Method for establishing full-working-condition multi-control-mode refined mathematical model of doubly-fed variable-speed pump turbine

Abstract

The invention discloses a double-fed variable-speed pump turbine full-working-condition multi-control-mode refined mathematical model building method which comprises the steps that a double-fed asynchronous motor model is built through Park transformation; establishing a pump turbine full-working-condition refined mathematical model which comprises a pump turbine full-characteristic curve model and a water diversion pipeline model; establishing a doubly-fed variable-speed unit adjusting system model which comprises an excitation control system model, a pump turbine unit speed regulator model and a joint controller model; and based on the established model, changing module connection logic according to different control strategies, and completing the construction of the whole model. All-working-condition operation of the pump turbine can be achieved, and the dynamic response characteristics of the variable-speed unit for different fluctuation transition processes and the frequency modulation coping strategy and the power adjusting mechanism of the variable-speed unit are obtained.

Description

Technical Field

[0001] The invention relates to the technical field of water turbine modeling, and in particular to a method for establishing a refined mathematical model of a double-fed variable-speed water pump turbine in all working conditions and multiple control modes. Background Art

[0002] Variable speed pumped storage has the characteristics of rapid response to power fluctuations. It can quickly adjust the output power when the output of renewable energy fluctuates greatly to maintain the stability of the entire power system. Variable speed pumped storage power stations have the advantages of safety, reliability and high efficiency, and are the new development direction of the world's pumped storage industry.

[0003] The variable speed pumped storage unit is a complex nonlinear water-machine-electric coupling system, which is mainly composed of a water diversion system and a pump-turbine, a doubly fed generator and an AC excitation system, and a grid load. The modular modeling method is widely used in constructing simulation models of variable speed units, and the refined modeling of subsystems is the basis for the accuracy of the overall model. At present, the main deficiencies are as follows: 1) The refined numerical simulation model is based on numerical analysis theory. The modeling of turbines and water diversion pipes is carried out by using numerical calculation methods such as full characteristic curve interpolation and characteristic lines. It is suitable for the simulation of large fluctuation transition process of speed regulation system, but the calculation time complexity is relatively high. It is not suitable for occasions such as engineering design that require high calculation accuracy. There is a lack of models with fast calculation time and meeting the calculation accuracy requirements; 2) The simulation models for the electrical side are also mostly simplified, and there is a lack of refined models for doubly fed motors and their control strategies; 3) The simulation model research for doubly fed variable speed units is mostly aimed at a single operating condition, and there is a lack of models that can operate under all operating conditions; 4) The research on the control strategy of doubly fed variable speed units is mostly aimed at the comparison of one or two control strategies. There is a lack of detailed description and specific implementation methods of the control strategy and the differences between the control strategies applicable to different operating conditions. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine in all-operating-conditions and multiple control modes.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with multiple control modes under all working conditions, specifically comprising:

[0007] S1. Use Park transformation to establish a doubly-fed asynchronous motor model.

[0008] S2. Establish a detailed mathematical model of the pump-turbine under all operating conditions, including the pump-turbine full characteristic curve model and the water diversion pipeline model.

[0009] S3. Establish a doubly-fed variable-speed unit regulation system model, including an excitation control system model, a pump-turbine unit speed governor model and a cooperative controller model; wherein, the excitation control system model includes a rotor-side converter control model and a grid-side converter control model, and the cooperative controller model includes an optimal speed cooperative controller and an optimal opening cooperative controller.

[0010] S4. Based on the model established in steps S1-S3, the module connection logic is changed according to different control strategies to complete the construction of the overall model.

[0011] Furthermore, in step S1, establishing a double-fed asynchronous motor model includes the following contents:

[0012] The doubly-fed machine system is modeled according to the Park transformation (equal amplitude transformation), the stator flux-oriented vector control strategy for the rotor-side converter, and the stator voltage-oriented vector control strategy for the grid-side converter. The specific expression is:

[0013]

[0014] Among them, ψ ds represents the stator d-axis flux of the doubly-fed machine, represents the vector mode of the stator flux of the doubly-fed machine, ψ qs Represents the q-axis magnetic flux of the doubly-fed machine stator.

[0015] The expression of the doubly-fed asynchronous motor model in the two-phase rotating coordinate system is:

[0016]

[0017] Among them, P s represents the active power on the stator side of the doubly-fed machine, ω1 represents the synchronous speed, ψ s Represents the total magnetic flux, L m It represents the mutual inductance between the stator winding and the rotor winding in the rotating coordinate system of the doubly-fed machine, L S represents the stator side inductance corresponding to the doubly-fed machine rotating coordinate system, i qr represents the q-axis component of the doubly-fed machine rotor current, Q s represents the reactive power on the stator side of the doubly-fed generator, i ms represents the stator side excitation current, p represents the number of motor pole pairs, i dr represents the d-axis component of the doubly-fed machine rotor current, T e Represents electromagnetic torque, T L represents the load torque on the rotor shaft, J is the moment of inertia, Ω m is the mechanical speed of the rotor, and t represents time.

[0018] Furthermore, in step S2, establishing a refined mathematical model of the pump-turbine under all working conditions includes the following contents:

[0019] Based on the full characteristic curve data of the pump turbine provided by the power station, the unit Q 11 -n 11 -a, M 11 -n 11 -a Full characteristic curve converted to Q 11 -Xa, M 11 -Xa curve, and the full characteristic curve model of the pump turbine is obtained. The specific expression is:

[0020] α1=n 11 / n 11r

[0021] v1=Q 11 / Q 11r

[0022] X=α1 / e v1

[0023] Among them, α1 represents the ratio of unit speed to rated unit speed, n 11 Indicates the unit speed, n 11r represents the rated unit speed, v1 represents the ratio of unit flow rate to the rated unit flow rate, Q 11 Indicates unit flow, Q 11r represents the rated unit flow, X represents the new quantity after logarithmic projection transformation, a represents the actual opening of the guide vane, M 11 Represents unit moment.

[0024] a and n 11 The data are input into the full characteristic curve model of the pump-turbine and, after interpolation calculation, the unit flow and unit torque data of the unit are obtained.

[0025] The elastic water hammer model is used to represent the water diversion system pipeline, and the water diversion pipeline model is obtained. The specific expression is:

[0026]

[0027] Among them, G h (s) represents the transfer function of the pipeline elastic water hammer model, H(s) represents the Laplace transform value of the water head, Q(s) represents the flow rate, and h w Indicates the pipeline characteristic coefficient, T r represents water hammer constructiveness, and s represents the Laplace operator.

[0028] The pipeline transfer function is used to connect the full characteristic curve model of the pump-turbine and the water diversion pipeline model to obtain a refined mathematical model of the pump-turbine under all working conditions.

[0029] Furthermore, in step S3, establishing a doubly-fed variable speed unit regulation system model includes the following sub-steps:

[0030] S301, based on the stator flux oriented vector control strategy and the double closed-loop control method of the voltage outer loop and the current inner loop, obtain the rotor side converter control model; the specific content is:

[0031] Step 1: When the power priority control mode is adopted, the power control command is input into the rotor-side converter, and the active power output by the motor gradually reaches the power control command by controlling the q-axis component of the doubly-fed motor rotor current; when the speed priority control mode is adopted, the speed control command is input into the rotor-side converter, and the motor speed gradually reaches the speed control command by controlling the q-axis component of the doubly-fed motor rotor current. The specific formula is:

[0032]

[0033] Among them, i rd * The reference value of the d-axis component of the rotor current, i rq * The reference value of the q-axis component of the rotor current, K pv represents the proportional gain of the rotor-side converter outer loop controller, K iv represents the integral gain of the rotor-side converter outer loop controller, Q s Indicates the reactive power output by the motor, Q s * Indicates Q s The reference value, P s Indicates the active power output by the motor, P s * Indicates P s The reference value, n represents the motor speed, n * Indicates the reference value of n.

[0034] Step 2: The current inner loop control equation is:

[0035]

[0036] Among them, u rd Represents the d-axis component of the rotor voltage, K pi represents the proportional gain of the rotor-side converter current inner loop controller, K ii represents the integral gain of the rotor-side converter current inner loop controller, i rd represents the d-axis component of the rotor current, ω2 represents the angular velocity of the rotor rotating magnetic field relative to the rotor, and L r represents the stator self-inductance, i rq represents the q-axis component of the rotor current, u rqrepresents the q-axis component of the rotor voltage, ψ sd Represents the d-axis component of the stator flux.

[0037] Step 3: The specific expression of the rotor-side converter control model is:

[0038]

[0039] Among them, R r Indicates the rotor side resistance.

[0040] S302, based on the stator voltage vector oriented control strategy and the dual closed-loop control method of the DC voltage outer loop and the current inner loop, a grid-side converter control model is obtained; the specific contents are:

[0041] Step 1: The current inner loop control equation is:

[0042]

[0043] Among them, u od The d-axis component of the voltage value at the neutral point o, u oq Indicates the q-axis component of the voltage value at the neutral point o, K p1 represents the proportional gain of the grid-side converter current inner loop controller, K i1 represents the integral gain of the current inner loop controller of the grid-side converter, i gd represents the d-axis component of the grid-side current, i gd * Indicates i gd The reference value of i gq represents the q-axis component of the grid-side current, i gq * Indicates i gq The reference value, ω s represents the synchronous angular velocity, L g Indicates the grid-side converter inductance, u gd Represents the d-axis component of the grid-side voltage value.

[0044] Step 2: The DC voltage outer loop control equation is:

[0045]

[0046] Among them, u cd * Indicates the reference value of the DC bus voltage, u cd Indicates the DC bus voltage value, K p2 represents the proportional gain of the voltage outer loop controller of the grid-side converter, K i2 Represents the integral gain of the grid-side converter voltage outer loop controller.

[0047] Step 3: The specific expression of the grid-side converter control model is:

[0048]

[0049] Among them, R g Indicates the grid-side converter resistance, u gq Represents the q-axis component of the grid-side voltage value.

[0050] S303, using the parallel PID speed control method, construct a pump turbine speed regulator model, the specific expression is:

[0051]

[0052] Where y(s) represents the transfer function, T y Represents the relay time constant, K p Indicates the proportional coefficient of the speed regulator, K i Indicates the integral coefficient of the speed regulator, K d Indicates the differential coefficient of the speed regulator, T d represents the differential time constant, x c It represents the reference value of the speed governor control amount, and x represents the speed governor control amount.

[0053] S304, build the optimal speed cooperative controller, the specific contents are as follows:

[0054] Step 1: Initialize the curve parameters according to the full characteristic curve of the pump turbine. The water head H, the actual opening of the guide vane a and the motor speed n are all taken as the minimum values ​​at the current moment.

[0055] Step 2: Calculate the unit speed. The specific formula is:

[0056]

[0057] Where D1 is the diameter of the runner inlet edge, n 11 Indicates unit speed.

[0058] Step 3: Calculate the flow rate Q and torque M. The specific formula is:

[0059]

[0060] M=M 11 D1 3 ·H

[0061] Among them, Q 11 Indicates unit flow, M 11 It represents unit torque and is obtained through the flow characteristic curve and torque characteristic curve of the pump-turbine.

[0062] Step 4: Calculate the power P. The specific formula is:

[0063]

[0064] Step 5: Calculate the working efficiency η. The specific formula is:

[0065]

[0066] Step 6: Increase the motor speed n in sequence according to the set intervals, and repeat steps 2-5 until the maximum motor speed under the full characteristic curve of the pump-turbine is reached, and then the operating efficiency under different motor speeds is obtained.

[0067] Step 7: Increase the actual guide vane opening a in sequence according to the set intervals, repeat steps 2-6, until the maximum actual guide vane opening under the full characteristic curve of the pump-turbine is reached, and set the operating point corresponding to the maximum operating efficiency as the optimal operating point, and the motor speed at this time is the optimal motor speed.

[0068] Step 8. Increase the water head H at set intervals, repeat steps 2-6 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the optimal motor speed corresponding to each water head.

[0069] Step 9: Perform interpolation calculation on each water head and its corresponding power and optimal motor speed to obtain an optimal speed coordination table, and then obtain an optimal speed coordination controller.

[0070] S305, build the optimal opening degree cooperative controller, the specific contents are as follows:

[0071] Step 1: Initialize the curve parameters according to the full characteristic curve data of the pump turbine, and the water head H and the motor speed n are both taken as the minimum value at the current moment.

[0072] Step 2: Calculate the unit speed. The specific formula is:

[0073]

[0074] Step 3: Calculate the flow rate Q and torque M. The specific formula is:

[0075]

[0076] M=M 11 D1 3 ·H.

[0077] Step 4: Calculate the power P. The specific formula is:

[0078]

[0079] Step 5: Calculate the working efficiency η. The specific formula is:

[0080]

[0081] Step 6: Increase the actual guide vane opening a in sequence according to the set intervals, repeat steps 3-5 until the maximum actual guide vane opening under the full characteristic curve of the pump-turbine is reached, and obtain the operating efficiency of different actual guide vane openings at the same speed.

[0082] Step 7. Increase the motor speed n in sequence according to the set intervals, repeat steps 2-6, until the maximum motor speed under the full characteristic curve of the pump-turbine is reached and the operating point corresponding to the maximum operating efficiency is set as the optimal operating point, and the actual guide vane opening at this time is the optimal guide vane actual opening.

[0083] Step 8: Increase the water head H at set intervals, repeat steps 1-7 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the actual opening of the optimal guide vane corresponding to each water head.

[0084] Step 9: Perform interpolation calculation on each water head and its corresponding power and the actual opening of the optimal guide vane to obtain the optimal opening association table, and then obtain the optimal opening association controller.

[0085] S306: During power generation operation, the optimal speed cooperative controller is enabled; during pumping operation, the optimal opening cooperative controller is enabled.

[0086] S307, completing the regulation and control of the entire doubly-fed regulation system model by coordinating the control of the excitation control system model and the pump-turbine speed regulation model through the cooperative controller model.

[0087] Furthermore, in step S4, the construction of the overall model includes the following:

[0088] (1) Under power generation conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, the pump-turbine unit speed governor model adopts the speed control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the power control command is input into the rotor-side converter control model, and the reference value i of the q-axis component of the rotor current is controlled. rq * Then the unit output power is controlled to reach the power control command value; the speed control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to generate a mechanical torque command, and the command is input into the doubly-fed asynchronous motor model to control the mechanical torque T L Control the unit speed to reach the optimal motor speed.

[0089] (2) Under power generation conditions, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, the pump-turbine unit speed governor model adopts the power control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the speed control command is input into the rotor-side converter control model, and the speed control command is generated by controlling i rq * Then control the electromagnetic torque T e , so that the unit speed reaches the optimal motor speed; the power control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to control the unit output power by changing the unit flow to reach the power control command value.

[0090] (3) Under pumping conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the power control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Then the unit output power is controlled to reach the power control command value; the optimal opening command is input into the refined mathematical model of the pump-turbine under all working conditions, and the unit output power is assisted in controlling the unit output power to reach the power control command value by changing the unit flow.

[0091] (4) Under the pumping condition, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the speed control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Control T e , so that the unit speed reaches the optimal motor speed; the optimal opening command is input into the refined mathematical model of the pump turbine under all working conditions to generate a mechanical torque command, and the command is input into the double-fed asynchronous motor model to control the load torque T on the rotor shaft. L Auxiliary control unit speed to achieve the optimal motor speed.

[0092] Furthermore, the present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with full-operating conditions and multiple control modes as described above are implemented.

[0093] Furthermore, the present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is run by a processor, it executes the method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with full-operating conditions and multiple control modes as described above.

[0094] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0095] 1. The present invention utilizes the logarithmic projection method to transform the full characteristic curve of the pump-turbine to simulate a partial model of the pump-turbine unit, thereby realizing the refined modeling of the pump-turbine unit and being able to simulate and realize the full operating condition operation of the pump-turbine.

[0096] 2. By modeling the multiple control modes of the doubly-fed variable-speed pump-turbine unit regulation system, it is possible to build different appropriate coordinated control strategies, and to simulate and implement different control strategies, and obtain the changes in physical quantities such as speed and power during the large and small fluctuation transition of the variable-speed unit under different control strategies, thereby obtaining the dynamic response characteristics of the variable-speed unit to different fluctuation transition processes, as well as the frequency regulation response strategy and power regulation mechanism of the variable-speed unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Figure 1 It is the overall control flow chart of the present invention.

[0098] Figure 2 It is a control block diagram of the excitation control system model of the present invention.

[0099] Figure 3 It is a structural diagram of the model of the water pump turbine speed governor of the present invention.

[0100] Figure 4 It is a diagram of the speed and active power changes of a doubly-fed variable speed unit under the power priority control strategy of the power generation condition of an embodiment of the present invention. DETAILED DESCRIPTION

[0101] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0102] To achieve the above object, the present invention proposes a method for establishing a refined mathematical model of a doubly-fed variable speed pump-turbine with full-operating-condition multi-control modes, such as Figure 1 As shown, the specific steps are as follows:

[0103] S1. Use Park transformation to establish a double-fed asynchronous motor model; the specific content is:

[0104] The doubly-fed machine system is modeled according to the Park transformation (equal amplitude transformation), the stator flux-oriented vector control strategy for the rotor-side converter, and the stator voltage-oriented vector control strategy for the grid-side converter. The specific expression is:

[0105]

[0106] Among them, ψ ds represents the stator d-axis flux of the doubly-fed machine, represents the vector mode of the stator flux of the doubly-fed machine, ψ qs Represents the q-axis magnetic flux of the doubly-fed machine stator.

[0107] The expression of the doubly-fed asynchronous motor model in the two-phase rotating coordinate system is:

[0108]

[0109] Among them, P s represents the active power on the stator side of the doubly-fed machine, ω1 represents the synchronous speed, ψ s Represents the total magnetic flux, L m It represents the mutual inductance between the stator winding and the rotor winding in the rotating coordinate system of the doubly-fed machine, L S represents the stator side inductance corresponding to the doubly-fed machine rotating coordinate system, i qr represents the q-axis component of the doubly-fed machine rotor current, Q s represents the reactive power on the stator side of the doubly-fed generator, i ms represents the stator side excitation current, p represents the number of motor pole pairs, i dr represents the d-axis component of the doubly-fed machine rotor current, T e Represents electromagnetic torque, T L represents the load torque on the rotor shaft, J is the moment of inertia, Ω m is the rotor mechanical speed, and t represents time.

[0110] By controlling the dq current i of the doubly-fed motor rotor dr 、i qr To further decouple and control the reactive power, active power and electromagnetic torque on the stator side of the doubly fed generator to further control the speed of the unit.

[0111] S2. Establish a detailed mathematical model of the pump-turbine under all working conditions, including the pump-turbine full characteristic curve model and the water diversion pipeline model; the specific contents are as follows:

[0112] Based on the full characteristic curve data of the pump turbine provided by the power station, the unit Q 11 -n 11 -a, M 11 -n 11 -a Full characteristic curve converted to Q 11-Xa, M 11 -Xa curve, and the full characteristic curve model of the pump turbine is obtained. The specific expression is:

[0113] α1=n 11 / n 11r

[0114] v1=Q 11 / Q 11r

[0115] X=α1 / e v1

[0116] Among them, α1 represents the ratio of unit speed to rated unit speed, n 11 Indicates the unit speed, n 11r represents the rated unit speed, v1 represents the ratio of unit flow rate to the rated unit flow rate, Q 11 Indicates unit flow, Q 11r represents the rated unit flow, X represents the new quantity after logarithmic projection transformation, a represents the actual opening of the guide vane, M 11 Represents unit moment.

[0117] a and n 11 The data are input into the full characteristic curve model of the pump-turbine and, after interpolation calculation, the unit flow and unit torque data of the unit are obtained.

[0118] The elastic water hammer model is used to represent the water diversion system pipeline, and the water diversion pipeline model is obtained. The specific expression is:

[0119]

[0120] Among them, G h (s) represents the transfer function of the pipeline elastic water hammer model, H(s) represents the Laplace transform value of the water head, Q(s) represents the flow rate, and h w Indicates the pipeline characteristic coefficient, T r It means that water hammer is mutually beneficial. L represents the length of the pressure water pipe, V represents the water hammer wave velocity, and s represents the Laplace operator.

[0121] The pipeline transfer function is used to connect the full characteristic curve model of the pump-turbine and the water diversion pipeline model to obtain a refined mathematical model of the pump-turbine under all working conditions.

[0122] S3. Establish a regulation system model of a doubly-fed variable speed unit, including an excitation control system model, a pump-turbine unit speed governor model and a cooperative controller model; wherein the excitation control system model includes a rotor-side converter control model and a grid-side converter control model, and the cooperative controller model includes an optimal speed cooperative controller and an optimal opening cooperative controller; the specific contents are as follows:

[0123] S301, based on the stator flux oriented vector control strategy and the double closed-loop control method of the voltage outer loop and the current inner loop, obtain the rotor side converter control model; the specific content is:

[0124] Step 1: When the power priority control mode is adopted, the power control command is input into the rotor-side converter, and the active power output by the motor gradually reaches the power control command by controlling the q-axis component of the doubly-fed motor rotor current; when the speed priority control mode is adopted, the speed control command is input into the rotor-side converter, and the motor speed gradually reaches the speed control command by controlling the q-axis component of the doubly-fed motor rotor current. The specific formula is:

[0125]

[0126] Among them, i rd * The reference value of the d-axis component of the rotor current, i rq * The reference value of the q-axis component of the rotor current, K pv represents the proportional gain of the rotor-side converter outer loop controller, K iv represents the integral gain of the rotor-side converter outer loop controller, Q s Indicates the reactive power output by the motor, Q s * Indicates Q s The reference value, P s Indicates the active power output by the motor, P s * Indicates P s The reference value, n represents the motor speed, n * Indicates the reference value of n.

[0127] Step 2: The current inner loop control equation is:

[0128]

[0129] Among them, u rd Represents the d-axis component of the rotor voltage, K pi represents the proportional gain of the rotor-side converter current inner loop controller, K ii represents the integral gain of the rotor-side converter current inner loop controller, i rd represents the d-axis component of the rotor current, ω2 represents the angular velocity of the rotor rotating magnetic field relative to the rotor, and L r represents the stator self-inductance, i rq represents the q-axis component of the rotor current, u rq represents the q-axis component of the rotor voltage, ψ sd Represents the d-axis component of the stator flux.

[0130] Step 3: The specific expression of the rotor-side converter control model is:

[0131]

[0132] Among them, R r Indicates the rotor side resistance.

[0133] S302, based on the stator voltage vector oriented control strategy and the dual closed-loop control method of the DC voltage outer loop and the current inner loop, a grid-side converter control model is obtained; the specific contents are:

[0134] Step 1: The current inner loop control equation is:

[0135]

[0136] Among them, u od The d-axis component of the voltage value at the neutral point o, u oq Indicates the q-axis component of the voltage value at the neutral point o, K p1 represents the proportional gain of the grid-side converter current inner loop controller, K i1 represents the integral gain of the current inner loop controller of the grid-side converter, i gd represents the d-axis component of the grid-side current, i gd * Indicates i gd The reference value of i gq represents the q-axis component of the grid-side current, i gq * Indicates i gq The reference value, ω s represents the synchronous angular velocity, L g represents the grid-side converter inductance, u gd Represents the d-axis component of the grid-side voltage value.

[0137] Step 2: The DC voltage outer loop control equation is:

[0138]

[0139] Among them, u cd * Indicates the reference value of the DC bus voltage, u cd Indicates the DC bus voltage value, K p2 represents the proportional gain of the voltage outer loop controller of the grid-side converter, K i2 Represents the integral gain of the grid-side converter voltage outer loop controller.

[0140] The grid-side converter is designed to operate at unit power, and the reactive power exchanged with the AC grid is 0, that is,

[0141] Step 3: The specific expression of the grid-side converter control model is:

[0142]

[0143] Among them, R g Indicates the grid-side converter resistance, u gq Represents the q-axis component of the grid-side voltage value.

[0144] The decoupling control system of the rotor-side converter control model and the grid-side converter control model is as follows: Figure 2 As shown, whether it is in power generation or pumping condition, when the unit is in power priority control mode, the rotor side converter is in power control mode, and the control signal switch is turned to the unit power control loop; when the unit is in speed priority control mode, the rotor side is in speed control mode, and the control signal switch is turned to the speed control loop. In this embodiment, the rotor side converter control signal switch is turned to the power control loop.

[0145] S303, using the parallel PID speed control method, construct a pump turbine speed controller model, such as Figure 3 As shown, the specific expression is:

[0146]

[0147] Where y(s) represents the transfer function, T y Represents the relay time constant, K p Indicates the proportional coefficient of the speed regulator, K i Indicates the integral coefficient of the speed regulator, K d Indicates the differential coefficient of the speed regulator, T d represents the differential time constant, x c It represents the reference value of the speed governor control amount, and x represents the speed governor control amount.

[0148] In the speed regulation mode, x represents the unit speed reference value, x c represents the unit speed, y represents the relay opening given value; in the power regulation mode, x represents the unit power reference value, x c represents the unit power, y represents the relay opening set value; in the opening adjustment mode, the optimal opening value is directly given by the optimal opening controller as the opening set value; the obtained opening set value is input as a known quantity into the pump-turbine full characteristic curve model in step 2 for interpolation calculation.

[0149] In power generation mode, when the unit is in power priority control mode, the pump-turbine unit speed governor is in speed control mode, and the control signal switch is turned to the unit speed control loop; when the unit is in speed priority control mode, the pump-turbine unit speed governor is in power control mode, and the control signal switch is turned to the power control loop. In pumping mode, regardless of whether the unit is in power priority control mode or speed priority control mode, the pump-turbine unit speed governor is in opening control mode, and the control signal switch is turned to pumping mode. In this embodiment, the pump-turbine unit speed governor control signal switch is turned to the speed control loop.

[0150] S304, build the optimal speed cooperative controller, the specific contents are as follows:

[0151] Step 1: Initialize the curve parameters according to the full characteristic curve of the pump turbine. The water head H, the actual opening of the guide vane a and the motor speed n are all taken as the minimum values ​​at the current moment.

[0152] Step 2: Calculate the unit speed. The specific formula is:

[0153]

[0154] Where D1 is the diameter of the runner inlet edge, n 11 Indicates unit speed.

[0155] Step 3: Calculate the flow rate Q and torque M. The specific formula is:

[0156]

[0157] M=M 11 D1 3 ·H

[0158] Among them, Q 11 Indicates unit flow, M 11 It represents unit torque and is obtained through the flow characteristic curve and torque characteristic curve of the pump-turbine.

[0159] In power generation condition, M is a positive number, and in pumping condition, M is a negative number.

[0160] Step 4: Calculate the power P. The specific formula is:

[0161]

[0162] Step 5: Calculate the working efficiency η. The specific formula is:

[0163]

[0164] Step 6: Increase the motor speed n in sequence according to the set intervals, and repeat steps 2-5 until the maximum motor speed under the full characteristic curve of the pump-turbine is reached, and then the operating efficiency under different motor speeds is obtained.

[0165] Step 7: Increase the actual guide vane opening a in sequence according to the set intervals, repeat steps 2-6, until the maximum actual guide vane opening under the full characteristic curve of the pump-turbine is reached, and set the operating point corresponding to the maximum operating efficiency as the optimal operating point, and the motor speed at this time is the optimal motor speed.

[0166] Step 8. Increase the water head H at set intervals, repeat steps 2-6 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the optimal motor speed corresponding to each water head.

[0167] Step 9: Perform interpolation calculation on each water head and its corresponding power and optimal motor speed to obtain an optimal speed coordination table, and then obtain an optimal speed coordination controller.

[0168] S305, build the optimal opening degree cooperative controller, the specific contents are as follows:

[0169] Step 1: Initialize the curve parameters according to the full characteristic curve data of the pump turbine, and the water head H and the motor speed n are both taken as the minimum value at the current moment.

[0170] Step 2: Calculate the unit speed. The specific formula is:

[0171]

[0172] Step 3: Calculate the flow rate Q and torque M. The specific formula is:

[0173]

[0174] M=M 11 D1 3 ·H.

[0175] Step 4: Calculate the power P. The specific formula is:

[0176]

[0177] Step 5: Calculate the working efficiency η. The specific formula is:

[0178]

[0179] Step 6: Increase the actual guide vane opening a in sequence according to the set intervals, repeat steps 3-5 until the maximum actual guide vane opening under the full characteristic curve of the pump-turbine is reached, and obtain the operating efficiency of different actual guide vane openings at the same speed.

[0180] Step 7. Increase the motor speed n in sequence according to the set intervals, repeat steps 2-6, until the maximum motor speed under the full characteristic curve of the pump-turbine is reached and the operating point corresponding to the maximum operating efficiency is set as the optimal operating point, and the actual guide vane opening at this time is the optimal guide vane actual opening.

[0181] Step 8: Increase the water head H at set intervals, repeat steps 1-7 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the actual opening of the optimal guide vane corresponding to each water head.

[0182] Step 9: Perform interpolation calculation on each water head and its corresponding power and the actual opening of the optimal guide vane to obtain the optimal opening association table, and then obtain the optimal opening association controller.

[0183] S306: During power generation operation, the optimal speed cooperative controller is enabled; during pumping operation, the optimal opening cooperative controller is enabled.

[0184] Input the power command, assuming that the water head remains unchanged during the simulation period and is kept constant at H=425m, then the optimal speed is output through interpolation; when in the power priority control mode, it is output to the pump-turbine unit speed governor, which is the simulation working condition of this embodiment; when in the speed priority control mode, it is output to the rotor-side converter.

[0185] S307, completing the regulation and control of the entire doubly-fed regulation system model by coordinating the control of the excitation control system model and the pump-turbine speed regulation model through the cooperative controller model.

[0186] S4. Based on the model established in steps S1-S3, the module connection logic is changed according to different control strategies to complete the construction of the overall model; the specific contents are:

[0187] (1) Under power generation conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, the pump-turbine unit speed governor model adopts the speed control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the power control command is input into the rotor-side converter control model, and the reference value i of the q-axis component of the rotor current is controlled. rq * Then the unit output power is controlled to reach the power control command value; the speed control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to generate a mechanical torque command, and the command is input into the doubly-fed asynchronous motor model to control the mechanical torque T L Control the unit speed to reach the optimal motor speed.

[0188] (2) Under power generation conditions, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, the pump-turbine unit speed governor model adopts the power control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the speed control command is input into the rotor-side converter control model, and the speed control command is generated by controlling i rq * Then control the electromagnetic torque T e , so that the unit speed reaches the optimal motor speed; the power control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to control the unit output power by changing the unit flow to reach the power control command value.

[0189] (3) Under pumping conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the power control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Then the unit output power is controlled to reach the power control command value; the optimal opening command is input into the refined mathematical model of the pump-turbine under all working conditions, and the unit output power is assisted in controlling the unit output power to reach the power control command value by changing the unit flow.

[0190] (4) Under the pumping condition, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the speed control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Control T e , so that the unit speed reaches the optimal motor speed; the optimal opening command is input into the refined mathematical model of the pump turbine under all working conditions to generate a mechanical torque command, and the command is input into the double-fed asynchronous motor model to control the load torque T on the rotor shaft. L Auxiliary control unit speed to achieve the optimal motor speed.

[0191] Set the power control command or the speed control command and perform simulation calculations; obtain the time domain simulation results of each physical quantity.

[0192] In this embodiment, the parameter settings are shown in Table 1.

[0193] Table 1 Parameter data

[0194]

[0195]

[0196] In this embodiment, a 5% load increase / decrease disturbance condition is set for simulation. The specific simulation results are as follows: Figure 4 (a) and Figure 4 As shown in (b), it can be seen that by using the rotor-side converter to preferentially control the unit output power, the unit power can quickly track the power command to achieve high-efficiency operation of the unit; the unit speed is controlled by the pump-turbine unit speed governor; compared with conventional units, the variable speed pumped storage unit achieves rapid output change operation under power generation conditions, reflecting a higher flexible adjustment performance.

[0197] The embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. It should be noted that when the processor executes the computer program, the specific steps of the method provided in the embodiment of the present invention are corresponding to the specific steps of the method provided in the embodiment of the present invention, and the processor has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0198] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. It should be noted that when the computer program is executed by the processor, it corresponds to the specific steps of the method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0199] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with multiple control modes under all operating conditions, characterized in that: include: S1. Use Park transformation to establish a double-fed asynchronous motor model; S2. Establish a detailed mathematical model of the pump-turbine under all working conditions, including a pump-turbine full characteristic curve model and a water diversion pipeline model; S3. Establish a doubly-fed variable-speed unit regulation system model, including an excitation control system model, a pump-turbine unit speed governor model, and a cooperative controller model; wherein the excitation control system model includes a rotor-side converter control model and a grid-side converter control model, and the cooperative controller model includes an optimal speed cooperative controller and an optimal opening cooperative controller; S4. Based on the model established in steps S1-S3, the module connection logic is changed according to different control strategies to complete the construction of the overall model.

2. The method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine under all-operating-conditions and multiple control modes according to claim 1 is characterized in that: In step S1, establishing a double-fed asynchronous motor model includes the following contents: According to the Park transformation, the rotor-side converter applies the stator flux-oriented vector control strategy, and the grid-side converter applies the stator voltage-oriented vector control strategy to build a model for the doubly-fed generator system. The specific expression is: Among them, ψ ds represents the stator d-axis flux of the doubly-fed machine, represents the vector mode of the stator flux of the doubly-fed machine, ψ qs represents the q-axis flux linkage of the doubly-fed machine stator; The expression of the doubly-fed asynchronous motor model in the two-phase rotating coordinate system is: Among them, P s represents the active power on the stator side of the doubly-fed machine, ω1 represents the synchronous speed, ψ s Represents the total magnetic flux, L m It represents the mutual inductance between the stator winding and the rotor winding in the rotating coordinate system of the doubly-fed machine, L S represents the stator side inductance corresponding to the doubly-fed machine rotating coordinate system, i qr represents the q-axis component of the doubly-fed machine rotor current, Q s represents the reactive power on the stator side of the doubly-fed generator, i ms represents the stator side excitation current, p represents the number of motor pole pairs, i dr represents the d-axis component of the doubly-fed machine rotor current, T e Represents electromagnetic torque, T L represents the load torque on the rotor shaft, J represents the moment of inertia, Ω m represents the mechanical speed of the rotor, and t represents time.

3. The method for establishing a refined mathematical model of a doubly-fed variable speed pump-turbine under all-operating conditions and multiple control modes according to claim 1 is characterized in that: In step S2, establishing a refined mathematical model of the pump-turbine under all working conditions includes the following contents: Based on the full characteristic curve data of the pump turbine provided by the power station, the unit Q 11 -n 11 -a, M 11 -n 11 -a Full characteristic curve converted to Q 11 -Xa, M 11 -Xa curve, and the full characteristic curve model of the pump turbine is obtained. The specific expression is: α1=n 11 / n 11r v1=Q 11 / Q 11r X=α1 / e v1 Among them, α1 represents the ratio of unit speed to rated unit speed, n 11 Indicates the unit speed, n 11r represents the rated unit speed, v1 represents the ratio of unit flow rate to the rated unit flow rate, Q 11 Indicates unit flow, Q 11r represents the rated unit flow, X represents the new quantity after logarithmic projection transformation, a represents the actual opening of the guide vane, M 11 represents unit moment; a and n 11 Input into the full characteristic curve model of the pump-turbine, and after interpolation calculation, obtain the unit flow and unit torque data of the unit; The elastic water hammer model is used to represent the water diversion system pipeline, and the water diversion pipeline model is obtained. The specific expression is: Among them, G h (s) represents the transfer function of the pipeline elastic water hammer model, H(s) represents the Laplace transform value of the water head, Q(s) represents the flow rate, and h w Indicates the pipeline characteristic coefficient, T r represents water hammer phase construction, s represents the Laplace operator; The pipeline transfer function is used to connect the full characteristic curve model of the pump-turbine and the water diversion pipeline model to obtain a refined mathematical model of the pump-turbine under all working conditions.

4. The method for establishing a refined mathematical model of a doubly-fed variable speed pump-turbine under all-operating conditions and multiple control modes according to claim 1, characterized in that: In step S3, establishing a doubly-fed variable speed unit regulation system model includes the following sub-steps: S301, based on the stator flux oriented vector control strategy and the double closed-loop control method of the voltage outer loop and the current inner loop, obtain the rotor side converter control model; the specific content is: Step 1: When the power priority control mode is adopted, the power control command is input into the rotor-side converter, and the active power output by the motor gradually reaches the power control command by controlling the q-axis component of the doubly-fed motor rotor current; when the speed priority control mode is adopted, the speed control command is input into the rotor-side converter, and the motor speed gradually reaches the speed control command by controlling the q-axis component of the doubly-fed motor rotor current. The specific formula is: Among them, i rd * The reference value of the d-axis component of the rotor current, i rq * The reference value of the q-axis component of the rotor current, K pv represents the proportional gain of the rotor-side converter outer loop controller, K iv represents the integral gain of the outer loop controller of the rotor-side converter, s represents the Laplace operator, Q s Indicates the reactive power output by the motor, Q s * Indicates Q s The reference value, P s Indicates the active power output by the motor, P s * Indicates P s The reference value, n represents the motor speed, n * represents the reference value of n, p represents the number of motor pole pairs, ω1 represents the synchronous speed, ψ s Represents the total magnetic flux, L m It represents the mutual inductance between the stator winding and the rotor winding in the rotating coordinate system of the doubly-fed machine, L S represents the stator side inductance corresponding to the doubly-fed machine rotating coordinate system, i ms Indicates the stator side excitation current; Step 2: The current inner loop control equation is: Among them, u rd Represents the d-axis component of the rotor voltage, K pi represents the proportional gain of the rotor-side converter current inner loop controller, K ii represents the integral gain of the rotor-side converter current inner loop controller, i rd represents the d-axis component of the rotor current, ω2 represents the angular velocity of the rotor rotating magnetic field relative to the rotor, and L r represents the stator self-inductance, i rq represents the q-axis component of the rotor current, u rq represents the q-axis component of the rotor voltage, ψ sd represents the d-axis component of the stator flux; Step 3: The specific expression of the rotor-side converter control model is: Among them, R r represents the rotor side resistance, t represents the time; S302, based on the stator voltage vector oriented control strategy and the dual closed-loop control method of the DC voltage outer loop and the current inner loop, a grid-side converter control model is obtained; the specific contents are: Step 1: The current inner loop control equation is: Among them, u od The d-axis component of the voltage value at the neutral point o, u oq Indicates the q-axis component of the voltage value at the neutral point o, K p1 represents the proportional gain of the grid-side converter current inner loop controller, K i1 represents the integral gain of the current inner loop controller of the grid-side converter, i gd represents the d-axis component of the grid-side current, i gd * Indicates i gd The reference value of i gq represents the q-axis component of the grid-side current, i gq * Indicates i gq The reference value, ω s represents the synchronous angular velocity, L g represents the grid-side converter inductance, u gd The d-axis component representing the grid-side voltage value; Step 2: The DC voltage outer loop control equation is: Among them, u cd Indicates the DC bus voltage value, u cd * Indicates u cd Reference value, K p2 represents the proportional gain of the voltage outer loop controller of the grid-side converter, K i2 represents the integral gain of the voltage outer loop controller of the grid-side converter; Step 3: The specific expression of the grid-side converter control model is: Among them, R g Indicates the grid-side converter resistance, u gq The q-axis component representing the grid-side voltage value; S303, using the parallel PID speed control method, construct a pump turbine speed regulator model, the specific expression is: Where y(s) represents the transfer function, T y Represents the relay time constant, K p Indicates the proportional coefficient of the speed regulator, K i Indicates the integral coefficient of the speed regulator, K d Indicates the differential coefficient of the speed regulator, T d represents the differential time constant, x c represents the reference value of the speed governor control amount, and x represents the speed governor control amount; S304, build the optimal speed cooperative controller, the specific contents are as follows: Step 1: Initialize the curve parameters according to the full characteristic curve of the pump turbine. The water head H, the actual opening of the guide vane a and the motor speed n are all taken as the minimum values ​​at the current moment. Step 2: Calculate the unit speed. The specific formula is: Where D1 is the diameter of the runner inlet edge, n 11 Indicates unit speed; Step 3: Calculate the flow rate Q and torque M. The specific formula is: M=M 11 ·D1 3 ·H Among them, Q 11 Indicates unit flow, M 11 Represents unit torque, obtained through the flow characteristic curve and torque characteristic curve of the pump turbine; Step 4: Calculate the power P. The specific formula is: Step 5: Calculate the working efficiency η. The specific formula is: Step 6, increasing the motor speed n in sequence according to the set intervals, repeating steps 2-5 until the maximum motor speed under the full characteristic curve of the pump turbine is reached and the operating efficiency under different motor speeds is obtained; Step 7, increase the actual opening a of the guide vane in sequence according to the set interval, repeat steps 2-6 until the maximum actual opening of the guide vane under the full characteristic curve of the pump turbine is reached, and set the operating point corresponding to the maximum operating efficiency as the optimal operating point, and the motor speed at this time is the optimal motor speed; Step 8: Increase the water head H in sequence according to the set intervals, repeat steps 2-6 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the optimal motor speed corresponding to each water head; Step 9: Perform interpolation calculation on each water head and its corresponding power and optimal motor speed to obtain an optimal speed coordination table, and then obtain an optimal speed coordination controller; S305, build the optimal opening degree cooperative controller, the specific contents are as follows: Step 1: Initialize the curve parameters according to the full characteristic curve data of the pump turbine, and take the minimum value of the water head H and the motor speed n at the current moment; Step 2: Calculate the unit speed. The specific formula is: Step 3: Calculate the flow rate Q and torque M. The specific formula is: M=M 11 ·D1 3 ·H; Step 4: Calculate the power P. The specific formula is: Step 5: Calculate the working efficiency η. The specific formula is: Step 6, increasing the actual opening a of the guide vanes in sequence according to the set intervals, repeating steps 3-5 until the maximum actual opening of the guide vanes under the full characteristic curve of the pump-turbine is reached, and the operating efficiency of different actual openings of the guide vanes at the same speed is obtained; Step 7, increase the motor speed n in sequence according to the set interval, repeat steps 2-6 until the maximum motor speed under the full characteristic curve of the pump turbine is reached and the operating point corresponding to the maximum operating efficiency is set as the optimal operating point, and the actual opening of the guide vane at this time is the optimal actual opening of the guide vane; Step 8: Increase the water head H in sequence according to the set intervals, repeat steps 1-7 until the maximum water head under the full characteristic curve of the pump-turbine is reached, and record the actual opening of the optimal guide vane corresponding to each water head; Step 9, interpolate and calculate each water head and its corresponding power and the optimal guide vane actual opening to obtain the optimal opening association table, and then obtain the optimal opening association controller; S306, when in power generation mode, the optimal speed cooperative controller is enabled; when in pumping mode, the optimal opening cooperative controller is enabled; S307, completing the regulation and control of the entire doubly-fed regulation system model by coordinating the control of the excitation control system model and the pump-turbine speed regulation model through the cooperative controller model.

5. The method for establishing a refined mathematical model of a doubly-fed variable speed pump-turbine under all-operating conditions and multiple control modes according to claim 1, characterized in that: In step S4, the construction of the overall model is completed, including the following: (1) Under power generation conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, the pump-turbine unit speed governor model adopts the speed control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the power control command is input into the rotor-side converter control model, and the reference value i of the q-axis component of the rotor current is controlled. rq * Then the unit output power is controlled to reach the power control command value; the speed control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to generate a mechanical torque command, and the command is input into the doubly-fed asynchronous motor model to control the mechanical torque T L Control the unit speed to reach the optimal motor speed; (2) Under power generation conditions, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, the pump-turbine unit speed governor model adopts the power control mode, and the optimal speed cooperative controller is enabled to generate a speed control command; the speed control command is input into the rotor-side converter control model, and the speed control command is generated by controlling i rq * Then control the electromagnetic torque T e , so that the unit speed reaches the optimal motor speed; the power control command is input into the pump-turbine unit speed governor model to generate an opening command, and the command is input into the pump-turbine full-operating condition refined mathematical model to control the unit output power to reach the power control command value by changing the unit flow; (3) Under pumping conditions, when the power priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the power control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the power control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Then the unit output power is controlled to reach the power control command value; the optimal opening command is input into the refined mathematical model of the pump turbine under all working conditions, and the unit output power is controlled to reach the power control command value by changing the unit flow; (4) Under the pumping condition, when the speed priority control strategy is adopted, the rotor-side converter control model of the excitation control system model with a faster control speed adopts the speed control mode, and the pump-turbine unit speed governor model adopts the opening control mode. The optimal opening cooperative controller is enabled to generate the optimal opening command; the speed control command is input into the rotor-side converter control model, and the optimal opening command is generated by controlling i rq * Control T e , so that the unit speed reaches the optimal motor speed; the optimal opening command is input into the refined mathematical model of the pump turbine under all working conditions to generate a mechanical torque command, and the command is input into the double-fed asynchronous motor model to control the load torque T on the rotor shaft. L Auxiliary control unit speed to achieve the optimal motor speed.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with multiple control modes under all operating conditions as described in any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for establishing a refined mathematical model of a doubly-fed variable-speed pump-turbine with multiple control modes under all operating conditions as described in any one of claims 1 to 5 is executed.

Images