Method and device for acquiring parameters of robust oscillation controller

Abstract

The invention provides a parameter acquisition method and device for a robust oscillation controller, and the method comprises the steps: constructing a hybrid H2 / H-infinity robust oscillation controller, the input end of the hybrid H2 / H-infinity robust oscillation controller is connected with the output end of a wind power system participation power system frequency modulation model, and the output end of the hybrid H2 / H-infinity robust oscillation controller is connected with the output end of the hybrid H2 / H-infinity robust oscillation controller; the output end of the hybrid H2 / H-infinity robust oscillation controller is connected with the input end of the wind power system participation power system frequency modulation model; constructing an open-loop system state equation of the wind power system participating in the power system frequency modulation model; constructing a state equation of a hybrid H2 / H-infinity robust oscillation controller; based on the open-loop system state equation and the state equation of the hybrid H2 / H-infinity robust oscillation controller, constructing a closed-loop system state equation of a model that the wind power system participates in the frequency modulation of the power system; and based on the closed-loop system state equation, obtaining parameters of the hybrid H2 / H-infinity robust oscillation controller so as to obtain the parameters of the hybrid H2 / H-infinity robust oscillation controller.

Description

Technical Field

[0001] The present application relates to the field of wind power technology, and in particular to a parameter acquisition method, device, electronic device and storage medium of a robust oscillation controller. Background Art

[0002] At present, as the proportion of wind turbines in the power system continues to increase, the power system has begun to put forward requirements for the ability of wind turbines to participate in the frequency regulation of the power grid. When wind turbines are required to participate in the frequency regulation of the power system, additional frequency response controllers are required to support the system frequency. However, the frequency response controller will introduce new oscillation modes and reduce the damping ratio of the torque oscillation mode of the wind turbine, resulting in increased oscillation of the wind turbine rotor and low system stability of wind turbines participating in the frequency regulation of the power system. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the first objective of the present application is to propose a parameter acquisition method for a robust oscillation controller.

[0005] The second objective of the present application is to provide a parameter acquisition device for a robust oscillation controller.

[0006] The third objective of the present application is to provide an electronic device.

[0007] A fourth objective of the present application is to provide a computer-readable storage medium.

[0008] A fifth object of the present application is to provide a computer program product.

[0009] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a method for obtaining parameters of a robust oscillation controller, comprising: constructing a hybrid H2 / H ∞ Robust oscillation controller, wherein the mixed H2 / H ∞ The input end of the robust oscillation controller is connected to the output end of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model; the open-loop system state equation of the wind power system participating in the power system frequency regulation model is constructed; the hybrid H2 / H ∞ The state equation of the robust oscillation controller; based on the open-loop system state equation and the mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency modulation model; based on the closed-loop system state equation, the hybrid H2 / H ∞Parameters of the robust oscillatory controller.

[0010] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a parameter acquisition device for a robust oscillation controller, including: a first building module for building a hybrid H2 / H ∞ Robust oscillation controller, wherein the mixed H2 / H ∞ The input end of the robust oscillation controller is connected to the output end of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model; the second building module is used to construct the open-loop system state equation of the wind power system participating in the power system frequency regulation model; the third building module is used to construct the hybrid H2 / H ∞ The state equation of the robust oscillation controller; a fourth building block for the open-loop system state equation and the mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency modulation model; the acquisition module is used to obtain the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0011] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect embodiment above.

[0012] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the method described in the first aspect embodiment above.

[0013] To achieve the above-mentioned purpose, the fifth aspect of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the method described in the first aspect of the present application.

[0014] The method, device, electronic device and storage medium for obtaining parameters of the robust oscillation controller provided in this application are used to construct a hybrid H2 / H ∞ Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model, and the open-loop system state equation of the wind power system participating in the power system frequency regulation model is constructed. ∞ The state equation of the robust oscillation controller is based on the open-loop system state equation and the hybrid H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model. Based on the closed-loop system state equation, the hybrid H2 / H ∞ Parameters of the robust oscillation controller to obtain the mixed H2 / H ∞ Parameters of the robust oscillation controller and the mixed H2 / H ∞ The robust oscillation controller can meet the oscillation suppression requirements at different operating points when large-scale wind power is connected to the grid, and improve the system stability of wind turbines participating in power system frequency regulation.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0017] Figure 1 A schematic flow chart of a method for obtaining parameters of a robust oscillation controller provided in an embodiment of the present application;

[0018] Figure 2 A mixed H2 / H ∞ Schematic diagram of a robust oscillation controller;

[0019] Figure 3 A schematic diagram of a frequency response controller of a wind turbine generator set provided in an embodiment of the present application;

[0020] Figure 4 A schematic flow chart of another method for acquiring parameters of a robust oscillation controller provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of a closed-loop system pole configuration area provided in an embodiment of the present application;

[0022] Figure 6 A schematic diagram of the structure of a parameter acquisition device for a robust oscillation controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0024] The following describes a parameter acquisition method, device, electronic device, and storage medium for a robust oscillation controller according to an embodiment of the present application with reference to the accompanying drawings.

[0025] Figure 1 A schematic flow chart of a parameter acquisition method for a robust oscillation controller provided in an embodiment of the present application.

[0026] At present, as the proportion of wind turbines in the power system continues to increase, the power system has begun to put forward requirements for the ability of wind turbines to participate in the frequency regulation of the power grid. When wind turbines are required to participate in the frequency regulation of the power system, additional frequency response controllers are required to support the system frequency. However, the frequency response controller will introduce new oscillation modes and reduce the damping ratio of the torque oscillation mode of the wind turbine, resulting in increased oscillation of the wind turbine rotor and low system stability of wind turbines participating in the frequency regulation of the power system.

[0027] To solve this problem, the present invention provides a method for obtaining parameters of a robust oscillation controller to construct a hybrid H2 / H ∞ Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model, and the open-loop system state equation of the wind power system participating in the power system frequency regulation model is constructed. ∞ The state equation of the robust oscillation controller is based on the open-loop system state equation and the hybrid H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model. Based on the closed-loop system state equation, the hybrid H2 / H ∞ Parameters of the robust oscillation controller to obtain the mixed H2 / H ∞ Parameters of the robust oscillation controller and the mixed H2 / H ∞ The robust oscillation controller can meet the oscillation suppression requirements at different operating points when large-scale wind power is connected to the grid, and improve the system stability of wind turbines participating in power system frequency regulation. Figure 1 As shown, the method comprises the following steps:

[0028] S101, build a hybrid H2 / H ∞Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model.

[0029] It should be noted that the mixed H2 / H ∞ The robust oscillation controller is based on H2 control and H ∞ Control design of a robust oscillating controller for mixed H2 / H ∞ The robust oscillation controller is not overly limited. The wind power system participates in the power system frequency regulation model, also called the wind power system participates in the power grid frequency regulation model, including the frequency regulation model of the remaining power systems except the wind power system, and the frequency regulation model of the wind power system. Among them, the frequency regulation model of the wind power system includes the frequency response controller of the wind turbine. It can be understood that in addition to the frequency response controller, the frequency regulation model of the wind power system may also include other frequency regulation devices, which are not overly limited here.

[0030] In one embodiment, the output of the output terminal of the wind power system participating in the power system frequency regulation model includes a grid frequency deviation and a grid angular velocity deviation. The method further includes inputting the grid frequency deviation and the grid angular velocity deviation into the hybrid H2 / H ∞ Robust oscillation controller is used to obtain the compensated active power and compensated reactive power of the wind power system.

[0031] It should be noted that the grid frequency deviation is the difference between the current grid frequency and the reference grid frequency, the grid angular velocity deviation is the difference between the current grid angular velocity and the reference grid angular velocity, the active power ultimately output by the wind power system is the sum of the active power actually output by the wind power system and the compensated active power, and the reactive power ultimately output by the wind power system is the sum of the reactive power actually output by the wind power system and the compensated reactive power.

[0032] At present, as the proportion of wind turbines in the power system continues to increase, the power system has begun to put forward requirements for the ability of wind turbines to participate in the frequency regulation of the power grid. When wind turbines are required to participate in the frequency regulation of the power system, additional frequency response controllers are required to support the system frequency. However, the frequency response controller will introduce new oscillation modes and reduce the damping ratio of the torque oscillation mode of the wind turbine, resulting in an increase in the rotation oscillation of the wind turbine rotor.

[0033] Therefore, the mixed H2 / H ∞The robust oscillation controller adopts a dual-input dual-output design. Compensating active power can effectively suppress the oscillation mode introduced by the frequency response controller of the wind turbine, and compensating reactive power can effectively improve the damping ratio of the torque oscillation mode of the wind turbine. It can simultaneously suppress the oscillation mode introduced by the frequency response controller of the wind turbine and the torque oscillation mode of the wind turbine, and realize the integration of wind power frequency modulation oscillation mode suppressor and wind turbine torque oscillation mode suppressor, saving the design time of the wind power system participating in the power system frequency modulation model and optimizing the control logic.

[0034] For example, Figure 2 As shown, K is a mixture of H2 / H ∞ Robust oscillation controller, G is the wind power system participating in the power system frequency regulation model, Z v To measure H ∞ The output variable of the control index, Z2 is the output variable for measuring the H2 control index, and W1 is the output variable for Z ∞ W2 and W3 are weight functions for Z2, and r is the mixed H2 / H ∞ The external disturbance input of the robust oscillation controller, d is the external disturbance input of the wind power system participating in the power system frequency regulation model, e = r + y, e is the mixed H2 / H ∞ The final input of the robust oscillator controller, u, is the mixture H2 / H ∞ The output of the robust oscillation controller and the input of the wind power system participating in the power system frequency regulation model, y is the output of the wind power system participating in the power system frequency regulation model, and the mixed H2 / H ∞ Input to the robust oscillatory controller. Figure 2 Symbols in For the adder.

[0035]

[0036] Among them, P sup is the compensation active power of the wind power system, Q sup is the compensated reactive power of the wind power system, Δf is the grid frequency deviation, Δω r is the grid angular velocity deviation.

[0037] It should be noted that the frequency response controller of the wind turbine is used to obtain the additional active power of the wind turbine based on the grid frequency deviation, that is, the frequency response controller is used for the wind turbine to participate in the frequency regulation of the power system. Among them, the active power finally output by the wind turbine is the sum of the actual active power output by the wind turbine and the additional active power.

[0038] For example, Figure 3As shown, the frequency response controller of the wind turbine is a PID controller, which includes a proportional control system P, a differential control system D and an integral control system I. The input of the PID controller is the grid frequency deviation Δf, and the output is the additional active power ΔP of the wind turbine. sup . Figure 3 Symbols in For the adder.

[0039] S102, constructing an open-loop system state equation of a wind power system participating in a power system frequency regulation model.

[0040] It is understandable that the mixed H2 / H v When the robust oscillation controller is used, the wind power system participating in the power system frequency regulation model is an open-loop system, and the open-loop system state equation of the wind power system participating in the power system frequency regulation model refers to the state equation of the open-loop wind power system participating in the power system frequency regulation model.

[0041] It should be noted that the construction of the open-loop system state equation of the wind power system participating in the power system frequency regulation model can be achieved by using any state equation construction method in the relevant technology, and no excessive restrictions are made here.

[0042] For example, continue with Figure 2 For example, the open-loop system state equation of the wind power system participating in the power system frequency regulation model is as follows:

[0043]

[0044] Among them, x is the state variable of the open-loop system of the wind power system participating in the power system frequency regulation model. x includes all the state variables of the power system frequency regulation, that is, the state variables of the frequency regulation of the remaining power systems except the wind power system, and the state variables of the wind power system frequency regulation, for example, it may include the voltage and current of the wind turbine, the phase angle, angular velocity, voltage of the synchronous generator in the power system, and some intermediate variables of the control loop. is the derivative of x with respect to time.

[0045] Among them, A is the second state matrix, A is used to describe The relationship between and x, B1 is used to describe The relationship between and d, B2 is used to describe The relationship between C and u ∞ To describe Z ∞ The relationship between Z2 and x, C2 is used to describe the relationship between Z2 and x, C y Used to describe the relationship between y and x, D ∞1 To describe Z ∞ The relationship between D 21 Used to describe the relationship between Z2 and d, D yUsed to describe the relationship between y and d, D ∞2 To describe Z ∞ The relationship between D and u 22 Used to describe the relationship between Z2 and u.

[0046] For example, the above open-loop system state equation can be simplified, and the simplified open-loop system state equation is as follows:

[0047]

[0048] Among them, A is the second state matrix, B is the second input matrix, C is the second output matrix, and D is the second direct transfer matrix.

[0049]

[0050] S103, build a mixed H2 / H ∞ State equations of the robust oscillatory controller.

[0051] It should be noted that the construction of mixed H2 / H ∞ The state equation of the robust oscillation controller can be implemented by using any state equation construction method in the relevant technology, and no excessive restrictions are made here.

[0052] For example, continue with Figure 2 For example, a mixture of H2 / H ∞ The state equation of the robust oscillation controller is as follows:

[0053]

[0054] Among them, x k For mixed H2 / H ∞ The state variables of the robust oscillatory controller, For x k The derivative with respect to time, A k is the third state matrix, B k is the third input matrix, C k is the third output matrix, D k is the third direct transfer matrix.

[0055] S104, based on the open-loop system state equation and mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model.

[0056] Understandably, considering the mixed H2 / H ∞When the robust oscillation controller is used, the wind power system participating in the power system frequency regulation model is a closed-loop system, and the closed-loop system state equation of the wind power system participating in the power system frequency regulation model refers to the state equation of the closed-loop wind power system participating in the power system frequency regulation model.

[0057] It should be noted that based on the open-loop system state equation and the mixed H2 / H ∞ The state equation of the robust oscillation controller, which constructs the closed-loop system state equation of the wind power system participating in the power system frequency regulation model, can be implemented by using any state equation construction method in the relevant technology, and no excessive restrictions are made here.

[0058] For example, continue with Figure 2 For example, the closed-loop system state equation of the wind power system participating in the power system frequency regulation model is as follows:

[0059]

[0060] z=C cl x cl +D cl d

[0061] Among them, x cl is the state variable of the closed-loop system of the wind power system participating in the power system frequency regulation model, For x cl The derivative of the derivative with respect to time, z is the output variable of the closed-loop system of the wind power system participating in the power system frequency regulation model, A cl is the first state matrix, B cl is the first input matrix, C cl is the first output matrix, D cl is the first direct transfer matrix.

[0062]

[0063] z ∞ =Ccl ∞ xcl+Dcl ∞ d

[0064] z2=Ccl2xcl+Dcl2d

[0065]

[0066] S105, based on the closed-loop system state equation, obtain the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0067] In one embodiment, a mixture of H2 / H ∞ The parameters of the robust oscillation controller may include A k , B k , Ck , D k .

[0068] In one embodiment, a mixture of H2 / H ∞ The parameters of the robust oscillation controller may include a mixed H2 / H ∞ The parameters of the transfer function of the robust oscillation controller. For example, A k , B k , C k , D k Convert to get mixed H2 / H ∞ Parameters of the transfer function of the robust oscillatory controller.

[0069] For example, a mixture of H2 / H ∞ The transfer function of the robust oscillation controller is as follows:

[0070]

[0071] Among them, a4, a3, a2, a1, a0, b5, b4, b3, b2, b1, and b0 are all mixed H2 / H ∞ Parameters of the transfer function of the robust oscillatory controller.

[0072] In one embodiment, based on the closed-loop system state equation, the mixed H2 / H ∞ The parameters of the robust oscillation controller include evaluating the system stability parameters of the wind power system participating in the power system frequency regulation model based on the closed-loop system state equation, and constructing a hybrid H2 / H ∞ The parameters of the robust oscillation controller are constrained. Based on the constraints, the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0073] It should be noted that based on the constraints, the mixed H2 / H ∞ The parameters of the robust oscillation controller refer to obtaining the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0074] It should be noted that the system stability parameters are related to the mixed H2 / H ∞ The parameters of the robust oscillation controller are correlated, and the system stability parameters are based on the mixed H2 / H ∞ The parameters of the robust oscillation controller are obtained without too many restrictions on the system stability parameters, for example, the damping ratio may be included.

[0075] In some examples, system stability parameters of a wind power system participating in a power system frequency regulation model are evaluated based on a closed-loop system state equation, including obtaining characteristic roots of a system state matrix of the wind power system participating in the power system frequency regulation model based on the system state equation of the wind power system participating in the power system frequency regulation model, and obtaining a damping ratio based on the characteristic roots.

[0076] For example, the process of obtaining the damping ratio based on the characteristic root is as follows:

[0077] λ=σ±jω

[0078]

[0079] Among them, λ is the characteristic root and ξ is the damping ratio.

[0080] In some examples, based on system stability parameters, a mixed H2 / H ∞ The parameter constraints of the robust oscillation controller include the system stability parameters characterizing the stability of the wind power system participating in the power system frequency regulation model as a hybrid H2 / H ∞ Constraints on the parameters of the robust oscillatory controller.

[0081] For example, when the system stability parameter is the damping ratio, the damping ratio greater than the set threshold is taken as the mixed H2 / H ∞ Constraints on the parameters of the robust oscillation controller. It can be understood that if the damping ratio is greater than the set threshold, the damping ratio indicates that the wind power system is stable in participating in the power system frequency regulation model, and if the damping ratio is less than or equal to the set threshold, the damping ratio indicates that the wind power system is unstable in participating in the power system frequency regulation model. It should be noted that there is no excessive limitation on the set threshold, for example, it can be 0.1.

[0082] In summary, according to the parameter acquisition method of the robust oscillation controller of the embodiment of the present application, a hybrid H2 / H ∞ Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model, and the open-loop system state equation of the wind power system participating in the power system frequency regulation model is constructed. ∞ The state equation of the robust oscillation controller is based on the open-loop system state equation and the hybrid H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model. Based on the closed-loop system state equation, the hybrid H2 / H ∞ Parameters of the robust oscillation controller to obtain the mixed H2 / H ∞Parameters of the robust oscillation controller and the mixed H2 / H v The robust oscillation controller can meet the oscillation suppression requirements at different operating points when large-scale wind power is connected to the grid, and improve the system stability of wind turbines participating in power system frequency regulation.

[0083] An embodiment of the present application provides another method for acquiring parameters of a robust oscillation controller.

[0084] like Figure 4 As shown, the method may include the following steps:

[0085] S401, build mixed H2 / H ∞ Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model.

[0086] S402, constructing an open-loop system state equation of a wind power system participating in a power system frequency regulation model.

[0087] S403, build mixed H2 / H ∞ State equations of the robust oscillatory controller.

[0088] S404, based on the open-loop system state equation and mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model.

[0089] S405, based on the closed-loop system state equation, obtain a first state matrix, a first input matrix, a first output matrix and a first direct transfer matrix.

[0090] For the relevant contents of steps S401-S405, please refer to the above embodiment and will not be repeated here.

[0091] S406, constructing constraint conditions for at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix.

[0092] S407, based on the constraints, obtain the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0093] It should be noted that based on the constraints, the mixed H2 / H ∞ The parameters of the robust oscillation controller refer to obtaining the mixed H2 / H ∞ Parameters of the robust oscillatory controller. The constraint is at least one.

[0094] In the embodiment of the present application, the constraint conditions for constructing at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix include the following possible implementations:

[0095] Method 1: Get H ∞ The upper limit of the norm, based on H ∞ The upper limit value of the norm is used to construct a constraint condition of at least one matrix among the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

[0096] For example, continue with Figure 2 For example, based on H ∞ The process of constructing the constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix is ​​as follows:

[0097]

[0098] Among them, P ∞ is a positive definite matrix, I is the identity matrix, and γ0 is H ∞ The upper limit of the norm.

[0099] It is understandable that if there exists a positive definite matrix P ∞ , so that the matrix inequality (1) holds, then we can ensure that H ∞ Control indicators.

[0100] Method 2: Obtain an upper limit value of the H2 norm, and based on the upper limit value of the H2 norm, construct constraint conditions for at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix.

[0101] For example, continue with Figure 2 For example, based on the upper limit value of the H2 norm, the process of constructing the constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix is ​​as follows:

[0102]

[0103] Among them, P2 and Q are both positive definite matrices, I is the identity matrix, v0 is the upper limit of the H2 norm, Trace(Q) is the trace of the matrix Q, and is the sum of all eigenvalues ​​of the matrix Q.

[0104] It can be understood that if there are positive definite matrices P2 and Q such that matrix inequalities (2)-(4) hold, then the H2 control index can be ensured to be achieved.

[0105] Method 3: Obtain the minimum damping ratio for the wind power system to participate in the stability of the power system frequency regulation model, and based on the minimum damping ratio, construct the constraint conditions of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

[0106] It should be noted that there are no excessive restrictions on the minimum damping ratio, for example, it can be 0.1.

[0107] In one embodiment, based on the minimum damping ratio, constraints of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix are constructed, including determining the closed-loop system pole configuration area of ​​the wind power system participating in the power system frequency regulation model based on the minimum damping ratio, and constructing constraints of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix based on the closed-loop system pole configuration area.

[0108] In order to ensure the stability of the above closed-loop system, the mixed H2 / H ∞ The rationality of the robust oscillation controller parameters, by setting the closed-loop system pole configuration area, effectively suppresses the oscillation mode introduced by the frequency response controller of the wind turbine, and effectively improves the damping ratio of the torque oscillation mode of the wind turbine, to achieve the oscillation suppression requirements at different operating points. Figure 5 As shown in the figure, the region surrounded by the conic curve with an inner angle of 2θ and symmetric to the horizontal axis is selected as the closed-loop system pole configuration region. Based on the minimum damping ratio, the process of determining the closed-loop system pole configuration region of the wind power system participating in the power system frequency regulation model is as follows:

[0109]

[0110] Among them, min is the minimum damping ratio.

[0111] For example, continue with Figure 2 As an example, based on the closed-loop system pole placement region, the process of constructing the constraint conditions of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix is ​​as follows:

[0112]

[0113] Among them, P D is a positive definite matrix.

[0114] Solve matrix inequalities (1)-(5) so that the positive definite matrix P ∞ , P2, P D Satisfying formula (6), we can get A k , B k , C k , D k, for A k , B k , C k , D k Convert to get mixed H2 / H ∞ Parameters of the transfer function of the robust oscillatory controller.

[0115] P=P∞=P2=PD>0 (6)

[0116] The above inequality can be solved by using the LMI (Linear Matrix Inequality) tool in Matlab software.

[0117] In summary, according to the parameter acquisition method of the robust oscillation controller of the embodiment of the present application, based on the closed-loop system state equation, the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix are obtained, and the constraint conditions of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix are constructed. Based on the constraint conditions, the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

[0118] In order to implement the above embodiment, the present application also proposes a parameter acquisition device for a robust oscillation controller.

[0119] Figure 6 A schematic diagram of the structure of a parameter acquisition device for a robust oscillation controller provided in an embodiment of the present application.

[0120] like Figure 6 As shown, the parameter acquisition device 600 of the robust oscillation controller includes: a first building module 601 , a second building module 602 , a third building module 603 , a fourth building module 604 and an acquisition module 605 .

[0121] The first building block 601 is used to build a mixed H2 / H ∞ Robust oscillation controller, wherein the mixed H2 / H ∞ The input end of the robust oscillation controller is connected to the output end of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model;

[0122] The second construction module 602 is used to construct an open-loop system state equation of the wind power system participating in the power system frequency regulation model;

[0123] The third building block 603 is used to build the mixed H2 / H ∞ State equations of robust oscillation controllers;

[0124] The fourth building block 604 is used to build a system based on the open-loop system state equation and the mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model;

[0125] The acquisition module 605 is used to obtain the mixed H2 / H v Parameters of the robust oscillatory controller.

[0126] Further, in a possible implementation of the embodiment of the present application, the acquisition module 605 is further used to: obtain a first state matrix, a first input matrix, a first output matrix and a first direct transfer matrix based on the closed-loop system state equation; construct a constraint condition for at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix; obtain the mixed H2 / H based on the constraint condition. ∞ Parameters of the robust oscillatory controller.

[0127] Further, in a possible implementation of the embodiment of the present application, the acquisition module 605 is further used to: acquire H ∞ The upper limit of the norm; based on the H ∞ The upper limit value of the norm is used to construct a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

[0128] Furthermore, in a possible implementation of an embodiment of the present application, the acquisition module 605 is also used to: obtain an upper limit value of the H2 norm; and construct constraints for at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix based on the upper limit value of the H2 norm.

[0129] Furthermore, in a possible implementation of an embodiment of the present application, the acquisition module 605 is also used to: obtain the minimum damping ratio of the wind power system participating in the stability of the power system frequency regulation model; based on the minimum damping ratio, construct the constraint conditions of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

[0130] Furthermore, in a possible implementation of an embodiment of the present application, the acquisition module 605 is also used to: determine, based on the minimum damping ratio, a closed-loop system pole configuration area of ​​the wind power system participating in the power system frequency regulation model; and construct, based on the closed-loop system pole configuration area, constraints on at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

[0131] Further, in a possible implementation of the embodiment of the present application, the output of the output terminal of the wind power system participating in the power system frequency regulation model includes a grid frequency deviation and a grid angular velocity deviation; the device 600 further includes: a processing module, which is used to: input the grid frequency deviation and the grid angular velocity deviation into the hybrid H2 / H ∞ Robust oscillation controller is used to obtain the compensated active power and compensated reactive power of the wind power system.

[0132] It should be noted that the above explanation of the embodiment of the method for obtaining parameters of a robust oscillation controller is also applicable to the device for obtaining parameters of a robust oscillation controller of this embodiment, and will not be repeated here.

[0133] In summary, the parameter acquisition device of the robust oscillation controller of the embodiment of the present application constructs a hybrid H2 / H ∞ Robust oscillation controller, where the mixed H2 / H ∞ The input of the robust oscillation controller is connected to the output of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model, and the open-loop system state equation of the wind power system participating in the power system frequency regulation model is constructed. ∞ The state equation of the robust oscillation controller is based on the open-loop system state equation and the hybrid H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model. Based on the closed-loop system state equation, the hybrid H2 / H ∞ Parameters of the robust oscillation controller to obtain the mixed H2 / H ∞ Parameters of the robust oscillation controller and the mixed H2 / H ∞ The robust oscillation controller can meet the oscillation suppression requirements at different operating points when large-scale wind power is connected to the grid, and improve the system stability of wind turbines participating in power system frequency regulation.

[0134] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0135] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0136] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0137] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0138] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0139] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0140] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0141] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to control or imply relative importance or implicitly indicate the number of technical features controlled. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0142] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0143] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0144] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0145] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0147] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for obtaining parameters of a robust oscillation controller, characterized in that: include: Constructing a mixed H2 / H ∞ Robust oscillation controller, wherein the mixed H2 / H ∞ The input end of the robust oscillation controller is connected to the output end of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model; Constructing an open-loop system state equation of the wind power system participating in the power system frequency regulation model; Constructing the mixed H2 / H ∞ State equations of robust oscillation controllers; Based on the open-loop system state equation and the mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model; Based on the closed-loop system state equation, the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

2. The method according to claim 1, characterized in that Based on the closed-loop system state equation, the mixed H2 / H ∞ Parameters of the robust oscillation controller, including: Based on the closed-loop system state equation, a first state matrix, a first input matrix, a first output matrix and a first direct transfer matrix are obtained; constructing constraints on at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix; Based on the constraints, the mixed H2 / H ∞ Parameters of the robust oscillatory controller.

3. The method according to claim 2, characterized in that The constraint conditions for constructing at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix include: Get H ∞ The upper limit of the norm; Based on the H ∞ The upper limit value of the norm is used to construct a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix.

4. The method according to claim 2, characterized in that: The constraint conditions for constructing at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix include: Get the upper limit value of the H2 norm; Based on the upper limit value of the H2 norm, a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix is ​​constructed.

5. The method according to claim 2, characterized in that: The constraint conditions for constructing at least one of the first state matrix, the first input matrix, the first output matrix and the first direct transfer matrix include: Obtaining a minimum damping ratio for the wind power system to participate in stabilizing a frequency regulation model of a power system; Based on the minimum damping ratio, a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix is ​​constructed.

6. The method according to claim 5, characterized in that The step of constructing a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix based on the minimum damping ratio comprises: Based on the minimum damping ratio, determining a closed-loop system pole configuration region of a power system frequency regulation model in which the wind power system participates; Based on the closed-loop system pole configuration region, a constraint condition of at least one of the first state matrix, the first input matrix, the first output matrix, and the first direct transfer matrix is ​​constructed.

7. The method according to claim 1, characterized in that The output of the output terminal of the wind power system participating in the power system frequency regulation model includes a power grid frequency deviation and a power grid angular velocity deviation; The method further comprises: The grid frequency deviation and the grid angular velocity deviation are input into the hybrid H2 / H ∞ Robust oscillation controller is used to obtain the compensated active power and compensated reactive power of the wind power system.

8. A parameter acquisition device for a robust oscillation controller, characterized in that: include: The first building block for building a hybrid H2 / H ∞ Robust oscillation controller, wherein the mixed H2 / H ∞ The input end of the robust oscillation controller is connected to the output end of the wind power system participating in the power system frequency regulation model. ∞ The output end of the robust oscillation controller is connected to the input end of the wind power system participating in the power system frequency regulation model; The second construction module is used to construct an open-loop system state equation of the wind power system participating in the power system frequency regulation model; The third building block is used to build the mixed H2 / H ∞ State equations of robust oscillation controllers; The fourth building block is used to calculate the state equation of the open-loop system and the mixed H2 / H ∞ The state equation of the robust oscillation controller is used to construct the closed-loop system state equation of the wind power system participating in the power system frequency regulation model; An acquisition module is used to obtain the mixed H2 / H based on the closed-loop system state equation. ∞ Parameters of the robust oscillatory controller.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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