Control methods and related equipment for hybrid energy storage systems applied in wave power generation

Abstract

This invention provides a control method and related equipment for a hybrid energy storage system in wave power generation. The method is applied to a control system, which includes a linear active disturbance rejection controller (LAC) and an adaptive PI controller. The LAC includes an error feedback controller (LSEF) and an extended linear observer (LESO). The method includes: acquiring the actual voltage command and a reference voltage command corresponding to the hybrid energy storage system; inputting the actual voltage command into the extended linear observer for processing, and then processing it together with the reference voltage command according to the linear error feedback control rate set by the error feedback controller to obtain a current reference command; inputting the current reference command into the adaptive PI controller, and outputting it after amplitude limiting by the adaptive PI controller. By regulating the voltage and current in the hybrid energy storage system using the method provided by this invention, fluctuations in the DC bus voltage of the hybrid energy storage system in wave power generation technology are suppressed, maintaining the stability of the wave power generation system.

Description

Technical Field

[0001] This invention relates to the field of wave power generation technology, and in particular to a control method and related equipment for a hybrid energy storage system applied in wave power generation. Background Technology

[0002] Currently, there is relatively little research on voltage stabilization control strategies for DC bus voltage in wave power generation technology. However, control strategies using hybrid energy storage systems are already widely used in other energy sources such as wind 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 fluctuations of wave power generation systems are similar to those of wind and photovoltaic systems on a long time scale, but they differ from other energy sources on a short time scale, exhibiting frequent fluctuations and a large range. Therefore, it is urgent to develop an active disturbance rejection control strategy for hybrid energy storage systems in wave energy technology to suppress fluctuations in DC bus voltage and help maintain the stability of the wave power generation system. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a control method and related equipment for a hybrid energy storage system in wave power generation, in order to suppress the fluctuation of DC bus voltage in the hybrid energy storage system in wave power generation technology and maintain the 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 applied in wave power generation is disclosed. The method is applied to a control system comprising: a linear active disturbance rejection controller (LAC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The LAC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The LAC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element. One end of the fifth element is connected to the output of the third element, and the other end is connected to the LESO. The method includes:

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

[0007] The actual voltage command is input into the extended linear observer (LESO) to obtain a first processed signal. The first processed signal and the reference voltage command are then processed according to the linear error feedback control law set by the error feedback controller (LSEF) to obtain a current reference command.

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

[0009] The control method described above for a hybrid energy storage system applied in wave power generation may optionally include the step of inputting the current reference command into the adaptive PI controller, and outputting it after limiting by the adaptive PI controller, comprising:

[0010] Determine the reference value for current error;

[0011] The current value corresponding to the current reference command is corrected according to the current error reference value to obtain the actual current value;

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

[0013] Optionally, in the control method described above for hybrid energy storage systems applied in wave power generation, the first element is used to execute the modulation link transfer function G. m (s);

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

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

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

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

[0018] Optionally, in the control method described above for hybrid energy storage systems applied to wave power generation, the proportional parameter of the adaptive PI controller can vary with the current.

[0019] A control system for a hybrid energy storage system in wave power generation includes: a linear active disturbance rejection controller (LAC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The LAC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The LAC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element. One end of the fifth element is connected to the output of the third element, and the other end is connected to the LESO.

[0020] The linear active disturbance rejection controller acquires the actual voltage command and 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 processed signal, and the first processed signal and the reference voltage command are processed according to the linear error feedback control law 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 after being limited by the adaptive PI controller, it is output.

[0021] Optionally, in the aforementioned control system applied to a hybrid energy storage system for wave power generation, the linear active disturbance rejection controller is specifically configured as follows:

[0022] Determine the current error reference value; correct the current value corresponding to the current reference command according to the current error reference value to obtain the 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 aforementioned control system applied to a hybrid energy storage system 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 execute the inductor current transfer function G with respect to the duty cycle. id (s);

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

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

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

[0028] Optionally, in the aforementioned control system applied to a hybrid energy storage system in wave power generation, the proportional parameter of the adaptive PI controller can vary with the current.

[0029] A storage medium comprising stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the aforementioned control method applied to 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 configured to be executed by one or more processors of the above-described 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] This invention provides a control method for a hybrid energy storage system applied in wave power generation. The method is applied to a control system comprising: a linear active disturbance rejection controller (LAC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The LAC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The LAC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the adaptive PI controller. The fifth element has one input terminal and the other end connected to the output terminal of the second element; one end of the fifth element is connected to the output terminal of the third element, and the other end is connected to the extended linear observer (LESO). The method includes: acquiring the actual voltage command and 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 processed signal, and processing the first processed 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. Applying the control method provided by this invention for hybrid energy storage systems in wave power generation, the DC bus voltage can be effectively smoothed under power fluctuations in the wave energy power generation system; by applying adaptive PI control in the current loop, to ensure that the voltage and current of the supercapacitor in the hybrid energy storage system will change significantly under wave power fluctuations, thus causing changes in the system's control effect, the method suppresses DC bus voltage fluctuations in hybrid energy storage systems in wave power generation technology, thereby maintaining the stability of the wave energy power generation system. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0035] Figure 2 This is a schematic diagram of the control system of a hybrid energy storage system applied in wave power generation, provided by an embodiment of the present invention.

[0036] Figure 3This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] This invention can be used in a wide variety of general-purpose or special-purpose computing environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor devices, distributed computing environments including any of the above devices, etc.

[0040] The method provided by this invention can be applied to the control platform of a wave power generation system, as described above. Figure 1 This is a flowchart illustrating a control method for a hybrid energy storage system applied in wave power generation, provided by an embodiment of the present invention. The method is applied to a control system, which includes: a linear active disturbance rejection controller (LAC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The LAC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The LAC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element. One end of the fifth element is connected to the output of the third element, and the other end is connected to the LESO. The method includes:

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

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

[0043] S102: The actual voltage command is input into the extended linear observer LESO to obtain a first processed signal, and the first processed signal and the reference voltage command are processed according to the linear error feedback control law set by the error feedback controller LSEF to obtain a current reference command.

[0044] In the method provided by the embodiments 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 to obtain a first processing signal corresponding to the actual voltage command, and then processes the obtained first processing signal and the reference voltage command according to the linear error feedback idle rate set by the error feedback controller (LSEF) to obtain the 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 limiting by the adaptive PI controller.

[0046] In the method provided by this embodiment of the invention, the linear active disturbance rejection controller inputs the current reference command into the adaptive PI controller, and outputs it after the adaptive PI controller performs amplitude limiting processing.

[0047] The control method for hybrid energy storage systems in wave power generation provided in this embodiment of the invention can be understood as a practical control strategy. The combination of a linear active disturbance rejection controller and an adaptive PI controller can be understood as an integrated application of voltage loop active disturbance rejection and current loop adaptive PI control in actual wave power generation technology. The working principle of its overall structure can be understood as: U dc_ref U is the voltage reference signal. dc For the actual voltage signal, in Figure 2 In the schematic diagram shown, it can be understood that the voltage loop uses active disturbance rejection control (ADRC). The actual voltage command is processed by the LESO linear extension state observer in the ADRC, integrated with the reference voltage command according to the set linear error feedback control law LSEF, and finally the current reference command is transmitted to the current loop. The current loop control circuit is controlled by an adaptive PI controller. Unlike traditional PI controllers, 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 serves as the setpoint i for the current loop. L_ref After error adjustment, the signal is transmitted to an adaptive PI controller, corrected for deviation, and finally output through a limiting circuit.

[0048] In the method provided by this invention, the voltage loop adopts a linear active disturbance rejection controller, which has better robustness and stronger suppression of fluctuations compared to traditional PI control. The current loop adopts an adaptive PI controller, which, compared to traditional PI control, can more effectively track large-scale changes in the input supercapacitor voltage and current when applied to a hybrid energy storage system. The proportional parameter kp of the adaptive PI can effectively change with the current, thereby effectively tracking the current command output by the voltage loop to maintain the stable operation of the hybrid energy storage system. This suppresses the fluctuations of the DC bus voltage in the hybrid energy storage system of wave power generation technology, thus maintaining the stability of the wave energy power generation system.

[0049] The method provided in this embodiment of the invention includes the following specific process: inputting the current reference command into the adaptive PI controller, and outputting it after limiting by the adaptive PI controller.

[0050] Determine the reference value for current error;

[0051] The current value corresponding to the current reference command is corrected according to the current error reference value to obtain the actual current value;

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

[0053] In the method provided by this invention, during the process of the linear active disturbance rejection controller inputting the current reference command into the adaptive PI controller for processing, the current error reference value is first determined, and the current value corresponding to the current reference command is corrected by the current error reference value to obtain the actual current value. Then, the actual current value is input into the adaptive PI controller for calculation, and the calculated current value is subjected to amplitude limiting processing before the duty cycle is output.

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

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

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

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

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

[0059] The control method for hybrid energy storage systems in wave power generation provided in this embodiment of the invention can stabilize bus voltage fluctuations in practical applications. At the same time, the control parameters of the adaptive PI controller need to be changed in real time as the bus voltage fluctuates, so as to achieve a better control effect. This method is used to deal with power fluctuations on a short time scale in wave power generation, stabilize bus voltage fluctuations, and ensure system stability.

[0060] The control method for hybrid energy storage systems in wave power generation provided by this invention, compared to existing dual-closed-loop PI control processes, continues the application of some specific functions. In existing PI control processes, the traditional dual-closed-loop PI control used in hybrid energy storage systems connected to a DC bus via a bidirectional DC / DC converter is applied to suppress bus voltage fluctuations in wind and solar power generation systems. This means that the control block diagram for stabilizing the bus voltage of supercapacitors or individual battery cells is only considered without considering power distribution. In wave power generation, the corresponding control strategy can adopt the control method provided by this invention, wherein G... m (s) is the transfer function of the modulation element, G vi (s) is the transfer function of DC bus voltage to inductor current, G id (s) is the transfer function of inductor current with respect to duty cycle, H v (s) is the transfer function of the voltage loop sampling stage, H i (s) is the transfer function of the current loop sampling stage.

[0061] In the method provided by this invention, the voltage loop adopts a linear active disturbance rejection controller (ALC) for better voltage regulation bus performance and higher stability of system control. LSEF (Linear State Estimation Filter) is the error feedback control law in active disturbance rejection, and LESO (Linear Extended State Observer) is the extended linear observer.

[0062] In the method provided by the embodiments 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 element for the proportional parameter kp is added, that is, the value of kp needs to be set to a range of change and cannot exceed the range.

[0063] To illustrate with a specific example, consider a voltage loop. When a supercapacitor is connected in parallel to the DC bus as the input terminal of a bidirectional DC / DC converter, its voltage will fluctuate significantly as it absorbs and releases power. Therefore, by acquiring the supercapacitor's terminal voltage as input, the proportional parameter kp begins to adaptively change. To prevent the kp value from changing too small or too large, a limiting circuit is needed. Ultimately, it matches the traditional PI controller, still outputting "out". Therefore, the core change in the adaptive PI controller is altering the proportional parameter kp in the traditional PI controller.

[0064] Compared to traditional PI control strategies, the solution provided in this application uses active disturbance rejection control in the voltage loop to effectively smooth out DC bus voltage fluctuations under power fluctuations in the wave energy power generation system; and uses adaptive PI control in the current loop to ensure that the voltage and current of the supercapacitor in the hybrid energy storage system will change significantly under wave energy power fluctuations, thereby altering the system's control performance. This allows the proportional coefficient of the current loop to adaptively follow the changes in current, achieving better control performance.

[0065] In the method provided by this invention, a linear active disturbance rejection controller (ADC) is employed. In LADRC (Extended State Observer Adaptive Control), LESO (Least-Squares Extended State Observer) and LSEF (Least-Squares Extended State Feedback) each play a crucial role. LESO is used to accurately estimate the system state and disturbances, optimizing the state observer using the least squares method to provide accurate information on system dynamics. LSEF then performs feedback control based on these observations, optimizing the control strategy to improve system stability and performance. In short, LESO is responsible for state and disturbance estimation, while LSEF adjusts system control based on these estimates.

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

[0067] The linear active disturbance rejection controller acquires the actual voltage command and 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 processed signal, and the first processed signal and the reference voltage command are processed according to the linear error feedback control law 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 after being limited by the adaptive PI controller, it is output.

[0068] The control system for hybrid energy storage systems in wave power generation provided in this invention, in practical applications, combines a linear active disturbance rejection controller (AID) and an adaptive PI controller. This combination can be understood as an integrated application of voltage loop AID and current loop adaptive PI control in actual wave power generation technology. The overall working principle of this system can be understood as: U dc_ref U is the voltage reference signal. dc Given the actual voltage signal, it can be understood that the voltage loop employs active disturbance rejection control (ADRC). The actual voltage command passes through the LESO linear extension state observer in the ADRC, and is integrated with the reference voltage command according to the set linear error feedback control law LSEF. Finally, the resulting current reference command is transmitted to the current loop. The current loop control circuit is controlled by an adaptive PI controller. Unlike traditional PI controllers, the proportional parameter kp of the adaptive PI controller can change according to the actual current and the set current reference value. Therefore, the output of the voltage loop serves as the setpoint i for the current loop. L_ref After error adjustment, the signal is transmitted to an adaptive PI controller, corrected for deviation, and finally output through a limiting circuit.

[0069] Further application of the system provided in this embodiment of the invention, wherein the voltage loop employs a linear active disturbance rejection controller, which exhibits better robustness and stronger suppression of fluctuations compared to traditional PI control; and the current loop employs an adaptive PI controller, which, compared to traditional PI control, can more effectively track large-scale changes in the input supercapacitor voltage and current when applied to a hybrid energy storage system. The proportional parameter kp of the adaptive PI controller effectively changes with the current, thereby effectively tracking the current command output by the voltage loop to maintain the stable operation of the hybrid energy storage system. This, in turn, suppresses fluctuations in the DC bus voltage of the hybrid energy storage system in wave power generation technology, thus maintaining the stability of the wave energy power generation system.

[0070] The control system for a hybrid energy storage system in wave power generation provided in this embodiment of the invention, wherein the linear active disturbance rejection controller is specifically configured as follows:

[0071] Determine the current error reference value; correct the current value corresponding to the current reference command according to the current error reference value to obtain the 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 for a hybrid energy storage system in wave power generation provided in this embodiment of the invention includes a first element used to execute the modulation transfer function G. m (s);

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

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

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

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

[0077] This invention also provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the control method described above for a hybrid energy storage system applied in wave power generation.

[0078] This invention also provides an electronic device, the structural schematic of which is shown below. Figure 3As shown, it specifically includes a memory 301 and one or more instructions 302, wherein one or more instructions 302 are stored in the memory 301 and are configured to be executed by one or more processors 303 to perform the control method described above for a hybrid energy storage system applied in wave power generation.

[0079] The control method applied to a hybrid energy storage system in wave power generation specifically includes: the method is applied to a control system, the control system including: 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 being 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, one end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element; one end of the fifth element is connected to the output of the third element, and the other end is connected to the extended linear observer LESO; the method includes:

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

[0081] The actual voltage command is input into the extended linear observer (LESO) to obtain a first processed signal. The first processed signal and the reference voltage command are then processed according to the linear error feedback control law set by the error feedback controller (LSEF) to obtain a current reference command.

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

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

[0084] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0085] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

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

Claims

1. A control method for a hybrid energy storage system applied in wave power generation, characterized in that, This method is applied to a control system, which includes: a linear active disturbance rejection controller (LADRC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The LADRC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The LADRC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element. One end of the fifth element is connected to the output of the third element, and the other end is connected to the LESO. The method includes: Obtain the actual voltage command and reference voltage command corresponding to the hybrid energy storage system; The actual voltage command is input into the extended linear observer (LESO) to obtain a first processed signal. The first processed signal and the reference voltage command are then processed according to the linear error feedback control law 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 after being limited by the adaptive PI controller, it is output. The first element is used to execute the modulation stage transfer function G. m (s); The second element is used to execute the inductor current transfer function G with respect to the duty cycle. id (s); The third element is used to execute the transfer function G of DC bus voltage to inductor current. vi (s); The fourth element is used to execute the transfer function H of the current loop sampling stage. i (s); The fifth element is used to execute the transfer function H of the voltage loop sampling stage. v (s).

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

3. The control method for a hybrid energy storage system applied 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.

4. A control system for a hybrid energy storage system applied in wave power generation, characterized in that, include: The system comprises a linear active disturbance rejection controller (ANDRC), an adaptive PI controller, a first element, a second element, a third element, a fourth element, and a fifth element. The ANDRC includes an error feedback controller (LSEF) and an extended linear observer (LESO), with the LSEF connected to the LESO. The ANDRC, the adaptive PI controller, the first element, the second element, and the third element are connected in series. One end of the fourth element is connected to the input of the adaptive PI controller, and the other end is connected to the output of the second element. One end of the fifth element is connected to the output of the third element, and the other end is connected to the LESO. The linear active disturbance rejection controller acquires the actual voltage command and 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 processed signal, and the first processed signal and the reference voltage command are processed according to the linear error feedback control law 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 after being limited by the adaptive PI controller, it is output. The first element is used to execute the modulation stage transfer function G. m (s); The second element is used to execute the inductor current transfer function G with respect to the duty cycle. id (s); The third element is used to execute the transfer function G of DC bus voltage to inductor current. vi (s); The fourth element is used to execute the transfer function H of the current loop sampling stage. i (s); The fifth element is used to execute the transfer function H of the voltage loop sampling stage. v (s).

5. The control system for a hybrid energy storage system applied in wave power generation according to claim 4, characterized in that, The linear active disturbance rejection controller is specifically configured as follows: Determine the current error reference value; correct the current value corresponding to the current reference command according to the current error reference value to obtain the 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.

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

7. A storage medium, characterized in that, The storage medium includes stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the control method for a hybrid energy storage system applied in wave power generation as described in any one of claims 1 to 3.

8. An electronic device, characterized in that, It includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors as described in any one of claims 1 to 3 for use in a hybrid energy storage system for wave power generation.

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