A bidirectional energy feedback device control method, system and related components

Abstract

The application discloses a bidirectional energy feeding device control method, system and device, a rail transit vehicle and a computer readable storage medium. The bidirectional energy feeding device control method comprises the following steps: acquiring AC side operation parameters and DC side operation parameters of a bidirectional energy feeding device according to an acquisition period; performing virtual inertia control on the AC side operation parameters and the DC side operation parameters through virtual inertia to obtain modulation reference parameters; and generating a modulation wave according to the modulation reference parameters, so as to control the operation of the bidirectional energy feeding device through the modulation wave. The application can make the bidirectional energy feeding device have good anti-interference capability for AC and DC.

Description

Technical Field

[0001] This application relates to the field of rail transit, and in particular to a bidirectional energy feeder control method, system and related components. Background Technology

[0002] Because the metro traction network is a low-inertia system mainly composed of power electronic equipment, the frequent switching of power electronic devices and sudden increases and decreases in power flow can cause fluctuations in the DC grid voltage on the DC side of the bidirectional power feeder, thereby endangering the normal operation of the bidirectional power feeder and other equipment on the traction network. Furthermore, considering that metro substations are generally located far from thermal power plants with significant inertial support, the high proportion of the power grid with numerous power electronic devices connected to the AC side of the bidirectional power feeder inevitably presents potential risks such as poor disturbance rejection performance.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a control method, system, device, rail transit vehicle, and computer-readable storage medium for a bidirectional energy feeder device. This application enables the bidirectional energy feeder device to have good anti-interference capability against both AC and DC measurements.

[0005] To address the aforementioned technical problems, this application provides a bidirectional energy feeder control method, comprising:

[0006] The AC and DC operating parameters of the bidirectional energy feeder are acquired according to the acquisition cycle.

[0007] Virtual inertial control is performed on the AC-side operating parameters and the DC-side operating parameters using virtual inertia to obtain modulation reference parameters;

[0008] A modulation wave is generated based on the modulation reference parameters so as to control the operation of the bidirectional energy feeder.

[0009] Optionally, the DC-side operating parameters include DC-side voltage parameters and DC-side current parameters;

[0010] The process of performing virtual inertial control on the DC-side operating parameters using virtual inertia includes:

[0011] Obtain the DC-side virtual inertia;

[0012] The current voltage regulation reference value is calculated using the DC-side virtual inertia and the DC-side current parameters.

[0013] The current voltage regulation reference value and the DC side voltage parameter are adjusted by PI to obtain the active current reference value;

[0014] The modulation reference parameters include the active current reference value.

[0015] Optionally, the DC-side virtual inertia includes a virtual capacitor;

[0016] The process of calculating the current voltage regulation reference value using the DC-side virtual inertia and the DC-side current parameters includes:

[0017] The current voltage stabilization reference value is calculated based on the first relational formula, which is:

[0018]

[0019] Among them, P ref For transmission power, U dc The rated voltage on the DC side, i dc Let D be the DC-side current parameter. b U is the DC-side voltage-current droop factor. * dc C is the current regulated reference value. V This refers to the virtual capacitor.

[0020] Optionally, the AC side operating parameters include AC side voltage parameters and AC side current parameters;

[0021] The control method for the bidirectional energy feeder also includes:

[0022] The transmission power is calculated based on the AC side voltage parameters and the AC side current parameters.

[0023] Optionally, the process of performing virtual inertial control on the AC side operating parameters using virtual inertia includes:

[0024] Obtain the virtual inertia on the AC side;

[0025] The actual angular frequency is calculated using the AC-side virtual inertia and the transmission power.

[0026] The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, the AC side voltage parameters, and the AC side current parameters.

[0027] The modulation reference parameters also include the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

[0028] Optionally, the AC-side virtual inertial parameters include the damping coefficient and the moment of inertia;

[0029] The process of calculating the actual angular frequency using the AC-side virtual inertia and the transmission power includes:

[0030] The actual angular frequency is calculated using the second relation, which is:

[0031]

[0032] P ref Where p is the transmission power, D is the electromagnetic power, D is the damping coefficient for suppressing grid frequency fluctuations, and ω is the actual angular frequency. n Where ω is the rated angular frequency of the power grid, and M is the moment of inertia.

[0033] To address the aforementioned technical problems, this application also provides a bidirectional energy feeder control system, comprising:

[0034] The acquisition module is used to acquire the AC side operating parameters and DC side operating parameters of the bidirectional energy feeder according to the acquisition cycle;

[0035] The control module is used to perform virtual inertial control on the AC side operating parameters and the DC side operating parameters respectively through virtual inertia to obtain modulation reference parameters;

[0036] A modulation module is used to generate a modulation wave according to the modulation reference parameters, so as to control the operation of the bidirectional energy feed device through the modulation wave.

[0037] Optionally, the DC-side operating parameters include DC-side voltage parameters and DC-side current parameters;

[0038] The process of performing virtual inertial control on the DC-side operating parameters using virtual inertia includes:

[0039] Obtain the DC-side virtual inertia;

[0040] The current voltage regulation reference value is calculated using the DC-side virtual inertia and the DC-side current parameters.

[0041] The current voltage regulation reference value and the DC side voltage parameter are adjusted by PI to obtain the active current reference value;

[0042] The modulation reference parameters include the active current reference value.

[0043] Optionally, the DC-side virtual inertia includes a virtual capacitor;

[0044] The process of calculating the current voltage regulation reference value using the DC-side virtual inertia and the DC-side current parameters includes:

[0045] The current voltage stabilization reference value is calculated based on the first relational formula, which is:

[0046]

[0047] Among them, Pref For transmission power, U dc The rated voltage on the DC side, i dc Let D be the DC-side current parameter. b U is the DC-side voltage-current droop factor. * dc C is the current regulated reference value. V This refers to the virtual capacitor.

[0048] Optionally, the AC side operating parameters include AC side voltage parameters and AC side current parameters;

[0049] The bidirectional energy feeder control system also includes:

[0050] The calculation module is used to calculate the transmission power based on the AC side voltage parameters and the AC side current parameters.

[0051] Optionally, the process of performing virtual inertial control on the AC side operating parameters using virtual inertia includes:

[0052] Obtain the virtual inertia on the AC side;

[0053] The actual angular frequency is calculated using the AC-side virtual inertia and the transmission power.

[0054] The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, the AC side voltage parameters, and the AC side current parameters.

[0055] The modulation reference parameters also include the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

[0056] Optionally, the AC-side virtual inertial parameters include the damping coefficient and the moment of inertia;

[0057] The process of calculating the actual angular frequency using the AC-side virtual inertia and the transmission power includes:

[0058] The actual angular frequency is calculated using the second relation, which is:

[0059]

[0060] P ref Where p is the transmission power, D is the electromagnetic power, D is the damping coefficient for suppressing grid frequency fluctuations, and ω is the actual angular frequency. n Where ω is the rated angular frequency of the power grid, and M is the moment of inertia.

[0061] To address the aforementioned technical problems, this application also provides a bidirectional energy feeder control device, comprising:

[0062] Memory, used to store computer programs;

[0063] A processor, used to execute the computer program to implement the steps of the bidirectional energy feeder control method as described in any of the above.

[0064] To address the aforementioned technical problems, this application also provides a rail transit vehicle, including the bidirectional energy feeder control device as described above.

[0065] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the bidirectional energy feeder control method described in any of the preceding claims.

[0066] This application provides a control method for a bidirectional power feeder device. By adjusting the AC output of the bidirectional power feeder device using virtual inertia, it can provide significant inertial support to the power grid when the grid frequency changes, maintaining frequency stability and effectively suppressing frequency oscillations. Similarly, adjusting the DC output of the bidirectional power feeder device using virtual inertia can effectively suppress DC voltage fluctuations. Based on this, the application uses modulation reference parameters obtained after virtual inertial control to drive the bidirectional power feeder device with a modulation wave, enabling the device to have excellent anti-interference capabilities against both AC and DC signals. This application also provides a bidirectional power feeder device control system, device, rail transit vehicle, and computer-readable storage medium, all possessing the above-mentioned beneficial effects. Attached Figure Description

[0067] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 A flowchart illustrating the steps of a bidirectional energy feeder control method provided in this application;

[0069] Figure 2 This is a schematic diagram of the structure of a bidirectional energy feeder system provided in this application;

[0070] Figure 3a A schematic diagram of a DC-side inertial control provided in this application;

[0071] Figure 3b A schematic diagram of an AC-side inertial control provided in this application;

[0072] Figure 4This application provides a schematic diagram of the control system structure for a bidirectional energy feeder device.

[0073] Figure 5 This is a schematic diagram of another bidirectional energy feeder control system provided in this application. Detailed Implementation

[0074] The core of this application is to provide a control method, system, device, rail transit vehicle, and computer-readable storage medium for a bidirectional energy feeder device. This application enables the bidirectional energy feeder device to have excellent anti-interference capabilities against both AC and DC measurements.

[0075] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0076] Please refer to Figure 1 , Figure 1 A flowchart illustrating the steps of a bidirectional energy feeder control method provided in this application is provided. The bidirectional energy feeder control method includes:

[0077] S101: Acquire the AC side operating parameters and DC side operating parameters of the bidirectional energy feeder according to the acquisition cycle;

[0078] Specifically, refer to Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a bidirectional energy feeder system provided in this application. The left side of the converter cabinet is the DC side of the bidirectional energy feeder, and the right side of the converter cabinet is the AC side of the bidirectional energy feeder. Specifically, the AC side operating parameters and DC side operating parameters of the bidirectional energy feeder can be acquired according to a preset acquisition cycle. The AC side operating parameters include AC side voltage parameters and AC side current parameters, and the DC side operating parameters include DC side voltage parameters and DC side current parameters.

[0079] S102: Virtual inertial control is performed on the AC side operating parameters and DC side operating parameters respectively through virtual inertia to obtain modulation reference parameters;

[0080] S103: Generate a modulation wave based on the modulation reference parameters so as to control the operation of the bidirectional energy feeder through the modulation wave.

[0081] To achieve AC-side frequency stability and DC-side voltage disturbance resistance, this application employs bidirectional inertial control for the bidirectional power feeder. Virtual inertia is introduced during the control process. Converters with inertial links can effectively regulate their output and provide significant inertial support to the power grid, resulting in excellent suppression of DC-side or AC-side grid voltage fluctuations. It is understood that this application performs inertial control separately on the AC and DC sides of the bidirectional power feeder, using different virtual inertia for each side.

[0082] Reference Figure 2 As shown, the bidirectional power supply device includes a converter cabinet, which contains multiple switching transistors. The operation of the bidirectional power supply device under traction / power supply conditions is controlled by controlling the switching transistors to turn on / off. The control of the switching transistors' on / off state depends on the modulation wave. In this application, when determining the modulation reference parameters used to generate the modulation wave, not only are the actual operating parameters of the AC / DC side of the bidirectional power supply device considered, but also a virtual inertia is incorporated. When controlling the bidirectional power supply device using the modulation wave obtained according to these modulation reference parameters, the bidirectional power supply device can have excellent anti-interference capability against both AC and DC signals.

[0083] This application provides a control method for a bidirectional power feeder device. By adjusting the AC output of the bidirectional power feeder device through virtual inertia, it can provide greater inertial support to the power grid when the grid frequency changes, maintaining frequency stability and providing good suppression of frequency oscillations. Similarly, by adjusting the DC output of the bidirectional power feeder device through virtual inertia, it can effectively suppress DC voltage fluctuations. Based on this, the application uses the modulation reference parameters obtained after virtual inertial control to drive the bidirectional power feeder device, which enables the bidirectional power feeder device to have good anti-interference capability against both AC and DC signals.

[0084] Based on the above embodiments:

[0085] As an optional embodiment, the DC-side operating parameters include DC-side voltage parameters and DC-side current parameters;

[0086] The process of using virtual inertia to perform virtual inertial control of DC-side operating parameters includes:

[0087] Obtain the DC-side virtual inertia;

[0088] The current voltage regulation reference value is calculated using the DC-side virtual inertia and DC-side current parameters.

[0089] The active current reference value is obtained by PI regulation of the current voltage regulation reference value and DC side voltage parameters;

[0090] The modulation reference parameters include the active current reference value.

[0091] Specifically, a DC inertial element is added to the DC side of the bidirectional energy feeder device. The DC side operating parameters are input into the DC inertial element to obtain a dynamic voltage regulation reference value. The active current reference value i is obtained by PI regulation of this voltage regulation reference value and the DC side voltage parameters. * d More precise. See the control diagram of the DC inertial element for reference. Figure 3a As shown, according to Figure 3a We can obtain:

[0092]

[0093] Among them, P ref For transmission power, U dc The rated voltage on the DC side, i dc For DC side current parameters, D b U is the DC-side voltage-current droop factor. * dc C is the current voltage regulation reference value. V The virtual capacitor acts as a voltage support in mitigating DC inertia. Its presence enhances the inertia of the DC grid and provides excellent suppression when the DC grid voltage fluctuates.

[0094] Specifically, the transmission power can be calculated using the AC side operating parameters obtained in the same acquisition cycle, i.e., multiplying the effective values ​​of the AC side voltage parameter and the AC side current parameter by the square root of 3, or it can be calculated by a dedicated power calculation module under the dq axis. Here, transmission power refers to the energy that the power grid needs to transmit, such as traction power and braking power.

[0095] As an optional embodiment, the AC side operating parameters include AC side voltage parameters and AC side current parameters;

[0096] The control method for the bidirectional energy feeder also includes:

[0097] The transmission power is calculated based on the AC side voltage parameters and AC side current parameters.

[0098] As an optional embodiment, the process of performing virtual inertial control of AC-side operating parameters using virtual inertia includes:

[0099] Obtain the virtual inertia on the AC side;

[0100] The actual angular frequency is calculated using the virtual inertia and transmission power on the AC side.

[0101] The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, AC side voltage parameters, and AC side current parameters.

[0102] The modulation reference parameters also include d-axis voltage, d-axis current, q-axis voltage, and q-axis current.

[0103] Specifically, an AC inertial element is added to the AC side of the bidirectional energy feeder. The AC side operating parameters are input into the AC inertial element to obtain the actual angular frequency. The voltage and current parameters along the dq axis are then obtained from this actual angular frequency. A control diagram of the AC inertial element is shown below. Figure 3b As shown, according to Figure 3b We can obtain:

[0104]

[0105] The PF inertial control of this AC inertial element is similar to the inertial action in a synchronous generator, P ref Where p is the transmission power, D is the electromagnetic power, D is the damping coefficient for suppressing grid frequency fluctuations, and ω is the actual angular frequency. n Let M be the rated angular frequency of the power grid, and M be the virtual moment of inertia, which is also the main factor maintaining inertia. Due to the existence of the virtual moment of inertia, when the power grid frequency changes, the converter with the inertial element can effectively adjust the AC output, showing greater inertial support to the power grid and maintaining frequency stability. The existence of the damping coefficient can provide better resistance to frequency oscillations when the power changes.

[0106] Specifically, the modulation reference parameters in this application include an active current reference value, d-axis voltage, d-axis current, q-axis voltage, and q-axis current. The active current reference value is used as a reference for the d-axis current in current decoupling control. (See reference...) Figure 4 As shown, the control scheme provided in this application also includes a current feedforward decoupling control loop and an SVPWM (Space Vector Pulse Width Modulation) modulation wave generation loop. In the current feedforward decoupling control loop, modulation parameters are obtained based on the active current reference value, d-axis voltage, d-axis current, q-axis voltage, and q-axis current. In the SVPWM modulation wave generation loop, a modulation wave is generated based on the above modulation parameters to control the bidirectional energy feed device.

[0107] In summary, this application takes into account the voltage and frequency fluctuations that may occur on both the AC and DC sides of the bidirectional power feeder device, and proposes a control method that combines AC and DC inertia. It can effectively suppress fluctuations on both the AC and DC sides under both rectification and inverter conditions, providing a good inertia effect for the DC and AC grids. This enables the bidirectional power feeder device to have good anti-disturbance capability and good power distribution capability on both the AC and DC sides.

[0108] Please refer to Figure 4 , Figure 4This is a schematic diagram of a bidirectional energy feeder control system provided in this application. The bidirectional energy feeder control system includes:

[0109] Acquisition module 1 is used to acquire the AC side operating parameters and DC side operating parameters of the bidirectional energy feeder according to the acquisition cycle;

[0110] Control module 2 is used to perform virtual inertial control on the AC side operating parameters and DC side operating parameters respectively through virtual inertia to obtain modulation reference parameters;

[0111] Modulation module 3 is used to generate a modulation wave based on modulation reference parameters so as to control the operation of the bidirectional energy feeder through the modulation wave.

[0112] As an optional embodiment, the DC-side operating parameters include DC-side voltage parameters and DC-side current parameters;

[0113] The process of using virtual inertia to perform virtual inertial control of DC-side operating parameters includes:

[0114] Obtain the DC-side virtual inertia;

[0115] The current voltage regulation reference value is calculated using the DC-side virtual inertia and DC-side current parameters.

[0116] The active current reference value is obtained by PI regulation of the current voltage regulation reference value and DC side voltage parameters;

[0117] The modulation reference parameters include the active current reference value.

[0118] As an optional embodiment, the DC-side virtual inertia includes a virtual capacitance;

[0119] The process of calculating the current regulated reference value using DC-side virtual inertia and DC-side current parameters includes:

[0120] The current voltage stabilization reference value is calculated based on the first relational expression, which is:

[0121]

[0122] Among them, P ref For transmission power, U dc The rated voltage on the DC side, i dc For DC side current parameters, D b U is the DC-side voltage-current droop factor. * dc C is the current voltage regulation reference value. V This is a virtual capacitor.

[0123] As an optional embodiment, the AC side operating parameters include AC side voltage parameters and AC side current parameters;

[0124] The bidirectional energy feeder control system also includes:

[0125] The calculation module is used to calculate the transmission power based on the AC side voltage parameters and AC side current parameters.

[0126] As an optional embodiment, the process of performing virtual inertial control of AC-side operating parameters using virtual inertia includes:

[0127] Obtain the virtual inertia on the AC side;

[0128] The actual angular frequency is calculated using the virtual inertia and transmission power on the AC side.

[0129] The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, AC side voltage parameters, and AC side current parameters.

[0130] The modulation reference parameters also include d-axis voltage, d-axis current, q-axis voltage, and q-axis current.

[0131] As an optional embodiment, the AC-side virtual inertial parameters include the damping coefficient and the moment of inertia;

[0132] The process of calculating the actual angular frequency using AC-side virtual inertia and transmission power includes:

[0133] The actual angular frequency is calculated using the second relation, which is:

[0134]

[0135] P ref Where p is the transmission power, D is the electromagnetic power, D is the damping coefficient for suppressing grid frequency fluctuations, and ω is the actual angular frequency. n Where ω is the rated angular frequency of the power grid, and M is the moment of inertia.

[0136] On the other hand, this application also provides a bidirectional energy feeder control device, comprising:

[0137] Memory, used to store computer programs;

[0138] A processor is used to execute a computer program to implement the steps of the bidirectional energy feeder control method as described in any of the embodiments above.

[0139] On the other hand, this application also provides a rail transit vehicle, including the bidirectional energy feeder control device as described above.

[0140] On the other hand, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the bidirectional energy feeder control method as described in any of the embodiments above.

[0141] For a description of the bidirectional energy feeder control device, rail transit vehicle, and computer-readable storage medium provided in this application, please refer to the above embodiments; further details will not be repeated here.

[0142] The bidirectional energy feeder control device provided in this application has the same beneficial effects as the bidirectional energy feeder control method described above.

[0143] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0144] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a bidirectional energy feeder device, characterized in that, include: The AC-side operating parameters and DC-side operating parameters of the bidirectional energy feeder are acquired according to the acquisition cycle; the AC-side operating parameters include AC-side voltage parameters and AC-side current parameters, and the DC-side operating parameters include DC-side voltage parameters and DC-side current parameters. The transmission power is calculated based on the AC side voltage parameters and the AC side current parameters; the transmission power is calculated using the AC side operating parameters obtained in the same acquisition cycle. The AC-side operating parameters and the DC-side operating parameters are respectively subjected to virtual inertia control to obtain modulation reference parameters; wherein, different virtual inertia are used for the AC side and the DC side. A modulation wave is generated based on the modulation reference parameters so as to control the operation of the bidirectional energy feeder through the modulation wave; The process of performing virtual inertial control on the DC-side operating parameters using virtual inertia includes: Obtain the DC-side virtual inertia; the DC-side virtual inertia includes the virtual capacitance; The current voltage stabilization reference value is calculated based on the first relational formula, which is: ;in, For transmission power, This is the rated voltage on the DC side. The DC-side current parameters are as follows. This is the DC-side voltage-current droop factor. The current regulated reference value is... The virtual capacitor; The current voltage regulation reference value and the DC side voltage parameter are adjusted by PI to obtain the active current reference value; The process of performing virtual inertial control on the AC side operating parameters using virtual inertia includes: Obtain the virtual inertia on the AC side; The actual angular frequency is calculated using the AC-side virtual inertia and the transmission power. The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, the AC side voltage parameters, and the AC side current parameters. The modulation reference parameters include the active current reference value, the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

2. The bidirectional energy feeder control method according to claim 1, characterized in that, The virtual inertial parameters on the AC side include the damping coefficient and the moment of inertia; The process of calculating the actual angular frequency using the AC-side virtual inertia and the transmission power includes: The actual angular frequency is calculated using the second relation, which is: ; For the transmission power, Electromagnetic power, The damping coefficient for suppressing power grid frequency fluctuations, The actual angular frequency, The rated angular frequency of the power grid. Let be the moment of inertia.

3. A bidirectional energy feeder control system, characterized in that, include: The acquisition module is used to acquire the AC side operating parameters and DC side operating parameters of the bidirectional energy feeder according to the acquisition cycle; the AC side operating parameters include AC side voltage parameters and AC side current parameters, and the DC side operating parameters include DC side voltage parameters and DC side current parameters. The calculation module is used to calculate the transmission power based on the AC side voltage parameters and the AC side current parameters; the transmission power is calculated using the AC side operating parameters obtained in the same acquisition cycle; The control module is used to perform virtual inertial control on the AC side operating parameters and the DC side operating parameters respectively through virtual inertia to obtain modulation reference parameters; wherein, different virtual inertia are used on the AC side and the DC side. A modulation module is used to generate a modulation wave according to the modulation reference parameters so as to control the operation of the bidirectional energy feed device through the modulation wave; The process of performing virtual inertial control on the DC-side operating parameters using virtual inertia includes: Obtain the DC-side virtual inertia; the DC-side virtual inertia includes the virtual capacitance; The current voltage stabilization reference value is calculated based on the first relational formula, which is: ;in, For transmission power, This is the rated voltage on the DC side. The DC-side current parameters are as follows. This is the DC-side voltage-current droop factor. The current regulated reference value is... The virtual capacitor; The current voltage regulation reference value and the DC side voltage parameter are adjusted by PI to obtain the active current reference value; The process of performing virtual inertial control on the AC side operating parameters using virtual inertia includes: Obtain the virtual inertia on the AC side; The actual angular frequency is calculated using the AC-side virtual inertia and the transmission power. The d-axis voltage, d-axis current, q-axis voltage, and q-axis current are obtained using the actual angular frequency, the AC side voltage parameters, and the AC side current parameters. The modulation reference parameters include the active current reference value, the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

4. The bidirectional energy feeder control system according to claim 3, characterized in that, The virtual inertial parameters on the AC side include the damping coefficient and the moment of inertia; The process of calculating the actual angular frequency using the AC-side virtual inertia and the transmission power includes: The actual angular frequency is calculated using the second relation, which is: ; For the transmission power, Electromagnetic power, The damping coefficient for suppressing power grid frequency fluctuations, The actual angular frequency, The rated angular frequency of the power grid. Let be the moment of inertia.

5. A bidirectional energy feeder control device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the bidirectional energy feeder control method as described in any one of claims 1-2 when executing the computer program.

6. A rail transit vehicle, characterized in that, Includes the bidirectional energy feeder control device as described in claim 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the bidirectional energy feeder control method as described in any one of claims 1-2.

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