementation, the optimization calculation module is configured to adjust the working mode of each subunit according to the predicted operation data and generate a first adjustment control instruction corresponding to each subunit, specifically including:

[0034] Predicting the operating mode of each subunit at a next moment according to the predicted operating data, and obtaining the predicted operating mode corresponding to each subunit;

[0035] The current working mode is adjusted according to the predicted working mode, and a first adjustment control instruction corresponding to each subunit is generated.

[0036] In one possible implementation, the optimization calculation module is configured to predict the operating mode of each subunit at the next moment based on the predicted operating data, and obtain the predicted operating mode corresponding to each subunit, specifically including:

[0037] Setting the second accumulator pressure as the priority judgment signal, and simultaneously obtaining the hydraulic motor solenoid valve opening pressure and the accumulator limit pressure;

[0038] When the pressure of the second accumulator is less than the opening pressure of the hydraulic motor solenoid valve, it is predicted that the working mode of the wave power generator is a standby energy storage mode;

[0039] When the pressure of the second accumulator is not less than the opening pressure of the hydraulic motor solenoid valve, predicting that the working mode of the wave power generator is the power generation mode;

[0040] When the second accumulator pressure is not less than the accumulator limit pressure, it is predicted that the operating mode of the hydraulic power generation and rectification unit is a voltage source mode, and it is predicted that the operating mode of the grid-connected inverter unit is a current source mode.

[0041] An embodiment of the present invention further provides a wave power generator, comprising the above-mentioned coordinated control device for a wave power generator, and further comprising a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, a grid-connected inverter unit, and a DC bus;

[0042] Wherein, the hydraulic autonomous control unit includes a hydraulic autonomous controller, a solenoid valve, an accumulator, a relief valve and a first hydraulic motor;

[0043] The hydraulic power generation and rectification unit includes a power generation and rectification controller, a generator, an AC / DC rectifier and a second hydraulic motor;

[0044] The grid-connected inverter unit includes a grid-connected inverter controller, a DC / AC inverter and a grid-connected point.

[0045] The wave power generator and its coordinated control method and device according to the embodiment of the present invention have the following advantages compared with the prior art:

[0046] The method collects electrical and physical signals of each subunit of the wave power generator at the current moment in real time and obtains historical operating data of the wave power generator. Based on the historical operating data, the electrical and physical signals, predicted operating data of the wave power generator at the next moment is calculated. The operating mode of each subunit is adjusted according to the predicted operating data, and a first adjustment control instruction corresponding to each subunit is generated. An operating condition simulation is performed on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave power generator. It is determined whether an error between the simulated operating data and the predicted operating data is within a preset error threshold. If not, the electrical and physical signals of each subunit of the wave power generator at the current moment are recollected, and the predicted operating data of the wave power generator at the next moment is calculated again based on the historical operating data, the electrical and physical signals. If so, the operating mode of each subunit of the wave power generator is adjusted according to the first adjustment control instruction, so that the wave power generator can be coordinated and controlled under different operating conditions, thereby improving the power supply reliability and grid-connected power quality of the wave power generator. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a flow chart of an embodiment of a coordinated control method for a wave power generator provided by the present invention;

[0048] Figure 2 This is a schematic structural diagram of an embodiment of a coordinated control device for a wave power generator provided by the present invention;

[0049] Figure 3 This is a structural schematic diagram of an embodiment of a wave power generator provided by the present invention;

[0050] Figure 4 This is a schematic diagram of the overall structure of an embodiment of a coordinated control device for a wave power generator provided by the present invention;

[0051] Figure 5 The figure is a schematic diagram of the overall structure and system energy flow path of an embodiment of a wave power generator provided by the present invention. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0053] Example 1

[0054] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a coordinated control method for a wave power generator provided by the present invention. Figure 1 As shown, the method includes steps 101 to 104, which are specifically as follows:

[0055] Step 101: collecting electrical and physical signals of each subunit of the wave power generator at the current moment in real time, wherein each subunit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, and a grid-connected inverter unit.

[0056] In one embodiment, a monitoring module is installed at the outlet of each subunit of the wave power generator, and the electrical and physical signals of each subunit at the current moment are collected in real time by the monitoring module.

[0057] In one embodiment, the subunits of the wave power generator include a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, and a grid-connected inverter unit.

[0058] In one embodiment, the electrical signals of each subunit include the first DC bus voltage, the first generator output voltage and current signals, and the first grid-connected inverter unit load voltage and current signals; the physical signals of each subunit include the control switch state and the real-time pressure of the first accumulator.

[0059] In one embodiment, the monitoring module uploads the electrical signals and physical signals of each subunit collected in real time to the optimization calculation module, and displays the collected electrical signals and physical signals in real time through the human-computer interaction module.

[0060] Step 102: Obtain and calculate predicted operating data of the wave power generator at the next moment based on the historical operating data of the wave power generator, the electrical signal, and the physical signal; adjust the operating mode of each subunit based on the predicted operating data, and generate a first adjustment control instruction corresponding to each subunit.

[0061] In one embodiment, after receiving the electrical signals and physical signals of each subunit collected in real time by the monitoring module, the optimization calculation module optimizes and calculates the collected electrical signals and physical signals through the algorithm built into the optimization calculation module to obtain the output power P of the first hydraulic power generation and rectification unit at the current moment. wave and the first grid-connected inverter unit load consumption power P load , where the built-in algorithm is a general power calculation formula.

[0062] In one embodiment, the optimization calculation module further obtains historical operating data of the wave power generator, wherein the historical operating data includes historical electrical signals, historical physical signals, historical hydraulic power generation rectifier unit output power, and historical grid-connected inverter unit load consumption power of each subunit corresponding to each historical moment before the current moment.

[0063] In one embodiment, a first wave power generator operation data prediction model is constructed based on an artificial neural network algorithm. The first wave power generator operation data prediction model is trained based on the acquired historical operation data to obtain a second wave power generator operation data prediction model. The calculated output power P of the first hydraulic power generation rectifier unit is converted into wave and the first grid-connected inverter unit load consumption power P load Input to the second wave power generator operation data prediction model, so that the second wave power generator operation data prediction model outputs the predicted operation data of the wave power generator at the next moment, wherein the predicted operation data includes the output power P' of the second hydraulic power generation rectifier unit wave , the load power consumption of the second grid-connected inverter unit P' load , the second DC bus voltage u′ dc and the second accumulator pressure p′ acc .

[0064] In one embodiment, the working mode of each subunit at the next moment is predicted based on the predicted operation data, the predicted working mode corresponding to each subunit is obtained, and the working mode at the current moment is adjusted according to the predicted working mode; specifically, by setting the second accumulator pressure p′ acc In order to prioritize the judgment signal and obtain the hydraulic motor solenoid valve opening pressure and accumulator limit pressure, according to the predicted output power P' of the second power generation and rectification unit wave , the load power consumption of the second grid-connected inverter unit P' load The working mode of each subunit is adjusted according to the energy supply and demand balance between them.

[0065] In one embodiment, according to the predicted output power P′ of the second power generation and rectification unit wave , the load power consumption of the second grid-connected inverter unit P' load The energy supply and demand balance relationship between the two, the wave generator can work in the following modes:

[0066] Working mode 1: If the pressure of the second accumulator is less than the opening pressure p' of the hydraulic motor solenoid valve acc <p open , that is, the accumulator outlet pressure cannot reach the hydraulic motor solenoid valve opening pressure, and it is predicted that the working mode of the wave power generator is the standby energy storage mode;

[0067] Working mode 2: When the pressure of the second accumulator is not less than the opening pressure p' of the hydraulic motor solenoid valve acc ≥p open , that is, the accumulator outlet pressure reaches the opening pressure, the hydraulic autonomous controller controls the hydraulic motor solenoid valve to open, and it is predicted that the working mode of the wave power generator is the power generation mode.

[0068] Working mode 2.1: If P′ wave >P′ load , then the power generation of the wave generator is greater than the load consumption power of the second grid-connected inverter unit. At this time, according to the predicted second DC bus voltage u′ dc , through the power generation rectifier controller and the hydraulic autonomous controller, the hydraulic power generation rectifier unit converter and the overflow valve working mode are adjusted in real time, so that the overall power demand of the wave power generator reaches the output power P' of the second hydraulic power generation rectifier unit wave and the load consumption power P′ of the second grid-connected inverter unit load The equilibrium state, that is, P′ wave =P′ load .

[0069] Specifically, the grid-connected controller adjusts the DC / AC inverter of the grid-connected inverter unit to operate in the current source mode, injects current (power) into the AC bus, and controls the voltage stability of the second DC bus and provides voltage and frequency support for the AC bus; the working mode of the AC / DC rectifier in the hydraulic power generation rectifier unit is determined by the second DC bus voltage u′ dc Determined by, when the second DC bus voltage u′ dc When the hydraulic power generation rectifier unit is below the warning threshold, it works in the current source mode and is connected to the intermediate DC bus in the form of a current source. dc When the threshold is exceeded, the hydraulic generator rectifier unit is adjusted to the voltage source mode, and the opening of the overflow valve is adjusted to reduce the accumulator outlet pressure to assist in completing the voltage stabilization control of the DC bus.

[0070] Working mode 2.2: If P′ wave <P′ load , then the power generated by the hydraulic generator rectifier unit of the wave power generator is less than the load demand power. At this time, part of the grid-connected load should be cut off according to the priority order of the load units to make the overall power demand of the wave power generator reach P' as much as possible. wave =P′ load The device can maintain a certain power transmission capacity and avoid entering an island operation mode.

[0071] Specifically, the AC / DC rectifier of the hydraulic power generation rectifier unit is adjusted to operate in current source mode through the power generation rectifier controller, and maximum power tracking control is performed. It is connected to the intermediate DC bus in the form of a current source, and at the same time, part of the grid-connected load is cut off according to the priority order of the load units; the DC / AC inverter in the grid-connected inverter unit is adjusted to operate in current source mode through the grid-connected inverter controller, and current (power) is injected into the AC bus. At the same time, the voltage of the intermediate DC bus is controlled to be stable, and voltage and frequency support is provided for the AC bus.

[0072] Working mode 2.3: If the power generated by the hydraulic generating rectifier unit is still less than the load demand power after the above adjustment, it means that the wave power generator has lost the ability to transmit electricity. At this time, the grid load users should be completely cut off, and only the ship's power load unit should be retained. The wave power generator enters the island operation mode, and the AC / DC rectifier in the hydraulic generating rectifier unit is adjusted to work in the current source mode through the power generation rectifier controller, and the maximum power tracking control is performed. It is connected to the intermediate DC bus in the form of a current source; the DC / AC inverter in the grid-connected inverter unit is stopped through the grid-connected inverter controller.

[0073] Working mode 3: If the second accumulator pressure is not less than the accumulator limit pressure p' acc ≥p limit , the accumulator outlet pressure rises to the accumulator limit pressure, that is, reaches the overflow valve opening pressure. At this time, the hydraulic autonomous controller fully opens the overflow valve for rapid diversion to reduce the accumulator pressure value. At the same time, the power generation rectifier controller adjusts the working mode of the hydraulic power generation rectifier unit, and the grid-connected inverter controller adjusts the working mode of the grid-connected inverter unit. It is predicted that the working mode of the hydraulic power generation rectifier unit is voltage source mode, and the working mode of the grid-connected inverter unit is current source mode.

[0074] In one embodiment, after determining the predicted working mode by predicting the operating data, the working mode at the current moment is adjusted according to the predicted working mode, and a first adjustment control instruction corresponding to each sub-unit is generated, wherein the first adjustment control instruction includes the solenoid valve opening signal and the overflow valve opening signal in the hydraulic autonomous control unit; the AC / DC rectifier IGBT trigger pulse signal in the hydraulic power generation rectifier unit, and the DC / AC inverter IGBT trigger pulse signal in the grid-connected inverter unit and other control instructions.

[0075] In one embodiment, the optimization calculation module transmits the obtained first adjustment control instruction to the working condition simulation verification module, so that the working condition simulation verification module performs simulation verification according to the first adjustment control instruction.

[0076] Step 103: Simulate the operating conditions of each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave generator. Determine whether the error between the simulated operating data and the predicted operating data is within a preset error threshold. If not, re-collect the electrical signals and physical signals of each subunit of the wave generator at the current moment, and return to step 103: obtain and calculate the predicted operating data of the wave generator at the next moment based on the historical operating data of the wave generator, the electrical signals, and the physical signals. If so, adjust the operating mode of each subunit of the wave generator according to the first adjustment control instruction.

[0077] In one embodiment, when the operating conditions of the subunits are simulated according to the first adjustment control instruction, the simulated operating data of each subunit under the corresponding first adjustment control instruction is obtained through measuring elements such as pressure gauges, voltage and current meters connected to the outlets of each subunit, wherein the simulated operating data includes: the output power of the third hydraulic power generation and rectification unit, the load consumption power of the third grid-connected inverter unit, the third DC bus voltage and the third accumulator pressure.

[0078] In one embodiment, the predicted operating data obtained in step 102 is compared with the simulated operating data, that is, the output power of the second hydraulic generating and rectifying unit, the load consumption power of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure are compared with the output power of the third hydraulic generating and rectifying unit, the load consumption power of the third grid-connected inverter unit, the third DC bus voltage, and the third accumulator pressure, and the parameter error corresponding to each parameter is calculated to obtain the error between the simulated operating data and the predicted operating data.

[0079] In one embodiment, if the error between the simulated operating data and the predicted operating data is not within a preset error threshold, it is determined that the obtained first adjustment control instruction cannot enable the wave power generator to operate smoothly under different operating conditions. Therefore, it is necessary to reacquire the electrical and physical signals of each subunit of the wave power generator at the current moment. Based on the reacquired electrical and physical signals, the process returns to step 102 to recalculate the predicted operating data of the wave power generator at the next moment. Based on the predicted operating data, the operating mode of each subunit is adjusted to generate the first adjustment control instruction corresponding to each subunit. This process continues until the simulated operating data and the predicted operating data are identical, or the error between the simulated operating data and the predicted operating data is within a preset error threshold.

[0080] In one embodiment, if the simulated operating data is identical to the predicted operating data, or if the error between the simulated operating data and the predicted operating data is within a preset error threshold, a first adjustment control instruction is directly issued to the unit control module, so that the unit control module adjusts the operating mode of each subunit of the wave power generator according to the first adjustment control instruction.

[0081] Specifically, the unit control module controls the hydraulic autonomous controller, the power generation rectifier controller and the grid-connected inverter controller to respond to the first adjustment control instruction, so as to change the working modes of the solenoid valve, the relief valve, the AC / DC rectifier and the DC / AC inverter in real time to achieve the smooth operation of the wave power generator under different working conditions.

[0082] Example 2

[0083] See also Figure 2 , Figure 2 FIG. 1 is a structural diagram of an embodiment of a coordinated control device for a wave power generator provided by the present invention. Figure 2 As shown, the device includes a monitoring module 201, an optimization calculation module 202, a working condition simulation verification module 203 and a unit control module 204, which are specifically as follows:

[0084] The monitoring module 201 is used to collect electrical and physical signals of each subunit of the wave power generator at the current moment in real time, wherein each subunit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit and a grid-connected inverter unit.

[0085] The optimization calculation module 202 is configured to calculate predicted operation data of the wave generator at a next moment based on the historical operation data of the wave generator, the electrical signal, and the physical signal, and to adjust the operating mode of each subunit based on the predicted operation data, thereby generating a first adjustment control instruction corresponding to each subunit.

[0086] The operating condition simulation verification module 203 is configured to perform operating condition simulation on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave power generator.

[0087] The operating condition simulation verification module 203 is further configured to determine whether the error between the simulated operating data and the predicted operating data is within a threshold range. If not, the monitoring module is controlled to re-collect the electrical and physical signals of each subunit of the wave power generator at the current moment, and to generate a repeat optimization calculation instruction and a repeat operating condition simulation verification instruction. If so, the unit control module is executed.

[0088] The unit control module 204 is configured to adjust the operating mode of each subunit of the wave power generator according to the first adjustment control instruction;

[0089] The optimization calculation module 202 is further configured to respond to the repeated optimization calculation instruction;

[0090] The operating condition simulation verification module 203 is further configured to respond to the repeated operating condition simulation verification instruction.

[0091] In one embodiment, the coordinated control device for a wave power generator provided by the present invention further includes: a human-computer interaction module 205, wherein the human-computer interaction module 205 is used to display in real time the collected electrical signals and physical signals of each subunit of the wave power generator at the current moment.

[0092] In one embodiment, the optimization calculation module 202 is configured to calculate predicted operation data of the wave power generator at a next moment based on the historical operation data of the wave power generator, the electrical signal, and the physical signal. Specifically, the collected electrical signal and physical signal are calculated according to a power calculation formula to obtain the output power of the first hydraulic power generation and rectification unit and the load power consumption of the first grid-connected inverter unit at the current moment, wherein the electrical signal includes the first DC bus voltage, the output voltage and current signal of the first generator, and the load voltage and current signal of the first grid-connected inverter unit, and the physical signal includes the first accumulator pressure. The historical operation data of the wave power generator is obtained, and the historical operation data, the output power of the first hydraulic power generation and rectification unit, and the load power consumption of the first grid-connected inverter unit are called according to an artificial neural network algorithm to obtain predicted operation data of the wave power generator at a next moment, wherein the predicted operation data includes the output power of the second hydraulic power generation and rectification unit, the load power consumption of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure.

[0093] In one embodiment, the optimization calculation module 202 is used to adjust the working mode of each sub-unit according to the predicted operation data, and generate a first adjustment control instruction corresponding to each sub-unit; specifically, based on the predicted operation data, the working mode of each sub-unit at the next moment is predicted to obtain the predicted working mode corresponding to each sub-unit; according to the predicted working mode, the working mode at the current moment is adjusted to generate the first adjustment control instruction corresponding to each sub-unit.

[0094] In one embodiment, the optimization calculation module 202 is configured to predict the operating mode of each subunit at the next moment based on the predicted operating data, and obtain the predicted operating mode corresponding to each subunit; specifically, the second accumulator pressure is set as the priority judgment signal, and the hydraulic motor solenoid valve opening pressure and the accumulator limit pressure are obtained at the same time; when the second accumulator pressure is less than the hydraulic motor solenoid valve opening pressure, the operating mode of the wave power generator is predicted to be the standby energy storage mode; when the second accumulator pressure is not less than the hydraulic motor solenoid valve opening pressure, the operating mode of the wave power generator is predicted to be the power generation mode; when the second accumulator pressure is not less than the accumulator limit pressure, the operating mode of the hydraulic power generation rectifier unit is predicted to be the voltage source mode, and the operating mode of the grid-connected inverter unit is predicted to be the current source mode.

[0095] In one embodiment, the optimization calculation module 202 is respectively connected to the human-computer interaction module 205, the working condition simulation verification module 203, the unit control module 204 and the monitoring module 201. The monitoring module 201 is connected to the working condition simulation verification module 203. The unit control module 204 is used to control the hydraulic autonomous controller, the power generation rectifier controller and the grid-connected inverter controller in the wave power generator, and the monitoring module 201 is respectively connected to the hydraulic autonomous controller, the power generation rectifier controller and the grid-connected inverter controller in the secondary equipment layer of the wave power generator. The overall structural diagram of the coordinated control device of the wave power generator is as follows: Figure 4 shown.

[0096] In one embodiment, the optimization calculation module 202 is configured with a high-performance processor and has fast and efficient computing capabilities to meet the operation and calculation of various objective functions with high requirements on computing amount and computing speed, specifically including external wave condition simulation calculation, wave energy capture and energy conversion calculation, power generation unit power prediction and grid-connected unit load prediction.

[0097] The optimization calculation module 202 has the function of exchanging information with the working condition simulation verification module 203, the unit control module 204, the monitoring module 201 and the human-computer interaction module 205. According to the electrical signals and physical signals collected and uploaded by the monitoring module 201, the first adjustment control instructions corresponding to the hydraulic autonomous control unit, the hydraulic power generation rectification control unit and the grid-connected inverter control unit are calculated through the built-in optimization algorithm, and the calculated first adjustment control instructions are passed to the working condition simulation verification module 203 for online simulation verification. Finally, the simulation operation data fed back by the working condition simulation verification module 203 is compared and analyzed with the predicted operation data. If the simulation operation data is consistent with the predicted operation data, or is within the preset error threshold range, the first adjustment control instruction is directly sent to the unit control module 204 for instruction distribution. If there is a large error in the result, the first adjustment control instruction is optimized and calculated again, and the simulation verification is repeated until the expected result is achieved.

[0098] In one embodiment, the operating condition simulation verification module 203 is responsible for performing an operating condition simulation on the first adjustment control instruction calculated by the optimization calculation module 202, and feeding the simulated operation data back to the optimization calculation module 202 for comparative analysis, thereby verifying and correcting the feasibility of the first adjustment control instruction. In terms of functional configuration, the operating condition simulation verification module 203 has the functions of simulating wave energy capture and energy conversion, and simulating the operating process of the power conversion system.

[0099] In one embodiment, the wave energy capture and energy conversion simulation function specifically includes external wave condition simulation and hydraulic cylinder energy conversion process simulation. It can simulate the hydraulic cylinder pump outflow, hydraulic motor displacement and accumulator real-time pressure in real time according to the wave condition simulation signal, and realize the switching control of the overflow valve and the hydraulic motor solenoid valve.

[0100] In one embodiment, the working process simulation function of the electric energy conversion system specifically includes the working process simulation of the hydraulic power generation rectifier unit and the grid-connected inverter unit, which can simulate the operating conditions of the system under stable operation, abnormality or failure, and realize the sequential startup process, sequential shutdown process and mode switching process of each sub-unit.

[0101] In one embodiment, the unit control module 204 has the function of exchanging information with the hydraulic autonomous controller, power generation rectifier controller, and grid-connected inverter controller of the secondary equipment layer of the wave power generator, receives the first adjustment control instruction issued by the upper-layer optimization calculation module 202 and distributes it to the controller corresponding to each sub-unit, and realizes the start and stop control, parameter configuration, safety and protection of the hydraulic autonomous control unit, hydraulic power generation rectifier unit, and grid-connected inverter unit through the hydraulic autonomous controller, power generation rectifier controller, and grid-connected inverter controller.

[0102] In one embodiment, the unit control module 204 has a digital input function, a digital output function, an SOE function and a clock synchronization function, wherein the digital input function supports the status acquisition of the overflow valve, solenoid valve, control switch, etc., the digital output function supports the control instructions of the overflow valve, solenoid valve, control switch, etc., the SOE function supports recording the event sequence when the system status changes, such as when the system fails, and can continuously record the fault data signal for a period of time before and after the fault when the equipment operates abnormally; the clock synchronization function is used to receive the synchronous clock signal and keep it consistent with the system time.

[0103] In one embodiment, in terms of control strategy design, preferably, the hydraulic autonomous controller realizes the start and stop control of the hydraulic motor through a solenoid valve and realizes auxiliary stable control of the accumulator pressure and the DC bus voltage through a relief valve. When the accumulator outlet pressure reaches the solenoid valve opening pressure, the solenoid valve opens and the hydraulic motor starts to rotate. When the accumulator outlet pressure reaches the solenoid valve closing pressure, the solenoid valve closes and the hydraulic motor stops working. At the same time, when the accumulator pressure and the DC bus voltage exceed the limit, the relief valve adjusts the valve opening to realize auxiliary control; the hydraulic power generation rectifier unit AC / DC rectifier adopts a two-level voltage source converter based on IGBT, which adopts a speed outer loop and current inner loop dual closed-loop control strategy based on the optimal pressure-speed curve; the grid-connected inverter unit DC / AC inverter also adopts a two-level voltage source converter based on IGBT, and adopts a voltage outer loop and current inner loop dual closed-loop control strategy based on grid voltage-oriented vector control.

[0104] In one embodiment, the unit monitoring module 201 is used to collect electrical and physical signals from the outlet of each sub-unit, specifically including electrical signals such as real-time voltage, current, and frequency, as well as physical signals such as control switch status and accumulator pressure, and sends the collected signals to the optimization calculation module 202 for information processing, and displays them in real time through the human-computer interaction module 205.

[0105] In one embodiment, the human-computer interaction module 205 is configured with a screen, a keyboard, a large-capacity data storage device, and a mouse, and has a human-computer interface and information exchange functions with the monitoring module 201, the optimization calculation module 202, and the working condition simulation verification module 203. It supports real-time display of the operating status, alarm information, predicted operating data predicted by the optimization calculation module, and verification results of the working condition simulation verification module of each subunit and device in the wave power generator through the screen, and stores the above information as historical data in the configured large-capacity data storage device. In addition, the large-capacity data storage device can continuously record fault data signals for a period of time before and after the fault when the equipment operates abnormally, so that the optimization calculation module 202 can compare and analyze various operating results to achieve early warning of faults; and supports the configuration and real-time modification of system parameters such as system operating parameters, system operating mode, and abnormal status through the keyboard and mouse.

[0106] In this embodiment, by optimizing the prediction of the calculation module, the simulation verification of the operating condition simulation verification module, and the control of the unit control module, the wave power generation device can rely on its own coordinated control device to achieve stable operation of the wave power generator under different operating conditions. This is in line with the unmanned operation characteristics of the wave power generator and improves the power supply reliability and grid-connected power quality of the wave power generator under different operating conditions.

[0107] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0108] It should be noted that the above-described embodiment of the coordinated control device for wave power generators is merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these modules may be selected to achieve the objectives of this embodiment based on actual needs.

[0109] Example 3

[0110] See also Figure 3 , Figure 3 FIG. 1 is a structural diagram of an embodiment of a wave power generator provided by the present invention. Figure 3 As shown, the wave power generator includes a hydraulic autonomous control unit 301, a hydraulic power generation rectifier unit 302, a grid-connected inverter unit 303 and a DC bus 304, and also includes a coordination control device 305, as follows:

[0111] The hydraulic autonomous control unit 301 includes a hydraulic autonomous controller, a solenoid valve, an accumulator, a relief valve and a first hydraulic motor;

[0112] The hydraulic power generation and rectification unit 302 includes a power generation and rectification controller, a generator, an AC / DC rectifier and a second hydraulic motor;

[0113] The grid-connected inverter unit 303 includes a grid-connected inverter controller, a DC / AC inverter and a grid-connected point.

[0114] In one embodiment, the first hydraulic motor and the second hydraulic motor are the same hydraulic motor.

[0115] In one embodiment, the overflow valve in the hydraulic autonomous control unit 301 is a control and protection element in the wave power generator. Under normal operating conditions, the overflow valve is in a closed state. When the intermediate DC bus power is excessive, the overflow valve adjusts the valve opening according to the intermediate DC bus voltage and cooperates with the hydraulic power generation rectifier unit AC / DC rectifier to perform voltage stabilization control. In addition, under extreme wave conditions, when the accumulator pressure reaches the limit pressure p limit When the overflow valve is fully opened, the excess flow pumped out by the hydraulic cylinder will quickly flow back to the oil tank to prevent the accumulator from exploding.

[0116] In one embodiment, the control mode of the fully controlled AC / DC rectifier of the hydraulic power generation rectifier unit 302 is divided into a current source control mode and a voltage source control mode; the current source mode is adopted under normal operating conditions and when the intermediate DC bus power is insufficient, and the d-axis current is controlled to 0 to avoid armature reaction, and maximum power tracking control is performed, and it is incorporated into the intermediate DC bus in the form of a current source; when the intermediate DC bus power is excessive, it is adjusted to the voltage source mode, and weak magnetic control is used to inject current into the d-axis to limit the generator terminal voltage, thereby quickly stabilizing the DC bus voltage and cooperating with the hydraulic system for power regulation.

[0117] In one embodiment, the grid-connected inverter unit 303 can operate in current source mode and voltage source mode. In current source mode, the DC / AC inverter injects current (power) into the AC bus, while controlling the intermediate DC bus voltage to be stable and providing voltage and frequency support for the AC bus; in voltage source mode, the DC / AC inverter controls the AC bus voltage / frequency to be stable, that is, the DC / AC inverter serves as the main power generation equipment and participates in the voltage and frequency regulation of the island microgrid.

[0118] In one embodiment, the control valve of the hydraulic motor is a solenoid valve. When the accumulator pressure reaches the opening pressure p of the solenoid valve, open The solenoid valve opens and adjusts the valve opening in real time according to the accumulator pressure. When the accumulator pressure drops to the solenoid valve closing pressure p close When the solenoid valve closes, the accumulator enters the energy storage state.

[0119] In one embodiment, a schematic diagram of the overall structure of a wave power generator and the energy flow path of the system is also provided, such as Figure 5 As shown in the figure, starting from the entire energy flow chain from wave energy capture, power generation rectification to grid-connected inversion, the front-end wave energy capture and conversion link and the power conversion link are comprehensively considered to form a wave power generation coordination controller with a closed-loop control structure.

[0120] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0121] In summary, the present invention provides a wave power generator and a coordinated control method and device thereof. The method collects electrical and physical signals from each subunit of the wave power generator at the current moment in real time, obtains historical operating data of the wave power generator, and calculates predicted operating data for the wave power generator at the next moment based on the historical operating data, electrical and physical signals. Based on the predicted operating data, the operating mode of each subunit is adjusted to generate a first adjustment control instruction corresponding to each subunit. Operating condition simulation is performed on each subunit based on the first adjustment control instruction to obtain simulated operating data of the wave power generator. A determination is made as to whether an error between the simulated operating data and the predicted operating data is within a preset error threshold. If not, the method re-collects the electrical and physical signals from each subunit of the wave power generator at the current moment, and returns to calculate predicted operating data for the wave power generator at the next moment based on the historical operating data, electrical and physical signals. If so, the method adjusts the operating mode of each subunit of the wave power generator based on the first adjustment control instruction, enabling coordinated control of the wave power generator under different operating conditions, thereby improving the power supply reliability and grid-connected power quality of the wave power generator.

[0122] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A coordinated control method for a wave generator, characterized in that: include: Real-time collection of electrical and physical signals from each subunit of the wave power generator at the current moment, wherein each subunit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, and a grid-connected inverter unit; Obtaining and calculating predicted operating data of the wave power generator at a next moment based on historical operating data of the wave power generator, the electrical signal, and the physical signal, adjusting the operating mode of each subunit based on the predicted operating data, and generating a first adjustment control instruction corresponding to each subunit; performing an operating condition simulation on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave generator, determining whether an error between the simulated operating data and the predicted operating data is within a preset error threshold; if not, re-collecting the electrical signals and the physical signals of each subunit of the wave generator at the current moment, and returning to the step of obtaining and calculating predicted operating data of the wave generator at the next moment based on the historical operating data of the wave generator, the electrical signals, and the physical signals; and if so, adjusting the operating mode of each subunit of the wave generator according to the first adjustment control instruction; Calculating predicted operating data of the wave power generator at a next moment based on the historical operating data of the wave power generator, the electrical signal, and the physical signal, specifically comprising: Calculating the collected electrical signals and physical signals according to a power calculation formula to obtain the output power of the first hydraulic power generation and rectification unit and the load power consumption of the first grid-connected inverter unit at the current moment, wherein the electrical signals include the first DC bus voltage, the first generator output voltage and current signals, and the first grid-connected inverter unit load voltage and current signals, and the physical signals include the first accumulator pressure; Historical operating data of the wave power generator is obtained, and the historical operating data, the output power of the first hydraulic generating and rectifying unit, and the load power consumption of the first grid-connected inverter unit are called according to an artificial neural network algorithm to obtain predicted operating data of the wave power generator at a next moment, wherein the predicted operating data includes the output power of the second hydraulic generating and rectifying unit, the load power consumption of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure.

2. A coordinated control method for a wave power generator according to claim 1, characterized in that: Adjusting the operating mode of each subunit according to the predicted operating data and generating a first adjustment control instruction corresponding to each subunit specifically includes: Predicting the operating mode of each subunit at a next moment according to the predicted operating data, and obtaining the predicted operating mode corresponding to each subunit; The current working mode is adjusted according to the predicted working mode, and a first adjustment control instruction corresponding to each subunit is generated.

3. The coordinated control method of a wave power generator according to claim 2, characterized in that: Predicting the operating mode of each subunit at a next moment according to the predicted operating data to obtain the predicted operating mode corresponding to each subunit specifically includes: Setting the second accumulator pressure as the priority judgment signal, and simultaneously obtaining the hydraulic motor solenoid valve opening pressure and the accumulator limit pressure; When the pressure of the second accumulator is less than the opening pressure of the hydraulic motor solenoid valve, it is predicted that the working mode of the wave power generator is a standby energy storage mode; When the pressure of the second accumulator is not less than the opening pressure of the hydraulic motor solenoid valve, predicting that the working mode of the wave power generator is the power generation mode; When the second accumulator pressure is not less than the accumulator limit pressure, it is predicted that the operating mode of the hydraulic power generation and rectification unit is a voltage source mode, and it is predicted that the operating mode of the grid-connected inverter unit is a current source mode.

4. A coordinated control device for a wave power generator, characterized in that: include: Monitoring module, optimization calculation module, working condition simulation verification module and unit control module; The monitoring module is used to collect the electrical and physical signals of each sub-unit of the wave power generator in real time, wherein each sub-unit includes a hydraulic autonomous control unit, a hydraulic power generation rectifier unit and a grid-connected inverter unit; The optimization calculation module is configured to calculate predicted operation data of the wave power generator at a next moment based on the historical operation data of the wave power generator, the electrical signal, and the physical signal, and to adjust the operation mode of each subunit based on the predicted operation data, thereby generating a first adjustment control instruction corresponding to each subunit; The operating condition simulation verification module is used to perform operating condition simulation on each subunit according to the first adjustment control instruction to obtain simulated operating data of the wave power generator; The operating condition simulation verification module is further configured to determine whether the error between the simulated operating data and the predicted operating data is within a threshold range; if not, to control the monitoring module to re-collect the electrical and physical signals of each subunit of the wave power generator at the current moment, and to generate a repeat optimization calculation instruction and a repeat operating condition simulation verification instruction; if yes, to execute the unit control module; The unit control module is configured to adjust the operating mode of each subunit of the wave power generator according to the first adjustment control instruction; The optimization calculation module is further configured to respond to the repeated optimization calculation instruction; The operating condition simulation verification module is further configured to respond to the repeated operating condition simulation verification instruction; The optimization calculation module is used to calculate the predicted operation data of the wave power generator at the next moment based on the historical operation data of the wave power generator, the electrical signal and the physical signal, and specifically includes: Calculating the collected electrical signals and physical signals according to a power calculation formula to obtain the output power of the first hydraulic power generation and rectification unit and the load power consumption of the first grid-connected inverter unit at the current moment, wherein the electrical signals include the first DC bus voltage, the first generator output voltage and current signals, and the first grid-connected inverter unit load voltage and current signals, and the physical signals include the first accumulator pressure; Historical operating data of the wave power generator is obtained, and the historical operating data, the output power of the first hydraulic generating and rectifying unit, and the load power consumption of the first grid-connected inverter unit are called according to an artificial neural network algorithm to obtain predicted operating data of the wave power generator at a next moment, wherein the predicted operating data includes the output power of the second hydraulic generating and rectifying unit, the load power consumption of the second grid-connected inverter unit, the second DC bus voltage, and the second accumulator pressure.

5. A coordinated control device for a wave power generator as claimed in claim 4, characterized in that: Also includes: Human-computer interaction module; The human-computer interaction module is used to display in real time the collected electrical signals and physical signals of each subunit of the wave power generator at the current moment.

6. A coordinated control device for a wave power generator as claimed in claim 4, characterized in that: The optimization calculation module is configured to adjust the working mode of each subunit according to the predicted operation data and generate a first adjustment control instruction corresponding to each subunit, specifically including: Predicting the operating mode of each subunit at a next moment according to the predicted operating data, and obtaining the predicted operating mode corresponding to each subunit; The current working mode is adjusted according to the predicted working mode, and a first adjustment control instruction corresponding to each subunit is generated.

7. A coordinated control device for a wave power generator as claimed in claim 6, characterized in that: The optimization calculation module is used to predict the working mode of each sub-unit at the next moment based on the predicted operation data, and obtain the predicted working mode corresponding to each sub-unit, specifically including: Setting the second accumulator pressure as the priority judgment signal, and simultaneously obtaining the hydraulic motor solenoid valve opening pressure and the accumulator limit pressure; When the pressure of the second accumulator is less than the opening pressure of the hydraulic motor solenoid valve, it is predicted that the working mode of the wave power generator is a standby energy storage mode; When the pressure of the second accumulator is not less than the opening pressure of the hydraulic motor solenoid valve, predicting that the working mode of the wave power generator is the power generation mode; When the second accumulator pressure is not less than the accumulator limit pressure, it is predicted that the operating mode of the hydraulic power generation and rectification unit is a voltage source mode, and it is predicted that the operating mode of the grid-connected inverter unit is a current source mode.

8. A wave power generator, characterized in that: A coordinated control device for a wave power generator according to claim 4, further comprising a hydraulic autonomous control unit, a hydraulic power generation rectifier unit, a grid-connected inverter unit, and a DC bus; Wherein, the hydraulic autonomous control unit includes a hydraulic autonomous controller, a solenoid valve, an accumulator, a relief valve and a first hydraulic motor; The hydraulic power generation and rectification unit includes a power generation and rectification controller, a generator, an AC / DC rectifier and a second hydraulic motor; The grid-connected inverter unit includes a grid-connected inverter controller, a DC / AC inverter and a grid-connected point.

Images