A SOC Consistency Control Method and System for a Flywheel Energy Storage Array System

Abstract

The present invention discloses a method and system for controlling the SOC consistency of a flywheel energy storage array system, including: obtaining the communication topology structure of the flywheel energy storage array system, constructing a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtaining the state of the remaining power of the flywheel energy storage array system, and building a SOC consistency algorithm model of the flywheel energy storage array system in combination with the Laplacian matrix; based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introducing a fault factor of the flywheel energy storage array system, and combining the operation constraint conditions of each flywheel unit, taking meeting the total power demand as the iterative solution target, and improving the SOC consistency algorithm model of the flywheel energy storage array system; according to the improved SOC consistency algorithm model of the flywheel energy storage array system, completing the control of the SOC consistency of the flywheel energy storage array system. The distributed SOC consistency algorithm used in the present invention is more flexible and has better robustness.

Description

Technical Field

[0001] The present invention relates to the technical field of flywheel energy storage, and in particular to a method and system for controlling the SOC consistency of a flywheel energy storage array system. Background Art

[0002] As one of the representatives of physical energy storage technologies, the flywheel energy storage system (FESS) has been widely used in many energy storage scenarios due to its advantages such as low pollution, long life, and wide working range. For application scenarios with large power demands, it is necessary to develop large-capacity flywheel energy storage technologies. Generally, multiple flywheel units are connected in parallel to form a flywheel energy storage array system (FESAS), which can not only reduce the R & D cost of single flywheels, but also greatly improve the stability and safety of the system.

[0003] Currently, the topology structure of flywheel energy storage array systems is mainly centralized. In this control structure, the upper-layer central controller collects the information of the entire system in real time and uniformly sends power commands to the lower-layer flywheel actuators. This structure is simple and efficient, but in the case of a large number of flywheel units, the huge amount of information and calculation are likely to cause communication pressure between units. Once a communication line fails, the stability of the overall system will be greatly affected. In contrast, the distributed control structure is more flexible and has better robustness, and its fault-tolerant adjustment for faults can greatly reduce the communication pressure of the system. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed.

[0006] Therefore, the present invention provides a method and system for controlling the SOC consistency of a flywheel energy storage array system, which can solve the problems existing in the background art.

[0007] To solve the above technical problems, the present invention provides the following technical solutions. A method for controlling the SOC consistency of a flywheel energy storage array system includes:

[0008] Obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the state of charge of the flywheel energy storage array system, and build a SOC consistency algorithm model of the flywheel energy storage array system in combination with the Laplacian matrix;

[0009] Based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introduce the fault factor of the flywheel energy storage array system, and combine the operating constraints of each flywheel unit. Taking meeting the total power demand as the iterative solution goal, improve the SOC consistency algorithm model of the flywheel energy storage array system;

[0010] According to the improved SOC consistency algorithm model of the flywheel energy storage array system, complete the SOC consistency control of the flywheel energy storage array system.

[0011] As a preferred scheme of the SOC consistency control method for the flywheel energy storage array system of the present invention, wherein: the construction of the SOC consistency algorithm model of the flywheel energy storage array system includes:

[0012] Construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, and denote the Laplacian matrix as L, which is expressed as:

[0013] L = D - A

[0014] D = diag(d 1 , d 2 , …, d n )

[0015] A = [a ij

[0016]

[0017] Among them, D represents the degree matrix, A represents the adjacency matrix, d i represents the number of adjacent vertices of the i-th vertex, and a ij represents the element in the i-th row and j-th column of A;

[0018] The remaining power state of the flywheel energy storage array system is denoted as S, which is expressed as:

[0019]

[0020]

[0021]

[0022] Among them, E represents the energy stored in the flywheel, E max represents the maximum stored energy, J represents the moment of inertia, ω represents the current rotational speed of the flywheel, ω min represents the lowest rotational speed of the flywheel, ω max represents the highest rotational speed of the flywheel.

[0023] As a preferred scheme of the SOC consistency control method for the flywheel energy storage array system of the present invention, wherein: the construction of the SOC consistency algorithm model of the flywheel energy storage array system further includes:​

[0024] The construction of the SOC consistency algorithm model for the flywheel energy storage array system is expressed as:

[0025]

[0026] Among them, X = [x 1 , x 2 , …, x n T , x i represents the SOC of the i-th flywheel.

[0027] As a preferred solution of the SOC consistency control method for the flywheel energy storage array system described in the present invention, among them: based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introducing the flywheel energy storage array system fault factor, combining the operating constraint conditions of each flywheel unit, and taking meeting the total power demand as the iterative solution target, improving the SOC consistency algorithm model of the flywheel energy storage array system includes:

[0028] The logical relationship between the SOC and power command of the flywheel energy storage array system includes:

[0029]

[0030] Among them,

[0031]

[0032]

[0033]

[0034] Among them, P i represents the power command of the i-th flywheel, ε and represent the weight coefficients, S i and S j represent the SOCs of the i-th and j-th flywheels respectively, γ i represents the proportion of the remaining energy of the i-th flywheel in the total energy, P ref represents the total power demand, represents the initial value of the SOC of the i-th flywheel, and N represents the number of flywheel units in the array.

[0035] As a preferred solution of the SOC consistency control method for the flywheel energy storage array system described in the present invention, among them: based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introducing the flywheel energy storage array system fault factor, combining the operating constraint conditions of each flywheel unit, and taking meeting the total power demand as the iterative solution target, improving the SOC consistency algorithm model of the flywheel energy storage array system further includes: ​

[0036] Improve the control law in the SOC consistency algorithm of the flywheel energy storage array system. Denote the control law as U, and the improvement of U is as follows:

[0037]

[0038] Among them,

[0039] Γ = diag(γ 1 , γ 2 , …, γ n )

[0040]

[0041]

[0042] The improved SOC control law is as follows:

[0043]

[0044] Among them, E is the N×N identity matrix. Select an appropriate to make positive definite. I is the N-dimensional all-ones matrix. The purpose of left-multiplying I is to sum the column vector U; P is the column vector of the total power demand. When P - IU = 0, the total power demand is satisfied.

[0045] As a preferred solution of the SOC consistency control method for the flywheel energy storage array system described in the present invention, wherein: based on the logical relationship between the SOC of the flywheel energy storage array system and the power command, introducing the flywheel energy storage array system fault factor, and combining the operating constraint conditions of each flywheel unit, with meeting the total power demand as the iterative solution target, the improved flywheel energy storage array system SOC consistency algorithm model further includes:

[0046] Denote the introduced flywheel energy storage array system fault factor as ρ i , ρ i is expressed as follows:

[0047]

[0048] R = diag(ρ 1 , ρ 2 , …, ρ n )

[0049] Among them, ρ i is the introduced flywheel energy storage array system fault factor, and R represents the fault factor state matrix.

[0050] As a preferred solution of the SOC consistency control method for the flywheel energy storage array system of the present invention, wherein: based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introducing the flywheel energy storage array system fault factor, and combining the operating constraint conditions of each flywheel unit, with the goal of meeting the total power demand as the iterative solution target, improving the SOC consistency algorithm model of the flywheel energy storage array system further includes:

[0051] The power command allocated to the local controller of each flywheel unit is expressed as:

[0052]

[0053] wherein, P i represents the power command of the local controller of the i-th flywheel unit, and P rate represents the rated power of each flywheel.

[0054] A SOC consistency control system for a flywheel energy storage array system, characterized by comprising: a data acquisition and model building module, an improvement module, and a control module,

[0055] The data acquisition and model building module is used to obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the remaining power state of the flywheel energy storage array system, and build a SOC consistency algorithm model of the flywheel energy storage array system in combination with the Laplacian matrix;

[0056] The improvement module is used to introduce the flywheel energy storage array system fault factor based on the logical relationship between the SOC and power command of the flywheel energy storage array system, combine the operating constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the SOC consistency algorithm model of the flywheel energy storage array system;

[0057] The control module is used to complete the SOC consistency control of the flywheel energy storage array system according to the improved SOC consistency algorithm model of the flywheel energy storage array system.

[0058] A computer device includes a memory and a processor, the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method described above are implemented.

[0059] A computer-readable storage medium stores a computer program thereon, and is characterized in that when the computer program is executed by a processor, the steps of the method described above are implemented.

[0060] Advantages of the present invention: The present invention provides a method and system for SOC consistency control of a flywheel energy storage array system. The communication topology structure of the flywheel energy storage array system is obtained, and a Laplacian matrix is constructed according to the communication topology structure of the flywheel energy storage array system. The remaining power state of the flywheel energy storage array system is obtained, and an SOC consistency algorithm model of the flywheel energy storage array system is built in combination with the Laplacian matrix. Based on the logical relationship between the SOC and power command of the flywheel energy storage array system, a fault factor of the flywheel energy storage array system is introduced, and combined with the operation constraint conditions of each flywheel unit, with meeting the total power demand as the iterative solution target, the SOC consistency algorithm model of the flywheel energy storage array system is improved. According to the improved SOC consistency algorithm model of the flywheel energy storage array system, the SOC consistency control of the flywheel energy storage array system is completed. The distributed SOC consistency algorithm used in the present invention is more flexible and has better robustness. It can not only achieve good coordinated control among flywheel units, but also has a significant fault tolerance effect on communication line interruptions and flywheel unit failures in the overall system. Description of the Drawings

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts. Among them:

[0062] Figure 1 It is a flowchart of a method and system for SOC consistency control of a flywheel energy storage array system provided by an embodiment of the present invention;

[0063] Figure 2 It is a topological structure diagram of a distributed flywheel energy storage array system of a method and system for SOC consistency control of a flywheel energy storage array system provided by an embodiment of the present invention;

[0064] Figure 3 It is a control block diagram of a local controller of a flywheel unit of a method and system for SOC consistency control of a flywheel energy storage array system provided by an embodiment of the present invention;

[0065] Figure 4 It is a schematic diagram of the iterative process of the SOC consistency algorithm of a method and system for SOC consistency control of a flywheel energy storage array system provided by an embodiment of the present invention;

[0066] Figure 5 It is a simulation effect diagram of a method and system for SOC consistency control of a flywheel energy storage array system provided by an embodiment of the present invention;

[0067] Figure 6The simulation effect diagram in the case of a single flywheel unit failure of a SOC consistency control method and system for a flywheel energy storage array system provided by an embodiment of the present invention;

[0068] Figure 7 The internal structure diagram of a computer device for a SOC consistency control method and system of a flywheel energy storage array system provided by an embodiment of the present invention. Detailed implementation manners

[0069] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0070] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0071] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that mutually excludes other embodiments.

[0072] The present invention is described in detail in conjunction with the schematic diagrams. When detailing the embodiments of the present invention, for the convenience of description, the cross-sectional views showing the device structure will be enlarged locally not in accordance with the general ratio, and the schematic diagrams are only examples, which should not limit the protection scope of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0073] At the same time, in the description of the present invention, it should be noted that the orientation or positional relationships indicated by terms such as "upper, lower, inner, and outer" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first, second, or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0074] Unless otherwise clearly defined and limited in the present invention, the terms "installation, connection, and connection" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, and may also be indirectly connected through an intermediate medium, or may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] Example 1

[0076] Refer to Figure 1-7 , which is the first embodiment of the present invention. This embodiment provides a method and system for controlling the SOC consistency of a flywheel energy storage array system, including:

[0077] Obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the remaining power state of the flywheel energy storage array system, and build a SOC consistency algorithm model of the flywheel energy storage array system in combination with the Laplacian matrix;

[0078] Among them, building a SOC consistency algorithm model of the flywheel energy storage array system includes:

[0079] Construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, and denote the Laplacian matrix as L, which is expressed as:

[0080] L = D - A

[0081] D = diag(d 1 , d 2 , …, d n )

[0082] A = [a ij

[0083]

[0084] Among them, D represents the degree matrix, A represents the adjacency matrix, d i represents the number of adjacent vertices of the i-th vertex, and a ij represents the element in the i-th row and j-th column of A;

[0085] Furthermore, the remaining power state of the flywheel energy storage array system is denoted as S, which is expressed as:

[0086]

[0087]

[0088]

[0089] ​Among them, E represents the energy stored in the flywheel, and E max represents the maximum stored energy, J represents the moment of inertia, ω represents the current rotational speed of the flywheel, and ω min represents the lowest rotational speed of the flywheel, and ω max represents the highest rotational speed of the flywheel.

[0090] Furthermore, the SOC consistency algorithm model of the flywheel energy storage array system is established as follows:

[0091]

[0092] Among them, X = [x 1 , x 2 , …, x n T , x i represents the SOC of the i-th flywheel.

[0093] It should be noted that as long as the communication topology is interconnected, the SOC of the flywheel energy storage array system will gradually converge through the consistency algorithm and finally tend to be consistent.

[0094] It should be noted that once the communication topology of the distributed flywheel energy storage array system is determined, its corresponding Laplacian matrix L is also determined. When a fault occurs in the system and the communication line is interrupted, this Laplacian matrix will also change accordingly.

[0095] Furthermore, based on the logical relationship between the SOC and power command of the flywheel energy storage array system, a fault factor of the flywheel energy storage array system is introduced, and combined with the operating constraint conditions of each flywheel unit, with the goal of meeting the total power demand as the iterative solution target, the SOC consistency algorithm model of the flywheel energy storage array system is improved;

[0096] Among them, the logical relationship between the SOC and power command of the flywheel energy storage array system includes:

[0097]

[0098] Among them,

[0099]

[0100]

[0101]

[0102] Among them, P i represents the power command of the i-th flywheel, ε and represent the weight coefficients, S i and S j respectively represent the SOC of the i-th and j-th flywheels, and γ i ​Indicates the proportion of the remaining energy of the i-th flywheel to the total energy, P ref Indicates the total power demand, Indicates the initial value of the SOC of the i-th flywheel, and N represents the number of flywheel units in the array.

[0103] Furthermore, the control law in the SOC consistency algorithm of the flywheel energy storage array system is improved. Denote the control law as U, and the improvement of U is as follows:

[0104]

[0105] Among them,

[0106] Γ = diag(γ 1 , γ 2 , …, γ n )

[0107]

[0108]

[0109] The improved SOC control law is as follows:

[0110]

[0111] Among them, E is the N×N identity matrix. Select an appropriate to make positive definite. I is the N-dimensional all-ones matrix. The purpose of left-multiplying I is to sum the column vector U; P is the column vector of the total power demand. When P - IU = 0, the total power demand is satisfied.

[0112] It should be noted that to ensure the stability of the overall system and achieve the control effect of SOC consistency coordination of the flywheel energy storage array system, the convergence of the control law of this consistency algorithm must be verified. Therefore, the tuning range of the weight coefficient must meet the stability constraint conditions.

[0113] It should be noted that introducing a fault factor can improve the fault tolerance of the flywheel energy storage array system.

[0114] Furthermore, denote the fault factor introduced into the flywheel energy storage array system as ρ i , ρ i is expressed as follows:

[0115]

[0116] R = diag(ρ 1 , ρ 2 , …, ρ n )

[0117] Among them, ρ iTo introduce the fault factor of the flywheel energy storage array system, R represents the fault factor status matrix.

[0118] It should be noted that when a certain flywheel unit in the flywheel energy storage array system fails, the Laplacian matrix L of the communication topology structure will also change accordingly. Therefore, we can easily obtain the fault factor status of each flywheel.

[0119] Furthermore, the power command assigned to the local controller of each flywheel unit is expressed as:

[0120]

[0121] Among them, P i represents the power command of the local controller of the i-th flywheel unit, and P rate represents the rated power of each flywheel.

[0122] Furthermore, according to the improved SOC consistency algorithm model of the flywheel energy storage array system, the SOC consistency control of the flywheel energy storage array system is completed.

[0123] It should be noted that the fault factor can be obtained by the full-rank judgment and all-zero row observation of the Laplacian matrix L of the communication topology structure. And this fault factor only responds to the situation where a certain flywheel unit or multiple flywheel units fail and cannot operate normally. For the situation where the communication line between flywheel units is interrupted, the Laplacian matrix L changes, but the fault factor remains unchanged, and the distributed flywheel energy storage array system is still in a normal working state. Only when all communication lines with a certain flywheel unit are completely interrupted, that is, this flywheel unit is disconnected from the communication network of the flywheel energy storage array system, the fault factor responds, and the system determines that this flywheel unit fails to operate normally.

[0124] It should be noted that the distributed consensus algorithm updates the control law of each unit based on the state information of adjacent units. The next iteration trend of each unit is only related to the information of the units connected by communication. As long as the overall communication topology is connected, all units can finally converge to be consistent. However, the traditional consensus algorithm only takes the state quantity as a single control target and does not control the convergence rate of the state quantity. In the practical application of the flywheel energy storage array system, the change rate of SOC, that is, the power output of each unit, needs to meet the constraint condition that the total power is a fixed value. Therefore, the present invention improves the control law of the SOC consensus algorithm so that while ensuring the SOC consensus convergence of each unit in the flywheel energy storage array system, the sum of the power outputs of each unit meets the total power demand. At the same time, combined with the characteristics of the distributed topology, when a fault occurs in the overall system, there is no need for the upper-layer central controller to re-collect, organize and redistribute the power commands of each unit. Only based on the communication and information interaction between units, the secondary stability of the system after the fault can be achieved. This consensus algorithm has strong anti-interference ability, small information communication requirements, greatly reduces the communication pressure of the overall system, and improves the fault tolerance of the flywheel energy storage array system.

[0125] Furthermore, combined with the fault factor and the constraint condition, the control of each flywheel unit is realized according to the improved control law of the SOC consensus algorithm of the flywheel energy storage array system, and the SOC consensus convergence under this algorithm is verified. At the same time, considering the situation where a flywheel unit fails, the fault tolerance of this algorithm is verified.

[0126] It should be noted that Figure 2 What is shown is the grid-connected topology of the distributed flywheel energy storage array system. The flywheel is coaxial with the motor and is connected to the DC bus through an AC / DC rectifier converter. The flywheel energy storage array system is composed of multiple flywheels in parallel. Each flywheel unit is independently controlled by its local controller and only communicates and exchanges information with adjacent units.

[0127] It should be noted that Figure 3 It is the control block diagram of the local controller of each flywheel unit, with a double closed-loop control structure of a power outer loop and a current inner loop. Taking the power command obtained by the consensus algorithm iteration as the reference input, and substituting the error obtained by subtracting the current power value of the motor into the power controller. The calculated result is used as the input of the current controller in the current loop, and finally the voltage reference value is output to control the motor. Only when the outer loop error input tends to zero, that is, when the electromagnetic power of the motor reaches the reference power command, the overall system tends to be stable.

[0128] It should be noted that Figure 4It is the working flowchart of the SOC consistency algorithm applied to the flywheel energy storage array system. First, the Laplacian matrix L is constructed based on the communication topology structure, then the interaction information between flywheel units is collected, and the state variables are updated using the control law of the SOC consistency algorithm. Considering the multiple constraint conditions of the system, it is judged whether the SOC state of the flywheel energy storage array system is within a reasonable range, and finally the power command assigned to each unit's local controller is obtained.

[0129] It should be noted that the improvement of the control law of the traditional consistency algorithm can ensure that the flywheel energy storage array system meets the total power demand and guarantee the normal operation of the system in practical applications. The characteristics of the distributed topology structure can greatly reduce the communication pressure between flywheel units and improve the fault tolerance of the flywheel energy storage array system.

[0130] In a preferred embodiment, a SOC consistency control system for a flywheel energy storage array system includes: a data acquisition and model building module, an improvement module, and a control module.

[0131] The data acquisition and model building module is used to obtain the communication topology structure of the flywheel energy storage array system, construct the Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the remaining power state of the flywheel energy storage array system, and build a SOC consistency algorithm model for the flywheel energy storage array system in combination with the Laplacian matrix.

[0132] The improvement module is used to introduce the flywheel energy storage array system fault factor based on the logical relationship between the SOC and power command of the flywheel energy storage array system, combine the operation constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the SOC consistency algorithm model of the flywheel energy storage array system.

[0133] The control module is used to complete the SOC consistency control of the flywheel energy storage array system according to the improved SOC consistency algorithm model of the flywheel energy storage array system.

[0134] The above-mentioned unit modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0135] In an embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 7As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through WIFI, a carrier network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a method for controlling the SOC consistency of a flywheel energy storage array system. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the outer shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0136] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are realized:

[0137] Obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the remaining power state of the flywheel energy storage array system, and build a SOC consistency algorithm model for the flywheel energy storage array system in combination with the Laplacian matrix;

[0138] Based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introduce the flywheel energy storage array system fault factor, and combine the operation constraint conditions of each flywheel unit to meet the total power demand as the iterative solution target to improve the SOC consistency algorithm model of the flywheel energy storage array system;

[0139] According to the improved SOC consistency algorithm model of the flywheel energy storage array system, complete the control of the SOC consistency of the flywheel energy storage array system.

[0140] Embodiment 2

[0141] Referring to Figure 2-6 , as an embodiment of the present invention, a method and system for controlling the SOC consistency of a flywheel energy storage array system are provided. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through comparative experiments.

[0142] Based on the control structure and communication topology of a surface-mounted permanent magnet synchronous motor, combined with the operating conditions of the flywheel energy storage array system, a MATLAB & SIMULINK simulation model of the distributed flywheel energy storage array system is built, and the space vector pulse width modulation technology is used to control and regulate the machine-side and grid-side converters. On the premise of realizing the normal operation of the flywheel energy storage array system, the main control objectives are to maintain the stability of the DC bus voltage and meet the load power demand, and the control of each flywheel unit is realized separately in the form of power commands.

[0143] Using the above-built simulation platform, the discharge process of the flywheel energy storage array system composed of five flywheel units with different initial SOCs is simulated and verified by using the SOC consistency algorithm of the present invention. The simulation results are as Figure 5 shown.

[0144] Through Figure 5 It can be seen that when the total power demand is set to 15000W, the SOC states of the flywheel units with initial SOCs of 100%, 90%, 80%, 75% and 70% finally converge, realizing the dynamic consistency of the SOC of the flywheel energy storage array system. At the same time, measuring the total power output of the five flywheel units also meets the constraint conditions of the total power demand, and the state variables of the overall system are within a reasonable range, verifying the convergence of the SOC consistency algorithm of the present invention.

[0145] On the premise that the convergence of the algorithm is verified by simulation, considering that during normal operation, a certain flywheel unit in the flywheel energy storage array system fails and cannot work properly, the fault tolerance of the algorithm of the present invention is verified.

[0146] Through Figure 6 It can be seen that at the 4th second, the fourth flywheel unit fails. Correspondingly, the Laplacian matrix L and the fault factor change. Without adjusting the overall system power command, the SOC consistency algorithm can rely on itself to achieve the fault tolerance function. After the fault occurs, the SOC of the flywheel energy storage array system quickly reaches dynamic consistency again, and the output power of each unit is increased at a larger SOC change rate, still meeting the total power demand in the case of lacking the output of one flywheel unit, verifying the fault tolerance of the SOC consistency algorithm of the present invention.

[0147] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limitations. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

[0148] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript, etc.

[0149] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0150] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, so that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0152] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0153] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to cover these changes and modifications.

Claims

1. A method for controlling the SOC consistency of a flywheel energy storage array system, characterized in that, it includes: Obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the state of the remaining power of the flywheel energy storage array system, and build a flywheel energy storage array system SOC consistency algorithm model in combination with the Laplacian matrix; Based on the logical relationship between the SOC of the flywheel energy storage array system and the power command, introduce the flywheel energy storage array system fault factor, combine the operating constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the flywheel energy storage array system SOC consistency algorithm model; According to the improved flywheel energy storage array system SOC consistency algorithm model, complete the control of the SOC consistency of the flywheel energy storage array system.

2. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 1, characterized in that, The building of the flywheel energy storage array system SOC consistency algorithm model includes: Construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, and denote the Laplacian matrix as L, expressed as: L = D - A D = diag(d 1 , d 2 , …, d n ) A = [a ij ​ Among them, D represents the degree matrix, A represents the adjacency matrix, and d i represents the number of adjacent vertices of the i-th vertex, and a ij represents the element in the i-th row and j-th column of A; The state of the remaining power of the flywheel energy storage array system is denoted as S, expressed as: Among them, E represents the energy stored in the flywheel, and E max represents the maximum stored energy, J represents the moment of inertia, ω represents the current rotational speed of the flywheel, and ω min represents the minimum rotational speed of the flywheel, and ω max represents the maximum rotational speed of the flywheel.

3. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 2, characterized in that, The building of the flywheel energy storage array system SOC consistency algorithm model further includes: The flywheel energy storage array system SOC consistency algorithm model is expressed as: where X = [x 1 , x 2 , …, x n T , and x i represents the SOC of the i-th flywheel.​ 4. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 3, characterized in that, Based on the logical relationship between the SOC of the flywheel energy storage array system and the power command, introduce the flywheel energy storage array system fault factor, combine the operating constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the flywheel energy storage array system SOC consistency algorithm model includes: The logical relationship between the SOC of the flywheel energy storage array system and the power command includes: Among them, Among them, P i represents the power command of the i-th flywheel, ε and represent the weight coefficients, S i and S j respectively represent the SOC of the i-th and j-th flywheels, γ i represents the ratio of the remaining energy of the i-th flywheel to the total energy, P ref represents the total power demand, represents the initial value of the SOC of the i-th flywheel, and N represents the number of flywheel units in the array.

5. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 4, characterized in that, Based on the logical relationship between the SOC of the flywheel energy storage array system and the power command, introduce the flywheel energy storage array system fault factor, combine the operating constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the flywheel energy storage array system SOC consistency algorithm model further includes: Improve the control law in the flywheel energy storage array system SOC consistency algorithm, denote the control law as U, and make the following improvement to U: Among them, Γ = diag(γ 1 , γ 2 , …, γ n ) The improved SOC control law is as follows: where \(E\) is an \(N\times N\) identity matrix, and an appropriate is chosen such that is positive definite. \(I\) is an \(N\)-dimensional all-ones matrix, and the purpose of left-multiplying by \(I\) is to sum the column vectors \(U\); \(P\) is the column vector of total power demand. When \(P - IU=0\), the total power demand is satisfied.

6. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 5, characterized in that, Based on the logical relationship between the SOC of the flywheel energy storage array system and the power command, introduce the flywheel energy storage array system fault factor, combine the operating constraint conditions of each flywheel unit, and take meeting the total power demand as the iterative solution target to improve the flywheel energy storage array system SOC consistency algorithm model further includes: Denote the fault factor introduced by the flywheel energy storage array system as ρ i , ρ i is expressed as follows: R = diag(ρ 1 , ρ 2 , …, ρ n ) Among them, ρ i is the fault factor introduced into the flywheel energy storage array system, and R represents the fault factor state matrix.

7. The method for controlling the SOC consistency of a flywheel energy storage array system according to claim 6, It is characterized in that Based on the logical relationship between the SOC and power command of the flywheel energy storage array system, introducing the flywheel energy storage array system fault factor, and combining the operating constraint conditions of each flywheel unit, with the goal of meeting the total power demand as the iterative solution target, the improved flywheel energy storage array system SOC consistency algorithm model further includes: The power command allocated to the local controller of each flywheel unit is expressed as: Among them, P i represents the power command of the local controller of the i-th flywheel unit, and P rate represents the rated power of each flywheel.

8. A flywheel energy storage array system SOC consistency control system It is characterized in that Including: A data acquisition and model building module, an improvement module, and a control module The data acquisition and model building module is used to obtain the communication topology structure of the flywheel energy storage array system, construct a Laplacian matrix according to the communication topology structure of the flywheel energy storage array system, obtain the remaining power state of the flywheel energy storage array system, and build a flywheel energy storage array system SOC consistency algorithm model in combination with the Laplacian matrix; The improvement module is used to introduce the flywheel energy storage array system fault factor based on the logical relationship between the SOC and power command of the flywheel energy storage array system, combine the operating constraint conditions of each flywheel unit, and improve the flywheel energy storage array system SOC consistency algorithm model with the goal of meeting the total power demand as the iterative solution target; The control module is used to complete the SOC consistency control of the flywheel energy storage array system according to the improved flywheel energy storage array system SOC consistency algorithm model.

9. A computer device includes a memory and a processor, and the memory stores a computer program It is characterized in that When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored It is characterized in that When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 7.

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