Control method applied to hybrid energy storage system in wave power generation and related equipment

Abstract

The invention provides a control method applied to a hybrid energy storage system in wave power generation and related equipment, the method is applied to a control system, the control system comprises a linear active-disturbance-rejection controller and an adaptive PI controller, and the linear active-disturbance-rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO; the method comprises the following steps: acquiring an actual voltage instruction and a reference voltage instruction corresponding to the hybrid energy storage system; the actual voltage instruction is input into the expansion linear observer to be processed and then processed with the reference voltage instruction according to the linear error feedback control rate set by the error feedback controller, and a current reference instruction is obtained; and inputting the current reference instruction into the self-adaptive PI controller, and outputting the current reference instruction after amplitude limiting by the self-adaptive PI controller. By adjusting the voltage and current in the hybrid energy storage system through the method provided by the invention, the fluctuation of the direct-current bus voltage in the hybrid energy storage system in the wave power generation technology is inhibited, and the stability of the wave power generation system is maintained.

Description

Technical Field

[0001] The present invention relates to the technical field of wave power generation, and in particular to a control method and related equipment for a hybrid energy storage system used in wave power generation. Background Art

[0002] At present, in wave power generation technology, there are relatively few studies on the voltage stabilization control strategy of the DC bus voltage in wave power generation technology, while there are already many control strategies using hybrid energy storage systems in other energy sources such as wind power and photovoltaic power generation systems. Therefore, with the development of wave power generation technology, it is necessary to develop some control strategies that can meet the characteristics of wave energy. The power fluctuation of the wave power generation system is similar to that of wind, photovoltaic, etc. on a long time scale, but different from other energy sources on a short time scale, and has the characteristics of frequent fluctuations and a large range. Therefore, based on this characteristic, it is urgent to develop an anti-disturbance control strategy applied to the hybrid energy storage system of wave energy technology to suppress the fluctuation of the DC bus voltage in the system, and at the same time help maintain the stability of the wave power generation system. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a control method and related equipment for a hybrid energy storage system in wave power generation, so as to suppress fluctuations in DC bus voltage in the hybrid energy storage system in wave power generation technology and maintain stability of the wave power generation system.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] A control method for a hybrid energy storage system in wave power generation, the method is applied to a control system, the control system comprising: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; the method comprises:

[0006] Obtaining an actual voltage command and a reference voltage command corresponding to the hybrid energy storage system;

[0007] The actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command;

[0008] The current reference instruction is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

[0009] The above-mentioned control method for the hybrid energy storage system in wave power generation, optionally, the inputting of the current reference instruction into the adaptive PI controller, and the output after being limited by the adaptive PI controller, comprises:

[0010] Determine a current error reference value;

[0011] Correcting the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value;

[0012] The actual current value is input into the adaptive PI controller for calculation, and the calculated current value is limited and then the duty cycle is output.

[0013] In the control method for the hybrid energy storage system in wave power generation, optionally, the first element is used to execute the modulation link transfer function G m (s);

[0014] The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s);

[0015] The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s);

[0016] The fourth element is used to implement the transfer function H of the current loop sampling link i (s);

[0017] The fifth element is used to implement the transfer function H of the voltage loop sampling link v (s).

[0018] In the above control method for the hybrid energy storage system in wave power generation, optionally, the proportional parameter of the adaptive PI controller is variable with the change of current.

[0019] A control system for a hybrid energy storage system in wave power generation, comprising: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, and the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO;

[0020] The linear active disturbance rejection controller obtains the actual voltage command and the reference voltage command corresponding to the hybrid energy storage system; the actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command; the current reference command is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

[0021] In the above control system applied to the hybrid energy storage system in wave power generation, optionally, the linear active disturbance rejection controller is specifically configured as follows:

[0022] Determine a current error reference value; correct the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value; input the actual current value into the adaptive PI controller for calculation, and output the duty cycle after limiting the calculated current value.

[0023] In the control system of the hybrid energy storage system used in wave power generation, optionally, the first element is used to execute the modulation link transfer function G m (s);

[0024] The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s);

[0025] The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s);

[0026] The fourth element is used to implement the transfer function H of the current loop sampling link i (s);

[0027] The fifth element is used to implement the transfer function H of the voltage loop sampling linkv (s).

[0028] In the above control system applied to the hybrid energy storage system in wave power generation, optionally, the proportional parameter of the adaptive PI controller is variable with the change of current.

[0029] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned control method for a hybrid energy storage system in wave power generation.

[0030] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to execute the above-mentioned control method for a hybrid energy storage system in wave power generation.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] The present invention provides a control method for a hybrid energy storage system in wave power generation. The method is applied to a control system, wherein the control system comprises: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, and the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, and one end of the fourth element is connected to the end of the adaptive PI controller. The input end of the hybrid energy storage system is connected to the output end of the second element at one end, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; the method includes: obtaining the actual voltage command and the reference voltage command corresponding to the hybrid energy storage system; inputting the actual voltage command into the extended linear observer LESO for processing to obtain a first processing signal, and processing the first processing signal and the reference voltage command according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command; inputting the current reference command into the adaptive PI controller, and outputting it after being limited by the adaptive PI controller. The control method for the hybrid energy storage system in wave power generation provided by the present invention is applied to enable the DC bus voltage to effectively suppress the bus voltage fluctuation under the power fluctuation of the wave power generation system; the adaptive PI control is applied to the current loop to ensure that the voltage and current of the supercapacitor in the hybrid energy storage system will change in a large range under the wave power fluctuation, thereby causing the control effect of the system to change, thereby suppressing the fluctuation of the DC bus voltage in the hybrid energy storage system in the wave power generation technology, and thus maintaining the stability of the wave power generation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A method flow chart of a control method for a hybrid energy storage system in wave power generation provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the structure of a control system for a hybrid energy storage system used in wave power generation provided by an embodiment of the present invention;

[0036] Figure 3A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0039] The present invention can be used in many general or special computing device environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multi-processor devices, distributed computing environments including any of the above devices or devices, etc.

[0040] The method provided by the present invention can be applied to the control platform of the wave power generation system. Figure 1 , is a method flow chart of a control method for a hybrid energy storage system in wave power generation provided by an embodiment of the present invention, the method is applied to a control system, the control system includes: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; the method includes:

[0041] S101: Acquire an actual voltage command and a reference voltage command corresponding to the hybrid energy storage system;

[0042] In the method provided by the embodiment of the present invention, the linear active disturbance rejection controller is used to receive an actual voltage command input by a DC bus and obtain a preset reference voltage command.

[0043] S102: Input the actual voltage command into the extended linear observer LESO for processing to obtain a first processing signal, and process the first processing signal and the reference voltage command according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command;

[0044] In the method provided by an embodiment of the present invention, the linear active disturbance rejection controller inputs the received actual voltage command into the extended linear observer LESO, processes the actual voltage command, and obtains a first processed signal corresponding to the actual voltage command. Then, the obtained first processed signal and the reference voltage command are processed according to the linear error feedback vacancy rate set by the error feedback controller LSEF to obtain a current reference command input to the adaptive PI controller.

[0045] S103: Input the current reference command into the adaptive PI controller, and output it after being limited by the adaptive PI controller.

[0046] In the method provided by the embodiment of the present invention, the linear active disturbance rejection controller inputs the current reference instruction into the adaptive PI controller, and the current reference instruction is output after being limited by the adaptive PI controller.

[0047] The control method for the hybrid energy storage system in wave power generation provided by the embodiment of the present invention can be understood as a practical control strategy, wherein the combination of the linear active disturbance rejection controller and the adaptive PI controller can be understood as an integrated application composed of the voltage loop active disturbance rejection and the current loop adaptive PI control in the actual wave power generation technology, and the working principle of the overall structure can be understood as follows: dc_ref is the voltage reference signal, U dc is the actual voltage signal. Figure 2 In the structural diagram shown, it can be understood that the voltage loop adopts the self-disturbance rejection control, that is, the actual voltage command passes through the LESO linear extended state observer in the self-disturbance rejection controller, and is integrated with the reference voltage command according to the set linear error feedback control rate LSEF, and finally the current reference command is obtained and transmitted to the current loop. The current loop control loop is controlled by the adaptive PI controller. Different from the traditional PI, the proportional parameter kp of the adaptive PI controller can be changed according to the actual current and the set current reference value. Therefore, the output of the voltage loop is used as the given i of the current loop. L_ref ,After the error adjustment, the transmission enters the adaptive PI controller, and after the deviation correction, it is finally output through the limiting link.

[0048] In the method provided by the embodiment of the present invention, the voltage loop adopts a linear anti-disturbance controller, which has better robustness and stronger suppression of fluctuations than traditional PI control. The current loop adopts an adaptive PI controller. Compared with traditional PI control, when it is applied to a hybrid energy storage system, it can more effectively track the large-scale changes in the voltage and current of the supercapacitor at the input end. The proportional parameter kp of the adaptive PI can effectively change with the change of current, thereby effectively tracking the current command output by the voltage loop to maintain the stable operation of the hybrid energy storage system, thereby suppressing the fluctuation of the DC bus voltage in the hybrid energy storage system in the wave power generation technology to maintain the stability of the wave power generation system.

[0049] In the method provided by the embodiment of the present invention, the specific process of inputting the current reference instruction into the adaptive PI controller and outputting it after being limited by the adaptive PI controller includes:

[0050] Determine a current error reference value;

[0051] Correcting the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value;

[0052] The actual current value is input into the adaptive PI controller for calculation, and the calculated current value is limited and then the duty cycle is output.

[0053] In the method provided by an embodiment of the present invention, in the process of the linear anti-disturbance controller inputting the current reference instruction into the adaptive PI controller for processing, the current error reference value is first determined, the current value corresponding to the current reference instruction is corrected by the current error reference value to obtain the actual current value, and then the actual current value is input into the adaptive PI controller for calculation, and the calculated current value is limited and then the duty cycle is output.

[0054] In the method provided by the embodiment of the present invention, the first element is used to execute the modulation link transfer function G m (s);

[0055] The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s);

[0056] The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s);

[0057] The fourth element is used to implement the transfer function H of the current loop sampling link i (s);

[0058] The fifth element is used to execute the transfer function Hv(s) of the voltage loop sampling link.

[0059] The control method for the hybrid energy storage system in wave power generation provided by the embodiment of the present invention can not only stabilize the bus voltage fluctuation in actual application, but also the control parameters of the adaptive PI controller need to be changed in real time with the fluctuation, so as to achieve a control strategy with better control effect, which is used to cope with the power fluctuation on a short time scale in wave power generation, stabilize the bus voltage fluctuation and stabilize the system.

[0060] The control method for the hybrid energy storage system in wave power generation provided by the embodiment of the present invention continues the application of some specific functions compared to the existing double closed-loop PI control process. In the existing PI control process, the traditional double closed-loop PI control of the hybrid energy storage system connected to the DC bus through a bidirectional DC / DC converter is applied to wind, light and other power generation systems to suppress bus voltage fluctuations, that is, when power distribution is not considered, only the control block diagram of the supercapacitor or battery cell stabilizing the bus voltage is explored. In wave power generation, the corresponding control strategy can adopt the control method provided by the embodiment of the present invention, where G m (s) is the transfer function of the modulation link, G vi (s) is the transfer function of DC bus voltage to inductor current, G id (s) is the transfer function of inductor current to duty cycle, H v (s) is the transfer function of the voltage loop sampling link, H i (s) is the transfer function of the current loop sampling link.

[0061] In the method provided by the embodiment of the present invention, the voltage loop adopts a linear active disturbance rejection controller to achieve a better voltage stabilization bus effect and a higher stability for the system control effect, wherein LSEF (Linear State Estimation Filter) is the error feedback control law in the active disturbance rejection, and LESO (Linear Extended State Observer) is an extended linear observer.

[0062] In the method provided by the embodiment of the present invention, the proportional coefficient kp of the adaptive PI controller can change with the change of the input signal, and a limiting link of the proportional parameter kp is added, that is, the value of kp needs to be set within a range and cannot exceed the range.

[0063] Specific case explanation, such as taking the voltage loop as an example, when the supercapacitor is connected in parallel to the DC bus as the access end of the bidirectional DC / DC converter, its voltage will rise and fall in a large range as it absorbs and releases power. Therefore, by collecting the voltage at the supercapacitor end as input, the proportional parameter kp begins to change adaptively. In order to prevent the kp value from changing too small or too large, it needs to go through a limiting link, and finally it is consistent with the traditional PI controller and still outputs out. Therefore, the core change of the adaptive PI controller is to change the proportional parameter kp in the traditional PI controller.

[0064] Compared with the traditional PI control strategy, the solution provided in the embodiment of the present application applies anti-disturbance control to the voltage loop, so that the DC bus voltage can effectively smooth the bus voltage fluctuation under the power fluctuation of the wave energy generation system; and applies adaptive PI control to the current loop to ensure that the voltage and current of the supercapacitor in the hybrid energy storage system will change over a large range under the wave energy power fluctuation, thereby causing the control effect of the system to change, so that the current loop proportional coefficient can adaptively change with the change of current to achieve a better control effect.

[0065] In the method provided in the embodiment of the present invention, a linear active disturbance rejection controller is adopted. In LADRC (extended state observer adaptive control), LESO (Least-Squares Extended State Observer) and LSEF (Least-Squares Extended State Feedback) each play a key role. LESO is used to accurately estimate the system state and disturbance, optimize the state observer through the least squares method, and provide accurate information on the system dynamics. LSEF performs feedback control based on these observations and optimizes the control strategy to improve the stability and performance of the system. In short, LESO is responsible for state and disturbance estimation, and LSEF adjusts the system control based on these estimates.

[0066] refer to Figure 2A control system for a hybrid energy storage system in wave power generation provided by an embodiment of the present invention is shown. The control system is a specific application of the control method shown in 1. The control system is mainly composed of a linear active disturbance rejection controller and an adaptive PI controller, and multiple elements are combined to form a voltage and current dual closed-loop control for practical application. The control system specifically includes: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, and the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO;

[0067] The linear active disturbance rejection controller obtains the actual voltage command and the reference voltage command corresponding to the hybrid energy storage system; the actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command; the current reference command is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

[0068] In practical applications, the control system for the hybrid energy storage system in wave power generation provided by the embodiment of the present invention, wherein the combination of the linear active disturbance rejection controller and the adaptive PI controller can be understood as an integrated application composed of the voltage loop active disturbance rejection and the current loop adaptive PI control in the actual wave power generation technology, and the working principle of the overall structure can be understood as follows: dc_ref is the voltage reference signal, U dc It is the actual voltage signal. It can be understood that the voltage loop adopts the self-disturbance rejection control, that is, the actual voltage command passes through the LESO linear extended state observer in the self-disturbance rejection controller, and is integrated with the reference voltage command according to the set linear error feedback control rate LSEF. Finally, the current reference command is transmitted to the current loop. The current loop control loop is controlled by the adaptive PI controller. Different from the traditional PI, the proportional parameter kp of the adaptive PI controller can be changed according to the actual current and the set current reference value. Therefore, the output of the voltage loop is used as the given i of the current loop. L_ref ,After the error adjustment, the transmission enters the adaptive PI controller, and after the deviation correction, it is finally output through the limiting link.

[0069] Further application of the system provided by the embodiment of the present invention, wherein the voltage loop adopts a linear anti-disturbance controller, which has better robustness and stronger suppression of fluctuations than the traditional PI control, and the current loop adopts an adaptive PI controller, which can more effectively track the large-scale changes in the voltage and current of the supercapacitor at the input end when applied to the hybrid energy storage system compared to the traditional PI control, and its proportional parameter kp of the adaptive PI can effectively change with the change of current, thereby effectively tracking the current command output by the voltage loop to maintain the stable operation of the hybrid energy storage system. In addition, the fluctuation of the DC bus voltage in the hybrid energy storage system in the wave power generation technology is suppressed to maintain the stability of the wave power generation system.

[0070] In the control system of the hybrid energy storage system in wave power generation provided by the embodiment of the present invention, the linear active disturbance rejection controller is specifically configured as follows:

[0071] Determine a current error reference value; correct the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value; input the actual current value into the adaptive PI controller for calculation, and output the duty cycle after limiting the calculated current value.

[0072] The control system of the hybrid energy storage system in wave power generation provided by the embodiment of the present invention, the first element is used to execute the modulation link transfer function G m (s);

[0073] The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s);

[0074] The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s);

[0075] The fourth element is used to implement the transfer function H of the current loop sampling link i (s);

[0076] The fifth element is used to implement the transfer function H of the voltage loop sampling link v (s).

[0077] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned control method for the hybrid energy storage system in wave power generation.

[0078] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 3As shown, it specifically includes a memory 301 and one or more instructions 302, wherein the one or more instructions 302 are stored in the memory 301 and are configured to be executed by one or more processors 303 to execute the one or more instructions 302 to execute the above-mentioned control method for the hybrid energy storage system in wave power generation.

[0079] The control method for a hybrid energy storage system in wave power generation specifically includes: the method is applied to a control system, the control system includes: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; the method includes:

[0080] Obtaining an actual voltage command and a reference voltage command corresponding to the hybrid energy storage system;

[0081] The actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command;

[0082] The current reference instruction is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

[0083] The specific implementation processes and derivative methods of the above-mentioned embodiments are all within the protection scope of the present invention.

[0084] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0085] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0086] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a hybrid energy storage system in wave power generation, characterized in that: The method is applied to a control system, which includes: a linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, and the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are connected in series in sequence, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; the method includes: Obtaining an actual voltage command and a reference voltage command corresponding to the hybrid energy storage system; The actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command; The current reference instruction is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

2. The control method of the hybrid energy storage system used in wave power generation according to claim 1 is characterized in that: The step of inputting the current reference command into the adaptive PI controller and outputting the current reference command after the adaptive PI controller limits the current reference command comprises: Determine a current error reference value; Correcting the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value; The actual current value is input into the adaptive PI controller for calculation, and the calculated current value is limited and then the duty cycle is output.

3. The control method of the hybrid energy storage system used in wave power generation according to claim 1, characterized in that: The first element is used to implement the modulation link transfer function G m (s); The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s); The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s); The fourth element is used to implement the transfer function H of the current loop sampling link i (s); The fifth element is used to implement the transfer function H of the voltage loop sampling link v (s).

4. The control method for a hybrid energy storage system in wave power generation according to claim 1, characterized in that: The proportional parameter of the adaptive PI controller is variable as the current changes.

5. A control system for a hybrid energy storage system used in wave power generation, characterized in that: include: A linear active disturbance rejection controller, an adaptive PI controller, a first element, a second element, a third element, a fourth element and a fifth element, wherein the linear active disturbance rejection controller is provided with an error feedback controller LSEF and an extended linear observer LESO, and the error feedback controller LSEF is connected to the extended linear observer LESO; the linear active disturbance rejection controller, the adaptive PI controller, the first element, the second element and the third element are sequentially connected in series, one end of the fourth element is connected to the input end of the adaptive PI controller, and the other end is connected to the output end of the second element; one end of the fifth element is connected to the output end of the third element, and the other end is connected to the extended linear observer LESO; The linear active disturbance rejection controller obtains the actual voltage command and the reference voltage command corresponding to the hybrid energy storage system; the actual voltage command is input into the extended linear observer LESO for processing to obtain a first processing signal, and the first processing signal and the reference voltage command are processed according to the linear error feedback control rate set by the error feedback controller LSEF to obtain a current reference command; The current reference instruction is input into the adaptive PI controller, and is output after being limited by the adaptive PI controller.

6. The control system for the hybrid energy storage system used in wave power generation according to claim 5, characterized in that: The linear active disturbance rejection controller is specifically configured as follows: Determine a current error reference value; correct the current value corresponding to the current reference instruction according to the current error reference value to obtain an actual current value; input the actual current value into the adaptive PI controller for calculation, and output the duty cycle after limiting the calculated current value.

7. The control system for the hybrid energy storage system used in wave power generation according to claim 5, characterized in that: The first element is used to implement the modulation link transfer function G m (s); The second element is used to implement the transfer function G of the inductor current to the duty cycle. id (s); The third element is used to implement the transfer function G of the DC bus voltage to the inductor current. vi (s); The fourth element is used to implement the transfer function H of the current loop sampling link i (s); The fifth element is used to implement the transfer function H of the voltage loop sampling link v (s).

8. The control system for the hybrid energy storage system used in wave power generation according to claim 5, characterized in that: The proportional parameter of the adaptive PI controller is variable as the current changes.

9. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the control method for a hybrid energy storage system in wave power generation according to any one of claims 1 to 4.

10. An electronic device, characterized in that: It comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to control the hybrid energy storage system applied to wave power generation as claimed in any one of claims 1 to 4.

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