Controlled system, control method and control device thereof

Abstract

The present disclosure proposes a controlled system, a control method, and a control device thereof, relating to the field of air conditioning. The present disclosure adds an online power storage system on the power supply side and an online cold storage system on the load side. Together with the power supply system and water-cooling unit, these serve as the controlled system, realizing an online power and cold storage system. Based on whether the power supply system is operating normally, whether the water-cooling unit is operating normally, and information about the power stored in the power storage system and the cooling capacity stored in the cooling storage system, the controlled system is controlled in a coordinated manner, thereby improving the overall system's interoperability and achieving the joint supply, coordination, coordination, and protection of power and cooling capacity.

Description

Technical Field

[0001] The present disclosure relates to the field of air conditioning, and in particular to a controlled system, a control method, and a control device thereof. Background Art

[0002] In some important occasions, such as data centers, air conditioners need to run continuously to provide cooling services.

[0003] To ensure continuous air conditioning operation, some technologies use additional generators as backup for the power supply system. In the event of a power system failure, the generators replace the system and provide power to the air conditioner. To ensure continuous air conditioning operation, some technologies use offline cold storage systems as backup for the air conditioner's cooling supply. In the event of a problem with the air conditioner's own cooling supply, the cold storage system continues to provide cooling.

[0004] The inventors found that the backup generator and cold storage system are offline relative to the air conditioner, and the power supply and cooling are independent, which makes the linkage of the entire system relatively poor. Summary of the Invention

[0005] In the embodiment of the present disclosure, an online electricity storage system is added on the power supply side, and an online cold storage system is added on the load side. Together with the power supply system and the water-cooling unit, an online electricity and cold storage system is used as a controlled system to realize an online electricity and cold storage system. According to whether the power supply of the power supply system is normal, whether the water-cooling unit is working normally, the electric energy information stored in the electricity storage system, and the cold capacity information stored in the cold storage system, the controlled system is controlled in a linkage manner, thereby improving the linkage of the entire system and realizing the joint supply, joint adjustment, linkage, and joint protection of electric energy and cold capacity.

[0006] Some embodiments of the present disclosure provide a control method for a controlled system, wherein the controlled system includes a power supply system and an online power storage system on the power supply side, and a water cooling unit and an online cold storage system on the load side. The control method includes:

[0007] Obtaining information on the electric energy stored in the electric storage system and the cooling capacity stored in the cooling storage system;

[0008] Check whether the power supply system is operating normally and whether the water cooling unit is operating normally;

[0009] The controlled systems are linked and controlled according to whether the power supply system is operating normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cooling storage system.

[0010] In some embodiments, performing linkage control on the controlled system includes:

[0011] Under the condition that the power supply system is supplying power normally and the water-cooling unit is operating normally, the power storage system is controlled to enter the storage mode or the standby mode according to the power information stored in the power storage system, and the cold storage system is controlled to enter the storage mode or the standby mode according to the cold capacity information stored in the cold storage system, so that the water-cooling unit enters the first operating mode in which the power is supplied by the power supply system and the water-cooling unit provides cooling by itself; or

[0012] When the power supply system is operating normally and the water cooling unit is not operating normally, the cold storage system is controlled to enter the release mode according to the cooling capacity information stored in the cold storage system, so that the water cooling unit enters the second operating mode where the power supply system supplies power and the cold storage system provides cooling; or

[0013] In the case where the power supply system is not supplying power normally, based on the power information stored in the power storage system, if the power stored in the power storage system is sufficient, the power storage system is controlled to enter the release mode and the cooling storage system to enter the standby mode, so that the water-cooling unit enters the third operating mode in which the power is supplied by the power storage system and the water-cooling unit provides cooling by itself; or

[0014] When the power supply system is not supplying power normally, based on the electric energy information stored in the power storage system, if the electric energy stored in the power storage system is insufficient, the power storage system and the cold storage system are controlled to enter the release mode, so that the water cooling unit enters the fourth operating mode in which the power storage system supplies power and the cold storage system provides cooling.

[0015] In some embodiments, the power supply system includes a power grid, and the controlled system further includes a grid-side converter and a load-side converter, wherein the power grid is connected to the grid-side converter, the grid-side converter and the load-side converter are connected via a DC bus, and the load-side converter is connected to a water-cooling unit.

[0016] The linked control of the controlled system also includes:

[0017] Based on a first control logic, the direct-axis component of the grid-side converter output voltage is controlled, wherein the first control logic is a control logic between the result of a proportional-integral operation on a difference between a reference value and an actual value of the direct-axis component of the grid-side converter output current, the product of the actual value of the quadrature-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the direct-axis component of the grid voltage and the direct-axis component of the grid-side converter output voltage, wherein the reference value of the direct-axis component of the grid-side converter output current is obtained by performing a proportional-integral operation on a difference between a reference value and an actual value of the DC bus voltage;

[0018] Based on the second control logic, the quadrature-axis component of the grid-side converter output voltage is controlled, wherein the second control logic is the result of a proportional-integral operation on the difference between a reference value and an actual value of the quadrature-axis component of the grid-side converter output current, the product of the actual value of the direct-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the control logic between the quadrature-axis component of the grid voltage and the quadrature-axis component of the grid-side converter output voltage.

[0019] In some embodiments, the water cooling unit includes a permanent magnet synchronous motor, which includes a stator and a rotor. The control method further includes:

[0020] The body model of the permanent magnet synchronous motor is used as a reference model, and the current model of the permanent magnet synchronous motor is used as an adjustable model;

[0021] By adjusting the stator current and voltage parameters of the adjustable model, the adjustable model is made consistent with the reference model;

[0022] The observed values ​​of the intrinsic variables of the permanent magnet synchronous motor are determined according to the direct-axis component and the quadrature-axis component of the stator current output by the reference model and the direct-axis component observation value and the quadrature-axis component observation value of the stator current output by the adjustable model.

[0023] In some embodiments, determining an observed value of a physical variable of the permanent magnet synchronous motor includes:

[0024] Calculating the product of the direct-axis component of the stator current output by the reference model and the observed value of the quadrature-axis component of the stator current output by the adjustable model as a first product;

[0025] Calculating the product of the quadrature-axis component of the stator current output by the reference model and the observed value of the direct-axis component of the stator current output by the adjustable model as a second product;

[0026] Calculating a difference between an observed value of a quadrature-axis component of the stator current output by the reference model and an observed value of the quadrature-axis component of the stator current output by the adjustable model as a first difference;

[0027] Calculating a product of a quotient of a permanent magnet flux linkage and a direct-axis inductance of the permanent magnet synchronous motor and the first difference as a third product;

[0028] The second difference is the difference between the first product and the second product and the third product;

[0029] determining an observed value of the electrical angular velocity of the permanent magnet synchronous motor according to the second difference and a weighted summation result of the time integral of the second difference;

[0030] An observed value of the position of the rotor of the permanent magnet synchronous motor is determined according to the temporal integration of the observed value of the electrical angular velocity of the permanent magnet synchronous motor.

[0031] In some embodiments, the power supply system further includes a photovoltaic array, and the linked control of the controlled system further includes:

[0032] When the DC bus voltage change is not equal to 0, compare the conductance of the photovoltaic array with the negative value of the conductance increment. If the conductance of the photovoltaic array is greater than the negative value of the conductance increment, increase the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is less than the negative value of the conductance increment, reduce the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is equal to the negative value of the conductance increment, maintain the operating voltage of the photovoltaic array unchanged. Or,

[0033] When the DC bus voltage change is equal to 0, compare the PV array output current change with 0. If the PV array output current change is greater than 0, increase the working voltage of the PV array. If the PV array output current change is less than 0, reduce the working voltage of the PV array. If the PV array output current change is equal to 0, maintain the working voltage of the PV array unchanged.

[0034] In some embodiments, a first switch is provided in series with the power storage system, a second switch is provided in parallel with the power storage system, and controlling the power storage system to enter the storage mode includes:

[0035] A proportional-integral operation is performed on the difference between the reference value and the actual value of the terminal voltage of the power storage system. The result of the proportional-integral operation is current limited to obtain a reference value of the output current of the power storage system. A proportional-integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system. The control signal formed by rectifying the result of the proportional-integral operation is sent to the first switch to control the first switch to be turned on or off, and the second switch is always turned off. When the first switch is turned on, the power storage system enters a storage mode and stores electric energy.

[0036] In some embodiments, a first switch is provided in series with the power storage system, a second switch is provided in parallel with the power storage system, the power supply system includes a power grid, the power grid is connected to a grid-side converter, the grid-side converter is connected to a load-side converter via a DC bus, the load-side converter is connected to a water-cooling unit, and controlling the power storage system to enter a release mode includes:

[0037] A proportional integral operation is performed on the difference between the reference value and the actual value of the DC bus voltage, and a proportional integral limit is performed on the result of the proportional integral operation. The result obtained by adding a preset current to the result of the proportional integral limit is current limited to obtain a reference value of the output current of the power storage system. A proportional integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system, and a control signal formed by rectifying the result of the proportional integral operation is sent to the second switch to control the second switch to be turned on or off. The first switch is always turned off. When the second switch is turned on, the power storage system enters a release mode and releases electric energy.

[0038] In some embodiments, a diode is provided in anti-parallel with the first switch, or a diode is provided in anti-parallel with the second switch.

[0039] Some embodiments of the present disclosure provide a control device for a controlled system, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the control method of each embodiment based on instructions stored in the memory.

[0040] Some embodiments of the present disclosure provide a control device for a controlled system, wherein the controlled system includes a power supply system and an online power storage system on the power supply side, and a water cooling unit and an online cold storage system on the load side. The control device includes:

[0041] an acquisition unit configured to acquire information about electric energy stored in the electric storage system and information about cooling capacity stored in the cooling storage system;

[0042] A detection unit is configured to detect whether the power supply system is supplying power normally and whether the water cooling unit is operating normally;

[0043] The control unit is configured to perform linkage control on the controlled system based on whether the power supply system is supplying power normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cooling storage system.

[0044] Some embodiments of the present disclosure provide a controlled system, including:

[0045] The power supply system and online power storage system on the power supply side;

[0046] Water-cooled chillers and online cold storage systems on the load side; and

[0047] The control device is configured to execute the control method of each embodiment.

[0048] Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the control method of each embodiment are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The following briefly introduces the drawings required for describing the embodiments or related technologies. The present disclosure can be more clearly understood based on the following detailed description with reference to the drawings.

[0050] Obviously, the drawings described below are only some embodiments of the present disclosure. A person skilled in the art can obtain other drawings based on these drawings without creative work.

[0051] Figure 1 A schematic diagram showing a controlled system according to some embodiments of the present disclosure.

[0052] Figure 2 A schematic diagram illustrating a control method for a controlled system according to some embodiments of the present disclosure.

[0053] Figure 3 A schematic diagram of a grid-side converter control loop according to some embodiments of the present disclosure is shown.

[0054] Figure 4 A schematic diagram of a load-side operation control loop according to some embodiments of the present disclosure is shown.

[0055] Figure 5 A schematic diagram of a photovoltaic array power-voltage characteristic curve according to some embodiments of the present disclosure is shown.

[0056] Figure 6 A schematic diagram illustrating photovoltaic-side power control according to some embodiments of the present disclosure.

[0057] Figure 7 A schematic diagram showing a power storage system and a DC-DC converter thereof according to some embodiments of the present disclosure.

[0058] Figure 8 A schematic diagram illustrating charging control of a power storage system according to some embodiments of the present disclosure.

[0059] Figure 9 A schematic diagram illustrating discharge control of an electricity storage system according to some embodiments of the present disclosure.

[0060] Figure 10 A schematic diagram illustrating a control device of a controlled system according to some embodiments of the present disclosure.

[0061] Figure 11 A schematic diagram illustrating a control device of a controlled system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure.

[0063] Unless otherwise specified, descriptions such as “first” and “second” in the present disclosure are used to distinguish different objects and are not used to indicate meanings such as size or time sequence.

[0064] In permanent magnet synchronous motor control, to achieve control characteristics similar to those of a DC motor, a coordinate system is established on the motor rotor. This coordinate system rotates synchronously with the rotor. In this coordinate system, the rotor magnetic field is oriented along the direct axis, also called the d-axis, and the quadrature axis, also called the q-axis, is perpendicular to the rotor magnetic field. The direct axis component of the voltage / current is also called the direct-axis voltage / current, and the quadrature axis component of the voltage / current is also called the quadrature-axis voltage / current.

[0065] Figure 1 A schematic diagram showing a controlled system according to some embodiments of the present disclosure.

[0066] like Figure 1 As shown, the controlled system of this embodiment includes: a power supply system 110, an online power storage system 120, a water-cooling unit 130, an online cold storage system 140, and a control device 150. The power supply system 110 and the power storage system 120 are located on the power supply side and jointly ensure the supply of electricity. The water-cooling unit 130 and the cold storage system 140 are located on the load side and jointly ensure the supply of cooling capacity.

[0067] Power supply system 110 includes, for example, but is not limited to, a power grid 111, a photovoltaic array 112, and other systems capable of providing power. A photovoltaic array can convert light energy into electrical energy. Power supply system 110 may include one or more systems capable of providing power. For example, power supply system 110 may include a power grid and / or a photovoltaic array.

[0068] The power storage system 120 is a system such as a battery that can store and release electrical energy. As part of the controlled system, the power storage system 120 is an online power storage system 120. The power storage system 120 has operating modes, such as a storage mode, a release mode, and a standby mode. In the storage mode, the power storage system 120 stores electrical energy; in the release mode, the power storage system 120 releases electrical energy; and in the standby mode, the power storage system 120 neither stores nor discharges electrical energy.

[0069] The water cooling unit 130 includes, for example, but is not limited to, air conditioners, centrifuges, screw compressors, modular compressors, and other units that utilize water circulation for heat dissipation.

[0070] The cold storage system 140 is a system that can store and release cold energy. The cold storage system 140 is connected to the water-cooling unit 130. According to control requirements, the cold storage system 140 can store the cold energy generated by the water-cooling unit 130 and release cold energy to the water-cooling unit 130. As part of the controlled system, the cold storage system 140 is an online cold storage system 140. The operating modes of the cold storage system 140 include, for example, a storage mode, a release mode, and a standby mode. In storage mode, the cold storage system 140 stores cold energy. In release mode, the cold storage system 140 releases cold energy. In standby mode, the cold storage system 140 neither stores nor releases cold energy. The cold storage system 140 includes, for example, but is not limited to, a water cold storage system 140 that stores cold water.

[0071] The controlled system also includes a grid-side converter 160 and a load-side converter 170, wherein the grid is connected to the grid-side converter 160, the grid-side converter 160 and the load-side converter 170 are connected via a DC bus, and the load-side converter 170 is connected to the water-cooling unit 130. The grid-side converter 160 is, for example, an AC-DC converter. The load-side converter 170 is, for example, a DC-AC converter. The grid-side converter 160 and the load-side converter 170 can be deployed independently or integrated into the water-cooling unit 130, in which case they are also referred to as onboard frequency converters. The aforementioned photovoltaic array and cold storage system 140 can both be connected to the DC bus.

[0072] The controlled system also includes a DC-DC converter 180 (denoted as DC-DC). The DC-DC converter can be deployed independently or integrated into the power storage system 120. The DC-DC converter is connected between the DC bus and the power storage system 120.

[0073] The control device 150 can execute the control method of the controlled system and perform coordinated control of the controlled system. For example, the control device 150 can control or coordinate control one or more devices in the controlled system, such as the grid-side converter 160, the power storage system 120, the cold storage system 140, the photovoltaic array, or the water-cooling unit 130. The control device 150 can be deployed independently or on one or more devices in the controlled system.

[0074] exist Figure 1 In the diagram, R / S / T represent three-phase power input, and U / V / W represent the three-phase terminals of a three-phase motor.

[0075] Figure 2 A schematic diagram illustrating a control method for a controlled system according to some embodiments of the present disclosure.

[0076] like Figure 2 As shown, the control method of the controlled system of this embodiment includes:

[0077] In step 210 , the electric energy information stored in the electric storage system and the cooling capacity information stored in the cooling storage system are obtained.

[0078] In step 220 , it is detected whether the power supply system is supplying power normally ( 220 a ) and whether the water cooling unit is operating normally ( 220 b ).

[0079] If the power supply system includes both the grid and the photovoltaic array, it can detect whether the grid is supplying power normally. The power generated by the photovoltaic array can be supplied to the load side first. If there is any surplus, the power storage system can store it. If there is still surplus, it can be merged into the grid.

[0080] In step 230, the controlled systems are linked and controlled according to whether the power supply system is supplying power normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cooling storage system.

[0081] The linkage control includes at least the following four situations, see steps 231-234 respectively.

[0082] In step 231, when the power supply system is supplying power normally and the water cooling unit is operating normally, the power storage system is controlled to enter a storage mode or a standby mode according to the electric energy information stored in the power storage system. If the power storage system has not completed power storage, the power storage system is controlled to enter a storage mode and store power. If the power storage system has completed power storage, the power storage system is controlled to enter a standby mode. At this time, the power storage system neither stores nor discharges power. According to the cooling capacity information stored in the cooling storage system, the cooling storage system is controlled to enter a storage mode or a standby mode. If the cooling storage system has not completed cooling, the cooling storage system is controlled to enter a storage mode and store cooling. If the cooling storage system has completed cooling, the cooling storage system is controlled to enter a standby mode. At this time, the cooling storage system neither stores nor discharges cooling, so that the water cooling unit enters a first operating mode (referred to as power supply and cooling operation) in which the water cooling unit is powered by the power supply system and provides cooling by itself.

[0083] In step 232, when the power supply system is supplying power normally and the water cooling unit is not operating normally, based on the cooling capacity information stored in the cold storage system, if the cold storage system stores cooling capacity, the cold storage system is controlled to enter the release mode, and the cold storage system releases cooling capacity, so that the water cooling unit enters the second operating mode (referred to as power supply and cooling standby operation) in which the power supply system supplies power and the cold storage system provides cooling.

[0084] At this time, if the cold storage system does not store cold energy, the water cooling unit cannot operate.

[0085] In step 233, when the power supply system is not supplying power normally, based on the power information stored in the power storage system, if the power stored in the power storage system is sufficient, the power storage system is controlled to enter the release mode and the cooling storage system is controlled to enter the standby mode. At this time, the power storage system can supply power to the main unit of the water cooling unit, and the water cooling unit provides cooling by itself, so that the water cooling unit enters the third operating mode (referred to as standby power cooling operation) in which power is supplied by the power storage system and the water cooling unit provides cooling by itself.

[0086] If the state of charge (SOC) of the power storage system reaches a certain threshold, for example, SOC is greater than 80%, it is considered that the power storage system has sufficient stored energy; otherwise, it is considered that the power storage system has insufficient stored energy.

[0087] In step 234, when the power supply system is not supplying power normally, based on the electric energy information stored in the power storage system, if the electric energy stored in the power storage system is insufficient, the power storage system and the cold storage system are controlled to enter the release mode. At this time, the power storage system maintains the water pump of the water cooling unit and the cold storage system, and the cold storage system releases the cold capacity, so that the water cooling unit enters the fourth operating mode (referred to as backup power and cooling operation) in which the power storage system supplies power and the cold storage system supplies cooling.

[0088] At this time, if the cold storage system does not store cold energy, the water cooling unit cannot operate.

[0089] In the embodiment of the present disclosure, an online electricity storage system is added on the power supply side, and an online cold storage system is added on the load side. Together with the power supply system and the water-cooling unit, an online electricity and cold storage system is used as a controlled system to realize an online electricity and cold storage system. According to whether the power supply of the power supply system is normal, whether the water-cooling unit is working normally, the electric energy information stored in the electricity storage system, and the cold capacity information stored in the cold storage system, the controlled system is controlled in a linkage manner, thereby improving the linkage of the entire system and realizing the joint supply, joint adjustment, linkage, and joint protection of electric energy and cold capacity.

[0090] Control of the controlled system also includes grid-side converter control, load-side operation control, photovoltaic power control, and energy storage system charge and discharge control. When the grid is operating normally, grid-side converter control is required. When a load is present, load-side operation control can be performed. When the energy storage system needs to charge or discharge, energy storage system charge / discharge control is performed. When the power supply system includes a photovoltaic array, photovoltaic power control can be performed.

[0091] When the power grid is supplying power normally, the power balance equation of the system is:

[0092] P g +P pv +P Li =P m (1A)

[0093] When the power grid fails, the power balance equation of the system is:

[0094] P pv +P Li =P m (1B)

[0095] Among them, P g is the power absorbed by the grid-side converter from the grid, P pv is the output power of the photovoltaic array, P Li is the output power of the power storage system, P m Absorbs power for the motor load.

[0096]

[0097] Among them, P g is the power absorbed by the grid-side converter from the grid, u gd i gd are the direct-axis voltage and direct-axis current on the grid side, respectively.

[0098] P pv =U dc i pv (3)

[0099] Among them, P pv is the output power of the photovoltaic array, U dc is the DC bus voltage, i pv is the output current of the photovoltaic array.

[0100] P Li =u Li i Li (4)

[0101] Among them, P Li is the output power of the power storage system, u Li i Li are the terminal voltage and output current of the energy storage system respectively.

[0102] P m =T e Ω (5)

[0103] Among them, P m is the power absorbed by the motor load, T e Ω are the electromagnetic torque and speed of the permanent magnet synchronous motor respectively.

[0104] Figure 3 A schematic diagram of a grid-side converter control loop according to some embodiments of the present disclosure is shown.

[0105] like Figure 3 As shown in Figure 1, when unity power factor control is adopted, the reference value of the quadrature-axis (q-axis) current is 0, and the reference value of the grid-side converter output current is:

[0106]

[0107] in, is the reference value of the direct-axis (d-axis) component of the grid-side converter output current, is the reference value of the quadrature axis (q axis) component of the grid-side converter output current, K gp K gi are the proportional coefficient and integral coefficient of the PI (proportional integral) regulator on the grid side, S represents the integral operation, are the reference value and actual value of the DC bus voltage, Δi gdis the preset current.

[0108] The direct-axis component and quadrature-axis component of the grid-side converter output voltage are:

[0109]

[0110] Among them, v gd v gq are the direct-axis component and quadrature-axis component of the grid-side converter output voltage, L g R g are the inductance and resistance values ​​of the grid side respectively, i gd i gq are the direct-axis component and quadrature-axis component of the grid-side converter output current, ω is the angular frequency of the grid, u gd u gq are the direct-axis component and quadrature-axis component of the grid voltage, u gq is 0.

[0111] The decoupling control of the d-axis current and the q-axis current is achieved through current state feedback, and the grid voltage disturbance is compensated through grid voltage feedforward, thereby obtaining the control equations of the d-axis voltage and the q-axis voltage of the grid-side converter:

[0112]

[0113] Among them, v gd v gq are the direct-axis component (d-axis voltage) and quadrature-axis component (q-axis voltage) of the grid-side converter output voltage, respectively. gp K gi are the proportional coefficient and integral coefficient of the grid side PI regulator respectively, S represents the integral operation, are the reference value and actual value of the direct axis (d axis) component of the grid-side converter output current, are the reference value and actual value of the quadrature axis (q-axis) component of the grid-side converter output current, ω is the angular frequency of the grid, L g is the grid side inductance, u gd u gq are the direct-axis component and quadrature-axis component of the grid voltage, u gq is 0.

[0114] The first equation in formula (8) is called the first control logic, corresponding to Figure 3In the upper half of the , the first control logic is the control logic between the result of a proportional-integral operation on the difference between the reference value and the actual value of the direct-axis component of the grid-side converter output current, the product of the actual value of the quadrature-axis component of the grid-side converter output current and the grid inductance and angular frequency, and the direct-axis component of the grid voltage and the direct-axis component of the grid-side converter output voltage. The reference value of the direct-axis component of the grid-side converter output current is obtained by performing a proportional-integral operation on the difference between the reference value and the actual value of the DC bus voltage. Based on this first control logic, the direct-axis component of the grid-side converter output voltage is controlled.

[0115] The second formula in formula (8) is called the second control logic, corresponding to Figure 3 In the lower half of the , the second control logic is a control logic based on the proportional-integral calculation of the difference between the reference and actual values ​​of the grid-side converter output current quadrature-axis component, the product of the actual value of the grid-side converter output current direct-axis component, the grid inductance, and the angular frequency, and the grid voltage quadrature-axis component and the grid-side converter output voltage quadrature-axis component. Based on this second control logic, the grid-side converter output voltage quadrature-axis component is controlled.

[0116] The DC bus voltage is kept stable by controlling the output voltage components of the grid-side converter.

[0117] Figure 4 A schematic diagram of a load-side operation control loop according to some embodiments of the present disclosure is shown.

[0118] like Figure 4 As shown, the water-cooling unit on the load side includes a permanent magnet synchronous motor, which includes a stator and a rotor. The permanent magnet synchronous motor's intrinsic model is used as a reference model, and the permanent magnet synchronous motor's current model is used as an adjustable model. The adjustable model is adaptive to the reference model, and the stator current and voltage parameters of the adjustable model are adjusted to make the adjustable model consistent with the reference model. The observed values ​​of the intrinsic variables of the permanent magnet synchronous motor are determined based on the direct-axis component and quadrature-axis component of the stator current output by the reference model and the observed values ​​of the direct-axis component and quadrature-axis component of the stator current output by the adjustable model. The intrinsic variables of the permanent magnet synchronous motor include, for example, the electrical angular velocity of the permanent magnet synchronous motor and the position of the rotor of the permanent magnet synchronous motor (i.e., the angle of the rotor, which can be obtained by integrating the electrical angular velocity of the permanent magnet synchronous motor). Therefore, based on the reference model-adaptive sensorless control technology for permanent magnet synchronous motors, the intrinsic variables of the permanent magnet synchronous motor are observable, and the intrinsic variables can then be controlled.

[0119] Figure 4 The coordinate transformation in this context refers to transforming three-phase AC into a dq-axis synchronous rotating coordinate system.

[0120] The current model of the permanent magnet synchronous motor in the dq axis synchronous rotating coordinate system is:

[0121]

[0122]

[0123] in:

[0124] i d 、i q are the components of the stator current on the d-axis and q-axis respectively;

[0125] u d 、u q are the components of the stator voltage on the d-axis and q-axis respectively;

[0126] L d , L q They are direct-axis synchronous inductor and quadrature-axis synchronous inductor respectively;

[0127] ψ f is the permanent magnet flux;

[0128] R s is the stator resistance;

[0129] ω e is the electrical angular velocity of the permanent magnet synchronous motor, ω e =n p ω r , n p is the number of motor pole pairs, ω r is the mechanical angular velocity of the permanent magnet synchronous motor, p is the differential operator, and

[0130] The permanent magnet synchronous motor body model is selected as the reference model, the current model is selected as the adjustable model, the above current model is simplified, and ω e Constrained in the system matrix, we get:

[0131]

[0132] make:

[0133]

[0134] Substituting formula (12) into formula (11) yields the ontology model (as a reference model):

[0135]

[0136] in, are the reference values ​​of the components of the stator current on the d-axis and q-axis respectively; are the reference values ​​of the stator voltage components on the d-axis and q-axis, respectively.

[0137] Design an adjustable model based on the simplified current model (the adjustable model is connected in parallel with the reference model):

[0138]

[0139] in:

[0140]

[0141] are the reference values ​​of the stator current components on the d-axis and q-axis respectively; are the reference values ​​of the stator voltage components on the d-axis and q-axis respectively;

[0142] are the observed values ​​of the stator current components on the d-axis and q-axis respectively; are the observed values ​​of the stator voltage components on the d-axis and q-axis respectively.

[0143] Adjustable model adaptive reference model, by adjusting the stator current and voltage parameters of the adjustable model Make the adjustable model consistent with the reference model.

[0144] According to the POPOV superstability theory, we can get:

[0145]

[0146]

[0147] in, is the observed value of the motor electrical angular velocity, k1k2 are control adjustment coefficients, which can be set, i d i q are the components of the stator current on the d-axis and q-axis output of the reference model, is the component observation value of the stator current on the d-axis and q-axis output by the adjustable model, is the observed value of the motor electrical angular velocity at the initial moment, t represents time, is the observed value of the motor rotor position (angle).

[0148] According to equations (15A) and (15B), the observed values ​​of the permanent magnet synchronous motor's intrinsic variables are determined as follows:

[0149] Calculate the product of the direct axis component of the stator current output by the reference model and the quadrature axis component of the stator current output by the adjustable model as the first product i d

[0150] The product of the quadrature axis component of the stator current output by the reference model and the direct axis component of the stator current output by the adjustable model is calculated as the second product i q

[0151] Calculate the difference between the quadrature axis component of the stator current output by the reference model and the quadrature axis component of the stator current output by the adjustable model as the first difference

[0152] Calculate the product of the quotient of the permanent magnet flux linkage and the direct axis inductance of the permanent magnet synchronous motor and the first difference as the third product

[0153] The second difference is the difference between the first product minus the second product minus the third product.

[0154] The observed value of the electrical angular velocity of the permanent magnet synchronous motor is determined based on the weighted summation result of the second difference and the integral of the second difference over time.

[0155] The observed value of the position of the rotor of the permanent magnet synchronous motor is determined by integrating the observed value of the electrical angular velocity of the permanent magnet synchronous motor over time.

[0156] Thus, an algorithm for identifying the ontological variables can be derived based on the current outputs of the reference model and the adjustable model, which can be used as the feedback input of the system.

[0157] The following describes the photovoltaic side power control logic, which optimizes photovoltaic output performance through Maximum Power Point Tracking (MPPT).

[0158] The output power of the photovoltaic array is:

[0159] P pv =U dc I sp (16)

[0160] Among them, P pv is the output power of the photovoltaic array, U dc is the DC bus voltage, I sp is the sampled PV array output current.

[0161] Differentiating the DC voltage by equation (16) yields:

[0162]

[0163] The conductance that defines the characteristics of a photovoltaic array is The conductance increment is Then formula (17) can be expressed as:

[0164]

[0165] Formula (18) shows that: Figure 5 If the conductance G is greater than the negative value of the conductance increment (-ΔG), the actual operating voltage of the photovoltaic array is lower than the voltage corresponding to its maximum power point. At this time, the operating point of the photovoltaic array is on the left side of its power-voltage curve (PU curve). To achieve MPPT, the operating voltage of the photovoltaic array should be instructed to increase; conversely, if the conductance G is less than the negative value of the conductance increment (-ΔG), the actual operating voltage of the photovoltaic array is higher than the voltage corresponding to its maximum power point. At this time, the operating point of the photovoltaic array is on the right side of its power-voltage curve (PU curve). To achieve MPPT, the operating voltage of the photovoltaic array should be instructed to decrease.

[0166] Figure 6 A schematic diagram illustrating photovoltaic-side power control according to some embodiments of the present disclosure.

[0167] like Figure 6 As shown, the photovoltaic side power control of this embodiment includes:

[0168] In step 610, the currently sampled DC bus voltage U is obtained. dc (n), the last sampled DC bus voltage U dc (n-1), the current sampled photovoltaic array output current I sp (n), the last sampled PV array output current I sp (n-1), the last commanded PV array operating voltage (i.e. the last DC bus voltage given value) U ref (n-1). Assume that the current commanded PV array operating voltage (that is, the current DC bus voltage setting value) is U ref (n).

[0169] In step 620, the DC bus voltage variation dU is calculated. dc =U dc (n)-U dc (n-1) and the change in the photovoltaic array output current dI sp =I sp (n)-I sp (n-1).

[0170] In step 630, it is determined whether U dc (n)-U ref (n-1)>U x If no, go to step 640, if yes, go to step 690.

[0171] In step 640, it is determined whether dUdc =0, if not, execute step 650, if yes, execute step 670.

[0172] In step 650, it is determined whether dI sp / dU dc =-I sp (n) / U dc (n), if not, execute step 660; if yes, it means that the photovoltaic array is already at the voltage corresponding to the maximum power point, execute step 690.

[0173] In step 660, it is determined whether dI sp / dU dc >-I sp (n) / U dc (n), if yes, go to step 6100, if no, go to step 6110.

[0174] In step 670, it is determined whether dI sp =0, if no, execute step 680, if yes, execute step 6100.

[0175] In step 680, it is determined whether dI sp >0, if yes, execute step 6100, if no, execute step 6110.

[0176] In step 690, let U ref (n) = U ref (n-1), that is, the operating voltage of the photovoltaic array remains unchanged.

[0177] In step 6100, let U ref (n) = U ref (n-1)+ΔU dc , that is, the photovoltaic array operating voltage increases, ΔU dc is the step size of the voltage change.

[0178] In step 6110, let U ref (n) = U ref (n-1)-ΔU dc , that is, the operating voltage of the photovoltaic array decreases.

[0179] Thus, the output performance of the photovoltaic array is optimized through maximum power point tracking.

[0180] Figure 7 A schematic diagram showing a power storage system and a DC-DC converter thereof according to some embodiments of the present disclosure.

[0181] The power storage system uses a bidirectional DC / DC circuit that can realize bidirectional energy flow. Figure 7As shown, in a bidirectional DC / DC circuit, a first switch Q1 is provided in series with the power storage system, a second switch Q2 is provided in parallel with the power storage system, and a diode is provided in antiparallel with the first switch, or in antiparallel with the second switch. Q1 and Q2 are, for example, switching transistors. The switching transistors can utilize the antiparallel diode for freewheeling.

[0182] When the energy storage system (such as a battery) is charging, Q1 is controlled to be on and off, Q2 is always in the off state, and Q2's anti-parallel diode is used for freewheeling. When the energy storage system (such as a battery) is discharging, Q2 is controlled to be on and off, Q1 is always in the off state, and Q1's anti-parallel diode is used for freewheeling. When the energy storage system (such as a battery) does not need to be charged or discharged, Q1 and Q2 are controlled to be off, and the battery is in standby mode.

[0183] Figure 8 A schematic diagram illustrating charging control of a power storage system according to some embodiments of the present disclosure.

[0184] like Figure 8 As shown in the figure, the charging control strategy for the energy storage system (DC-DC converter) employs dual closed-loop voltage-current control. The control targets are the reference values ​​of the energy storage system terminal voltage and the output current. The voltage loop is set to the constant-voltage charging voltage, and the output of the voltage loop is current-limited to the constant-current charging current. The initial charging phase is constant-current, while the final phase is constant-voltage. Consequently, the energy storage system achieves constant-voltage and constant-current charging.

[0185] The charging control process of the power storage system includes: the reference value of the power storage system terminal voltage With the actual value U Li The proportional integral operation is performed on the difference between the two values, and the current is limited by the result of the proportional integral operation to obtain the reference value of the output current of the power storage system. With the actual value i Li The difference between the two values ​​is subjected to a proportional-integral operation. The result of the proportional-integral operation is rectified to form a control signal that is sent to the first switch to control whether the first switch is turned on or off. The second switch is always off. When the first switch is on, the power storage system enters storage mode and stores energy. The rectification can use pulse width modulation (PWM) rectification.

[0186] Figure 9 A schematic diagram illustrating discharge control of an electricity storage system according to some embodiments of the present disclosure.

[0187] In the event of a grid failure or power outage, the system is in an off-grid operation state, and the power storage system is required to maintain the stability of the DC bus voltage. Figure 9As shown in Figure 1, the energy storage system discharge control strategy (DC-DC converter) uses a voltage-current dual closed-loop control strategy. The control targets are the reference value of the DC bus voltage and the reference value of the energy storage system output current. The charging and discharging currents output by the voltage loop are also limited. This ensures that the energy storage system maintains a stable DC bus voltage in the event of a grid fault or power outage.

[0188] The discharge control process of the power storage system includes: the reference value of the DC bus voltage With the actual value U dc The difference between the proportional integral operation and the proportional integral operation result is proportional integral limiting, the result of the proportional integral limiting plus the preset current Δi is current limited to obtain the reference value of the output current of the power storage system. With the actual value i Li The proportional-integral operation is performed on the difference between the first and second switches, and the control signal formed by rectifying the result of the proportional-integral operation is sent to the second switch to control the second switch to be turned on or off. The first switch is always turned off. When the second switch is turned on, the power storage system enters the release mode and releases electric energy.

[0189] Figure 10 A schematic diagram illustrating a control device of a controlled system according to some embodiments of the present disclosure.

[0190] like Figure 10 As shown, the control device 150 of this embodiment includes: a memory 1010 and a processor 1020 coupled to the memory 1010 , and the processor 1020 is configured to execute the control method of each embodiment based on the instructions stored in the memory 1010 .

[0191] The memory 1010 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0192] The processor 1020 may be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates, or transistors, and other discrete hardware components.

[0193] Figure 11 A schematic diagram illustrating a control device of a controlled system according to some embodiments of the present disclosure.

[0194] like Figure 11 As shown, the control device 150 of this embodiment includes:

[0195] An acquisition unit 1110 is configured to acquire information about electric energy stored in the electric storage system and information about cooling capacity stored in the cooling storage system;

[0196] The detection unit 1120 is configured to detect whether the power supply system is supplying power normally and whether the water cooling unit is operating normally;

[0197] The control unit 1130 is configured to perform linkage control on the controlled system according to whether the power supply system is supplying power normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cooling storage system.

[0198] Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the control method of each embodiment are implemented.

[0199] (1) A control method for a controlled system, the controlled system comprising a power supply system and an online power storage system on the power supply side, and a water cooling unit and an online cold storage system on the load side, the control method comprising:

[0200] Obtaining information on the electric energy stored in the electric storage system and the cooling capacity stored in the cooling storage system;

[0201] Check whether the power supply system is operating normally and whether the water cooling unit is operating normally;

[0202] The controlled systems are linked and controlled according to whether the power supply system is operating normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cooling storage system.

[0203] (2) According to (1), the linkage control of the controlled system includes:

[0204] Under the condition that the power supply system is supplying power normally and the water-cooling unit is operating normally, the power storage system is controlled to enter the storage mode or the standby mode according to the power information stored in the power storage system, and the cold storage system is controlled to enter the storage mode or the standby mode according to the cold capacity information stored in the cold storage system, so that the water-cooling unit enters the first operating mode in which the power is supplied by the power supply system and the water-cooling unit provides cooling by itself; or

[0205] When the power supply system is operating normally and the water cooling unit is not operating normally, the cold storage system is controlled to enter the release mode according to the cooling capacity information stored in the cold storage system, so that the water cooling unit enters the second operating mode where the power supply system supplies power and the cold storage system provides cooling; or

[0206] In the case where the power supply system is not supplying power normally, based on the power information stored in the power storage system, if the power stored in the power storage system is sufficient, the power storage system is controlled to enter the release mode and the cooling storage system to enter the standby mode, so that the water-cooling unit enters the third operating mode in which the power is supplied by the power storage system and the water-cooling unit provides cooling by itself; or

[0207] When the power supply system is not supplying power normally, based on the electric energy information stored in the power storage system, if the electric energy stored in the power storage system is insufficient, the power storage system and the cold storage system are controlled to enter the release mode, so that the water cooling unit enters the fourth operating mode in which the power storage system supplies power and the cold storage system provides cooling.

[0208] (3) According to (1) or (2), the power supply system includes a power grid, and the controlled system further includes a power grid-side converter and a load-side converter, wherein the power grid is connected to the power grid-side converter, the power grid-side converter and the load-side converter are connected via a DC bus, and the load-side converter is connected to a water-cooling unit, and the linked control of the controlled system further includes:

[0209] Based on a first control logic, the direct-axis component of the grid-side converter output voltage is controlled, wherein the first control logic is a control logic between the result of a proportional-integral operation on a difference between a reference value and an actual value of the direct-axis component of the grid-side converter output current, the product of the actual value of the quadrature-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the direct-axis component of the grid voltage and the direct-axis component of the grid-side converter output voltage, wherein the reference value of the direct-axis component of the grid-side converter output current is obtained by performing a proportional-integral operation on a difference between a reference value and an actual value of the DC bus voltage;

[0210] Based on the second control logic, the quadrature-axis component of the grid-side converter output voltage is controlled, wherein the second control logic is the result of a proportional-integral operation on the difference between a reference value and an actual value of the quadrature-axis component of the grid-side converter output current, the product of the actual value of the direct-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the control logic between the quadrature-axis component of the grid voltage and the quadrature-axis component of the grid-side converter output voltage.

[0211] (4) According to (1), (2), or (3), the water-cooling unit includes a permanent magnet synchronous motor, which includes a stator and a rotor, and the control method further includes:

[0212] The body model of the permanent magnet synchronous motor is used as a reference model, and the current model of the permanent magnet synchronous motor is used as an adjustable model;

[0213] By adjusting the stator current and voltage parameters of the adjustable model, the adjustable model is made consistent with the reference model;

[0214] The observed values ​​of the intrinsic variables of the permanent magnet synchronous motor are determined according to the direct-axis component and the quadrature-axis component of the stator current output by the reference model and the direct-axis component observation value and the quadrature-axis component observation value of the stator current output by the adjustable model.

[0215] (5) According to (4), the observed values ​​of the permanent magnet synchronous motor's intrinsic variables are determined as follows:

[0216] Calculating the product of the direct-axis component of the stator current output by the reference model and the observed value of the quadrature-axis component of the stator current output by the adjustable model as a first product;

[0217] Calculating the product of the quadrature-axis component of the stator current output by the reference model and the observed value of the direct-axis component of the stator current output by the adjustable model as a second product;

[0218] Calculating a difference between an observed value of a quadrature-axis component of the stator current output by the reference model and an observed value of the quadrature-axis component of the stator current output by the adjustable model as a first difference;

[0219] Calculating a product of a quotient of a permanent magnet flux linkage and a direct-axis inductance of the permanent magnet synchronous motor and the first difference as a third product;

[0220] The second difference is the difference between the first product and the second product and the third product;

[0221] determining an observed value of the electrical angular velocity of the permanent magnet synchronous motor according to the second difference and a weighted summation result of the time integral of the second difference;

[0222] An observed value of the position of the rotor of the permanent magnet synchronous motor is determined according to the temporal integration of the observed value of the electrical angular velocity of the permanent magnet synchronous motor.

[0223] (6) According to (1) or (2) or (3) or (4) or (5), the power supply system also includes a photovoltaic array, and the linkage control of the controlled system also includes:

[0224] When the DC bus voltage change is not equal to 0, compare the conductance of the photovoltaic array with the negative value of the conductance increment. If the conductance of the photovoltaic array is greater than the negative value of the conductance increment, increase the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is less than the negative value of the conductance increment, reduce the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is equal to the negative value of the conductance increment, maintain the operating voltage of the photovoltaic array unchanged. Or,

[0225] When the DC bus voltage change is equal to 0, compare the PV array output current change with 0. If the PV array output current change is greater than 0, increase the working voltage of the PV array. If the PV array output current change is less than 0, reduce the working voltage of the PV array. If the PV array output current change is equal to 0, maintain the working voltage of the PV array unchanged.

[0226] (7) According to (1) or (2) or (3) or (4) or (5) or (6), a first switch is provided in series with the power storage system, and a second switch is provided in parallel with the power storage system, and controlling the power storage system to enter the storage mode includes:

[0227] A proportional-integral operation is performed on the difference between the reference value and the actual value of the terminal voltage of the power storage system. The result of the proportional-integral operation is current limited to obtain a reference value of the output current of the power storage system. A proportional-integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system. The control signal formed by rectifying the result of the proportional-integral operation is sent to the first switch to control the first switch to be turned on or off, and the second switch is always turned off. When the first switch is turned on, the power storage system enters a storage mode and stores electric energy.

[0228] (8) According to (1) or (2) or (3) or (4) or (5) or (6) or (7), a first switch is provided in series with the power storage system, and a second switch is provided in parallel with the power storage system.

[0229] The power supply system includes a power grid, which is connected to a power grid-side converter. The power grid-side converter is connected to a load-side converter via a DC bus. The load-side converter is connected to a water-cooling unit.

[0230] Controlling the power storage system to enter the release mode includes:

[0231] A proportional integral operation is performed on the difference between the reference value and the actual value of the DC bus voltage, and a proportional integral limit is performed on the result of the proportional integral operation. The result obtained by adding a preset current to the result of the proportional integral limit is current limited to obtain a reference value of the output current of the power storage system. A proportional integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system, and a control signal formed by rectifying the result of the proportional integral operation is sent to the second switch to control the second switch to be turned on or off. The first switch is always turned off. When the second switch is turned on, the power storage system enters a release mode and releases electric energy.

[0232] (9) According to (7) or (8), a diode is provided in anti-parallel with the first switch, or a diode is provided in anti-parallel with the second switch.

[0233] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more non-transitory computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer program code.

[0234] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0235] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0236] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0237] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method for a controlled system, characterized in that: The controlled system includes a power supply system and an online power storage system on the power supply side, and a water cooling unit and an online cold storage system on the load side. The control method includes: Obtaining information on the electric energy stored in the electric storage system and the cooling capacity stored in the cooling storage system; Check whether the power supply system is operating normally and whether the water cooling unit is operating normally; Based on whether the power supply system is operating normally, whether the water cooling unit is operating normally, the power information stored in the power storage system, and the cooling capacity information stored in the cooling system, the power supply system, power storage system, water cooling unit, and cooling storage system in the controlled system are controlled in a coordinated manner, including: Under the condition that the power supply system is supplying power normally and the water-cooling unit is operating normally, the power storage system is controlled to enter the storage mode or the standby mode according to the power information stored in the power storage system, and the cold storage system is controlled to enter the storage mode or the standby mode according to the cold capacity information stored in the cold storage system, so that the water-cooling unit enters the first operating mode in which the power is supplied by the power supply system and the water-cooling unit provides cooling by itself; or When the power supply system is operating normally and the water cooling unit is not operating normally, the cold storage system is controlled to enter the release mode according to the cooling capacity information stored in the cold storage system, so that the water cooling unit enters the second operating mode where the power supply system supplies power and the cold storage system provides cooling; or In the case where the power supply system is not supplying power normally, based on the power information stored in the power storage system, if the power stored in the power storage system is sufficient, the power storage system is controlled to enter the release mode and the cooling storage system to enter the standby mode, so that the water-cooling unit enters the third operating mode in which the power is supplied by the power storage system and the water-cooling unit provides cooling by itself; or In the case where the power supply system is not supplying power normally, according to the power information stored in the power storage system, if the power stored in the power storage system is insufficient, the power storage system and the cooling system are controlled to enter the release mode, so that the water-cooled unit enters the fourth operation mode in which the power storage system supplies power and the cooling system provides cooling. Among them, the power storage system neither stores nor discharges electricity in standby mode, and the cold storage system neither stores nor releases cold energy in standby mode.

2. The method according to claim 1, characterized in that The power supply system includes a power grid, and the controlled system also includes a power grid-side converter and a load-side converter, wherein the power grid is connected to the power grid-side converter, the power grid-side converter and the load-side converter are connected via a DC bus, and the load-side converter is connected to a water-cooling unit. The linked control of the controlled system also includes: Based on a first control logic, the direct-axis component of the grid-side converter output voltage is controlled, wherein the first control logic is a control logic between the result of a proportional-integral operation on a difference between a reference value and an actual value of the direct-axis component of the grid-side converter output current, the product of the actual value of the quadrature-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the direct-axis component of the grid voltage and the direct-axis component of the grid-side converter output voltage, wherein the reference value of the direct-axis component of the grid-side converter output current is obtained by performing a proportional-integral operation on a difference between a reference value and an actual value of the DC bus voltage; Based on the second control logic, the quadrature-axis component of the grid-side converter output voltage is controlled, wherein the second control logic is the result of a proportional-integral operation on the difference between a reference value and an actual value of the quadrature-axis component of the grid-side converter output current, the product of the actual value of the direct-axis component of the grid-side converter output current and the inductance and angular frequency of the grid, and the control logic between the quadrature-axis component of the grid voltage and the quadrature-axis component of the grid-side converter output voltage.

3. The method according to claim 1, characterized in that The water cooling unit includes a permanent magnet synchronous motor, which includes a stator and a rotor. The control method further includes: The body model of the permanent magnet synchronous motor is used as a reference model, and the current model of the permanent magnet synchronous motor is used as an adjustable model; By adjusting the stator current and voltage parameters of the adjustable model, the adjustable model is made consistent with the reference model; The observed values ​​of the intrinsic variables of the permanent magnet synchronous motor are determined according to the direct-axis component and the quadrature-axis component of the stator current output by the reference model and the direct-axis component observation value and the quadrature-axis component observation value of the stator current output by the adjustable model.

4. The method according to claim 3, characterized in that The observation values ​​for determining the intrinsic variables of the permanent magnet synchronous motor include: Calculating the product of the direct-axis component of the stator current output by the reference model and the observed value of the quadrature-axis component of the stator current output by the adjustable model as a first product; Calculating the product of the quadrature-axis component of the stator current output by the reference model and the observed value of the direct-axis component of the stator current output by the adjustable model as a second product; Calculating a difference between an observed value of a quadrature-axis component of the stator current output by the reference model and an observed value of the quadrature-axis component of the stator current output by the adjustable model as a first difference; Calculating a product of a quotient of a permanent magnet flux linkage and a direct-axis inductance of the permanent magnet synchronous motor and the first difference as a third product; The second difference is the difference between the first product and the second product and the third product; determining an observed value of the electrical angular velocity of the permanent magnet synchronous motor according to the second difference and a weighted summation result of the time integral of the second difference; An observed value of the position of the rotor of the permanent magnet synchronous motor is determined according to the temporal integration of the observed value of the electrical angular velocity of the permanent magnet synchronous motor.

5. The method according to claim 2, characterized in that The power supply system also includes photovoltaic arrays, and the linked control of the controlled systems also includes: When the DC bus voltage change is not equal to 0, compare the conductance of the photovoltaic array with the negative value of the conductance increment. If the conductance of the photovoltaic array is greater than the negative value of the conductance increment, increase the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is less than the negative value of the conductance increment, reduce the operating voltage of the photovoltaic array. If the conductance of the photovoltaic array is equal to the negative value of the conductance increment, maintain the operating voltage of the photovoltaic array unchanged. Or, When the DC bus voltage change is equal to 0, compare the PV array output current change with 0. If the PV array output current change is greater than 0, increase the working voltage of the PV array. If the PV array output current change is less than 0, reduce the working voltage of the PV array. If the PV array output current change is equal to 0, maintain the working voltage of the PV array unchanged.

6. The method according to claim 1, wherein A first switch is provided in series with the power storage system, and a second switch is provided in parallel with the power storage system. Controlling the power storage system to enter storage mode includes: A proportional-integral operation is performed on the difference between the reference value and the actual value of the terminal voltage of the power storage system. The result of the proportional-integral operation is current limited to obtain a reference value of the output current of the power storage system. A proportional-integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system. The control signal formed by rectifying the result of the proportional-integral operation is sent to the first switch to control the first switch to be turned on or off, and the second switch is always turned off. When the first switch is turned on, the power storage system enters a storage mode and stores electric energy.

7. The method according to claim 1, characterized in that A first switch is provided in series with the power storage system, and a second switch is provided in parallel with the power storage system. The power supply system includes a power grid, which is connected to a power grid-side converter. The power grid-side converter is connected to a load-side converter via a DC bus. The load-side converter is connected to a water-cooling unit. Controlling the power storage system to enter the release mode includes: A proportional integral operation is performed on the difference between the reference value and the actual value of the DC bus voltage, and a proportional integral limit is performed on the result of the proportional integral operation. The result obtained by adding a preset current to the result of the proportional integral limit is current limited to obtain a reference value of the output current of the power storage system. A proportional integral operation is performed on the difference between the reference value and the actual value of the output current of the power storage system, and a control signal formed by rectifying the result of the proportional integral operation is sent to the second switch to control the second switch to be turned on or off. The first switch is always turned off. When the second switch is turned on, the power storage system enters a release mode and releases electric energy.

8. The method according to claim 6 or 7, characterized in that A diode is provided in anti-parallel connection with the first switch, or a diode is provided in anti-parallel connection with the second switch.

9. A control device for a controlled system, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the control method according to any one of claims 1 to 8 based on instructions stored in the memory.

10. A control device for a controlled system, the controlled system comprising a power supply system and an online power storage system on the power supply side, and a water cooling unit and an online cold storage system on the load side, the control device comprising: an acquisition unit configured to acquire information about electric energy stored in the electric storage system and information about cooling capacity stored in the cooling storage system; A detection unit is configured to detect whether the power supply system is supplying power normally and whether the water cooling unit is operating normally; The control unit is configured to perform linkage control on the power supply system, the power storage system, the water cooling unit, and the cold storage system in the controlled system according to whether the power supply system is supplying power normally, whether the water cooling unit is operating normally, the electric energy information stored in the power storage system, and the cooling capacity information stored in the cold storage system, including: Under the condition that the power supply system is supplying power normally and the water-cooling unit is operating normally, the power storage system is controlled to enter the storage mode or the standby mode according to the power information stored in the power storage system, and the cold storage system is controlled to enter the storage mode or the standby mode according to the cold capacity information stored in the cold storage system, so that the water-cooling unit enters the first operating mode in which the power is supplied by the power supply system and the water-cooling unit provides cooling by itself; or When the power supply system is operating normally and the water cooling unit is not operating normally, the cold storage system is controlled to enter the release mode according to the cooling capacity information stored in the cold storage system, so that the water cooling unit enters the second operating mode where the power supply system supplies power and the cold storage system provides cooling; or In the case where the power supply system is not supplying power normally, based on the power information stored in the power storage system, if the power stored in the power storage system is sufficient, the power storage system is controlled to enter the release mode and the cooling storage system to enter the standby mode, so that the water-cooling unit enters the third operating mode in which the power is supplied by the power storage system and the water-cooling unit provides cooling by itself; or In the case where the power supply system is not supplying power normally, according to the power information stored in the power storage system, if the power stored in the power storage system is insufficient, the power storage system and the cooling system are controlled to enter the release mode, so that the water-cooled unit enters the fourth operation mode in which the power storage system supplies power and the cooling system provides cooling. Among them, the power storage system neither stores nor discharges electricity in standby mode, and the cold storage system neither stores nor releases cold energy in standby mode.

11. A controlled system comprising: The power supply system and online power storage system on the power supply side; Water-cooled units and online cold storage systems located on the load side; as well as A control device configured to execute the control method according to any one of claims 1 to 8.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the control method according to any one of claims 1 to 8 are implemented.

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