Direct current commutation coordination method and system based on phase modifier, storage medium and equipment

Abstract

The embodiment of the invention discloses a direct current commutation coordination method based on a phase modifier. The method comprises the following steps: collecting physical parameters of the phase modifier and establishing a mathematical model of the phase modifier; discretizing the mathematical model of the phase modifier to obtain a state space model; and processing the state space model based on an LQR algorithm, and adjusting the power angle and the transient electromotive force of the phase modifier. The operation efficiency and stability of the power system can be improved, and a powerful guarantee is provided for safe and stable operation of the power system.

Description

Technical Field

[0001] The present invention relates to the field of power systems and automation technologies thereof, and in particular to a direct current commutation coordination method, system, storage medium and equipment based on a phase regulator. Background Art

[0002] High voltage direct current (HVDC) projects play a vital role in traditional power grids. However, their inherent technical defects also bring many challenges. One of the main problems is that the converter valves of high voltage direct current transmission systems mostly use semi-controlled devices - thyristors. Thyristors cannot shut down themselves and can only rely on the commutation bus line voltage of the AC power grid on both sides to shut down. This characteristic makes commutation failure a typical threat in high voltage direct current transmission systems.

[0003] Commutation failure will bring a series of serious consequences. First, it will cause an abnormal increase in DC current, a decrease in AC and DC voltages, and may even interrupt the transmission power. This series of changes will have a major impact on the AC systems on both sides, causing malfunctions of AC protection devices, and thus threatening the safety and stable operation of the power grid.

[0004] Taking the East China multi-infeed DC system as an example, when the inverter-side AC system fails, it may cause simultaneous commutation failures in the converters between the multi-infeed systems. The severity of this situation is self-evident. What is more serious is that when the East China multi-infeed DC system has continuous commutation failures and causes the converter to lock, the DC transmission system will generate huge impact energy on the sending-end AC system, with a maximum value of more than 30 million kilowatts. This huge impact energy poses a serious threat to the safe and stable operation of the AC power grids at both ends. Summary of the invention

[0005] Based on this, it is necessary to propose a DC commutation coordination method based on phase regulator to address the above problems.

[0006] A DC commutation coordination method based on a phase regulator, the method comprising the following steps:

[0007] Collecting physical parameters of the phase regulator and establishing a mathematical model of the phase regulator;

[0008] Discretizing the mathematical model of the phase regulator to obtain a state space model;

[0009] The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

[0010] In the above solution, the acquisition of the physical parameters of the phase regulator and the establishment of the mathematical model of the phase regulator specifically include:

[0011] The mathematical equation of the phase regulator is determined based on the rotor motion equation and the transient process of the excitation winding:

[0012]

[0013]

[0014] Where H is the virtual inertia, D is the damping coefficient, w is the generator angular velocity under the per-unit value, Δw is the deviation between the rated speed and the actual speed, P ref is the reference power, P e is the electromagnetic power, δ is the generator power angle, T' d0 is the time constant of the generator excitation winding, E' q is the transient electromotive force, E fd is the forced no-load electromotive force, i d is the direct axis current component, x d is the direct-axis synchronous reactance, x' d is the direct-axis transient reactance;

[0015] The mathematical equation of the phase regulator is linearized to determine the mathematical model of the phase regulator:

[0016]

[0017] Among them, u t Is the input quantity.

[0018] In the above solution, the mathematical model of the phase regulator is discretized to obtain a state space model, which specifically includes:

[0019] The mathematical model of the phase regulator is simplified to the first model expression:

[0020]

[0021] in,

[0022] The first model expression is discretized to determine the second model expression:

[0023] x [k+1] =Ax [k] +Bu [k]

[0024] in, The variables x [k] , variable u [k] The coefficient matrix of .

[0025] In the above scheme, the state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted, specifically including:

[0026] The power angle δ and transient electromotive force E' of the phase regulator q Set as control target:

[0027] x d[k+1] =A D *x d[k]

[0028] Among them, x d[k+1] 、x d[k] Both are 2*1 matrices, A D is a constant E;

[0029] The first discrete state space equation of LQR is improved by presetting the power angle and transient electromotive force of the phase regulator as follows:

[0030]

[0031] in, is the state variable, is the state transfer matrix, is the input matrix;

[0032] The first discrete state-space equation is simplified to obtain the power angle and transient electromotive force of the phase regulator to improve the second discrete state-space equation of LQR:

[0033] x a[k+1] =A a *x a[k] +B a *u a[k] .

[0034] In the above solution, the processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0035] Preset state error:

[0036]

[0037] Among them, e [k] is the error, x [k] is the output value, x d[k] To control the target, C a =[II] is the state matrix;

[0038] The performance indicators of the system are defined as:

[0039]

[0040] Among them, J is the performance index, e [N] is the difference in the control target of the state value at the end of the system at time N, e [k]is the difference of the control target of the system state value after discretization, u [k] is the input quantity, S and Q are both 2*2 semi-positive definite matrices, which are the weight matrices of the terminal cost and the running cost respectively, and R is the weight matrix of the system control quantity cost.

[0041] In the above solution, the processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0042] The relationship expression between the terminal voltage and transient voltage of the phase regulator is obtained as follows:

[0043]

[0044] Among them, U G is the voltage at the phase-modulating machine terminal, U q is the q-axis component of the terminal voltage, U d is the d-axis component of the terminal voltage, I d ,I d are the d-axis and q-axis components of the stator current, x d ' is the subtransient reactance, x q The q-axis component of the phase-shifting reactance can be ignored;

[0045] The phase modulator terminal voltage is introduced into the fixed β angle control part on the inverter side. At the generator terminal, when the commutation bus voltage drops, the LQR control method is used to control the phase modulator terminal voltage to rise, and the phase modulator power angle is controlled to be within a preset range.

[0046] In the above solution, the processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0047] When commutation failure occurs on the inverter side, the transient electromotive force of the phase regulator is controlled by an improved LQR control method, and the terminal voltage of the phase regulator is adjusted to reach a control value.

[0048] The present application also proposes a DC commutation coordination method system based on a phase regulator, the system comprising: a model building unit, a discretization unit and a coordination control unit;

[0049] The model building unit is used to collect the physical parameters of the phase regulator and build a mathematical model of the phase regulator;

[0050] The discretization unit is used to discretize the mathematical model of the phase regulator to obtain a state space model;

[0051] The coordination control unit is used to process the state space model based on the LQR algorithm and adjust the power angle and transient electromotive force of the phase regulator.

[0052] The present application also proposes a readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the following steps:

[0053] Collecting physical parameters of the phase regulator and establishing a mathematical model of the phase regulator;

[0054] Discretizing the mathematical model of the phase regulator to obtain a state space model;

[0055] The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

[0056] The present application also proposes a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the following steps of the computer program:

[0057] Collecting physical parameters of the phase regulator and establishing a mathematical model of the phase regulator;

[0058] Discretizing the mathematical model of the phase regulator to obtain a state space model;

[0059] The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

[0060] The embodiment of the present invention has the following beneficial effects: first, the physical parameters of the phase regulator are collected and a mathematical model of the phase regulator is established; the mathematical model of the phase regulator is discretized to obtain a state-space model; the state-space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted. This method collects the physical parameters of the phase regulator and establishes a mathematical model, and then discretizes the state-space model, and processes the state-space model based on the LQR algorithm to adjust the power angle and transient electromotive force of the phase regulator. The combination of the LQR algorithm can improve the accuracy of commutation coordination, enhance the stability and reliability of the system, improve the system response speed and flexibility, and reduce the system energy consumption and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] in:

[0063] Figure 1A schematic diagram of a flow chart of a DC commutation coordination method based on a phase regulator in an embodiment;

[0064] Figure 2 This is a schematic diagram of the fixed β angle control loop that introduces the machine-end voltage into the inverter side. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0066] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention; however, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details; in other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described, and it should be understood that the present invention can be implemented in different forms and should not be interpreted as limited to the embodiments presented here; on the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art.

[0067] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "a", "an" and "said / the" are also intended to include the plural forms, unless the context clearly indicates otherwise, and it should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0068] In order to address the problems in the prior art of simultaneous commutation failure of converters between multiple infeed systems and the huge impact energy generated by the DC transmission system on the sending-end AC system, the present application proposes a new solution based on improved LQR phase regulators to participate in coordinated control. This solution aims to improve the recovery capability of the power grid after DC commutation failure by optimizing the control strategy of the phase regulators, thereby ensuring the safe and stable operation of the power grid.

[0069] In order to thoroughly understand the present invention, a detailed structure will be presented in the following description to illustrate the technical solution proposed by the present invention; optional embodiments of the present invention are described in detail as follows, but in addition to these detailed descriptions, the present invention may also have other implementation methods.

[0070] like Figure 1 As shown, in one embodiment, a DC commutation coordination method based on a phase regulator is provided, and the DC commutation coordination method based on a phase regulator includes steps S101 to S103, which are described in detail as follows:

[0071] S101, collecting physical parameters of the phase regulator and establishing a mathematical model of the phase regulator;

[0072] The mathematical model of the phase regulator is an abstraction and description of the physical characteristics of the phase regulator, which can accurately reflect the operating status and dynamic characteristics of the phase regulator. This can provide a theoretical basis and calculation basis for subsequent steps and ensure the accuracy of subsequent analysis and control.

[0073] In some embodiments, collecting the physical parameters of the phase regulator and establishing a mathematical model of the phase regulator specifically includes:

[0074] The mathematical equation of the phase regulator is determined based on the rotor motion equation and the transient process of the excitation winding:

[0075]

[0076]

[0077] Where H is the virtual inertia, D is the damping coefficient, w is the generator angular velocity under the per-unit value, Δw is the deviation between the rated speed and the actual speed, P ref is the reference power, P e is the electromagnetic power, δ is the generator power angle, T' d0 is the time constant of the generator excitation winding, E' q is the transient electromotive force, E fd is the forced no-load electromotive force, i d is the direct axis current component, x d is the direct-axis synchronous reactance, x' d is the direct-axis transient reactance;

[0078] Linearize the phase regulator mathematical equation and determine the phase regulator mathematical model:

[0079]

[0080] Among them, u t Is the input quantity.

[0081] Specifically,

[0082] u t As input quantity, the state space equation established above is a continuous system.

[0083] S102, discretizing the mathematical model of the phase regulator to obtain a state space model;

[0084] Discretization is the process of converting a continuous mathematical model into a discrete time model, which is convenient for numerical calculation and simulation on a computer. The state-space model is a mathematical model that describes the dynamic behavior of a system and can clearly express the relationship between the state variables, input variables, and output variables of the system. Through discretization and the establishment of a state-space model, the problem can be further simplified, providing convenience for subsequent LQR-based processing.

[0085] In some embodiments, the mathematical model of the phase regulator is discretized to obtain a state space model, which specifically includes:

[0086] The mathematical model of the phase regulator is simplified to the first model expression:

[0087]

[0088] in,

[0089] Discretize the first model expression and determine the second model expression:

[0090] x [k+1] =Ax [k] +Bu [k] (5)

[0091] in, The variables x [k] , variable u [k] The coefficient matrix of .

[0092] S103, processing the state space model based on the LQR algorithm, and adjusting the power angle and transient electromotive force of the phase regulator.

[0093] LQR (Linear Quadratic Regulator) is an optimal control algorithm that can obtain the optimal control strategy by solving the Riccati equation according to the state variables and input variables of the system. By processing the state space equations by LQR, the optimal control input of the phase regulator can be obtained, that is, the power angle and transient electromotive force of the phase regulator can be adjusted to achieve the optimal operation of the system.

[0094] The LQR algorithm has global optimality and stability, which can ensure that the system can quickly recover to a stable state after being disturbed, improve the robustness and stability of the system, and adjust the power angle and transient electromotive force of the phase regulator to optimize the reactive power compensation and voltage support capabilities of the system, and improve the safety and stability of the power grid. Especially in the event of a power grid failure, the phase regulator can respond quickly, provide reactive power compensation, stabilize the voltage, and help the voltage to recover quickly after the failure.

[0095] Preferably, the improved LQR method is used to control the power angle and transient electromotive force of the phase regulator, so as to achieve the effect of stabilizing the bus voltage at the machine end, and then stabilize the bus voltage of the converter station. The following is a specific implementation process:

[0096] The discrete state space equation of the linear time-invariant system of the power angle and transient electromotive force of the phase regulator is:

[0097] x [k+1] =Ax [k] +Bu [k] (6)

[0098] Among them, x [k+1] is a 2*1 vector, A is a 2*2 vector, B is a 2*1 vector, u [k] As a one-dimensional input, it is mainly affected by the excitation system.

[0099] In some embodiments, the state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted, specifically including:

[0100] The power angle δ of the phase regulator and the transient electromotive force E' q Set as control target:

[0101] x d[k+1] =A D *x d[k] (7)

[0102] Among them, x d[k+1] 、x d[k] Both are 2*1 matrices, A D is a constant E;

[0103] The first discrete state space equation of LQR is improved by presetting the power angle and transient electromotive force of the phase regulator:

[0104]

[0105] in, is the state variable, is the state transfer matrix, is the input matrix;

[0106] The first discrete state-space equation is simplified to obtain the power angle and transient electromotive force of the phase regulator to improve the second discrete state-space equation of LQR:

[0107] x a[k+1] =A a *x a[k] +B a *u a[k] (9).

[0108] Specifically, the above control targets are the power angle δ and transient electromotive force E' of the generator q The power angle δ is limited to 30 to 60 degrees, and its per unit value is 0.34 to 0.67. The transient electromotive force E' q The limiting range is the rated voltage of the phase regulator, and its per-unit value is between 0.8 and 1.1.

[0109] In some embodiments, processing the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0110] Preset state error:

[0111]

[0112] Among them, e [k] is the error, x [k] is the output value, x d[k] To control the target, C a =[II] is the state matrix;

[0113] The performance indicators of the system are defined as:

[0114]

[0115] Among them, J is the performance index, e [N] is the difference in the control target of the state value at the end of the system at time N, e [k] is the difference of the control target of the system state value after discretization, u [k] is the input quantity, S and Q are both 2*2 semi-positive definite matrices, which are the weight matrices of the terminal cost and the running cost respectively, and R is the weight matrix of the system control quantity cost.

[0116] In some embodiments, processing the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0117] Get the relationship expression between the terminal voltage and transient voltage of the phase regulator:

[0118]

[0119] Among them, U G is the voltage at the phase-modulating machine terminal, U q is the q-axis component of the terminal voltage, U d is the d-axis component of the terminal voltage, I d ,I d are the d-axis and q-axis components of the stator current, x d ' is the subtransient reactance, x q The q-axis component of the phase-shifting reactance can be ignored;

[0120] The phase-modulator terminal voltage is introduced into the fixed β-angle control part on the inverter side. At the generator side, when the commutation bus voltage drops, the LQR control method is used to control the phase-modulator terminal voltage to rise, and the phase-modulator power angle is controlled to be within the preset range. Therefore, the phase-modulator terminal voltage can be introduced into the fixed β-angle control part on the inverter side. At the generator side, that is, when the commutation bus voltage drops, the LQR control is used to control the phase-modulator terminal voltage to rise, while ensuring that the phase-modulator power angle does not exceed the limit. The control block diagram is as follows Figure 2 shown.

[0121] Specifically, from formula 12, we know that assuming I d ,I d 、x d ', x q is a constant value, it can be seen that the terminal voltage U G Affected by E q 'The impact of E q 'Descent will cause U G decline.

[0122] In some embodiments, processing the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator further includes:

[0123] When commutation failure occurs on the inverter side, the transient electromotive force of the phase regulator is controlled by improving the LQR control method, and the terminal voltage of the phase regulator is adjusted to reach the control value, which can ensure that the bus voltage on the inverter side recovers quickly.

[0124] Preferably, the detailed derivation process of the system performance index is as follows. Substituting formula (10) into formula (11), we get:

[0125]

[0126] make We can get:

[0127]

[0128] The control problem composed of equations (9) and (11) is consistent with the standard LQR problem, that is, the control of the power angle and transient electromotive force of the phase regulator is transformed into the control with improved LQR error zero.

[0129] In summary, the present application aims to propose a commutation coordination method for a phase regulator based on an LQR (Linear Quadratic Regulator). The method achieves precise adjustment of the power angle and transient electromotive force of the phase regulator through precise mathematical modeling, discretization processing and application of the LQR algorithm. The method of the present invention is applied to introduce the terminal voltage of the phase regulator after improved LQR control into the fixed β angle control part on the inverter side, aiming to increase the β angle, thereby increasing the commutation area of ​​the thyristor in the event of a fault, and at the same time promoting the rapid recovery of the inverter side bus voltage after the failure of traditional DC commutation, and also enabling the entire system to recover quickly after a commutation failure, thereby optimizing the reactive power compensation and voltage support capabilities of the power grid, and improving the safety and stability of the power grid.

[0130] The present application also proposes a DC commutation coordination method system based on a phase regulator, the system comprising: a model building unit, a discretization unit and a coordination control unit;

[0131] A model building unit, used to collect the physical parameters of the phase regulator and build a mathematical model of the phase regulator;

[0132] A discretization unit is used to discretize the mathematical model of the phase regulator to obtain a state space model;

[0133] The coordination control unit is used to process the state space model based on the LQR algorithm and adjust the power angle and transient electromotive force of the phase regulator.

[0134] The present application also proposes a readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the following steps:

[0135] Collect the physical parameters of the phase regulator and establish the mathematical model of the phase regulator;

[0136] Discretize the mathematical model of the phase regulator to obtain a state space model;

[0137] The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

[0138] The present application also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to perform the following steps:

[0139] Collect the physical parameters of the phase regulator and establish the mathematical model of the phase regulator;

[0140] Discretize the mathematical model of the phase regulator to obtain a state space model;

[0141] The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

[0142] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0143] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0144] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. The above disclosure is only a preferred embodiment of the present invention, and of course it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope covered by the present invention.

Claims

1. A DC commutation coordination method based on phase regulator, characterized in that: The method comprises: Collecting physical parameters of the phase regulator and establishing a mathematical model of the phase regulator; Discretizing the mathematical model of the phase regulator to obtain a state space model; The state space model is processed based on the LQR algorithm, and the power angle and transient electromotive force of the phase regulator are adjusted.

2. The DC commutation coordination method based on phase regulator according to claim 1 is characterized in that: The collecting of the physical parameters of the phase regulator and establishing the mathematical model of the phase regulator specifically includes: The mathematical equation of the phase regulator is determined based on the rotor motion equation and the transient process of the excitation winding: Where H is the virtual inertia, D is the damping coefficient, w is the generator angular velocity under the per-unit value, Δw is the deviation between the rated speed and the actual speed, P ref is the reference power, P e is the electromagnetic power, δ is the generator power angle, T d '0 is the time constant of the generator excitation winding, E' q is the transient electromotive force, E fd is the forced no-load electromotive force, i d is the direct axis current component, x d is the direct-axis synchronous reactance, x′ d is the direct-axis transient reactance; The mathematical equation of the phase regulator is linearized to determine the mathematical model of the phase regulator: Among them, u t Is the input quantity.

3. The DC commutation coordination method based on phase regulator according to claim 2 is characterized in that: Discretizing the mathematical model of the phase regulator to obtain a state space model specifically includes: The mathematical model of the phase regulator is simplified to the first model expression: in, The first model expression is discretized to determine the second model expression: x [k+1] =Ax [k] +Bu [k] in, The variables x [k] , variable u [k] The coefficient matrix of .

4. The DC commutation coordination method based on phase regulator according to claim 3 is characterized in that: The processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator specifically includes: The power angle δ and transient electromotive force E' of the phase regulator q Set as control target: x d[k+1] =A D *x d[k] Among them, x d[k+1] 、x d[k] Both are 2*1 matrices, A D is a constant E; The first discrete state space equation of LQR is improved by presetting the power angle and transient electromotive force of the phase regulator as follows: in, is the state variable, is the state transfer matrix, is the input matrix; The first discrete state-space equation is simplified to obtain the power angle and transient electromotive force of the phase regulator to improve the second discrete state-space equation of LQR: x a[k+1] =A a *x a[k] +B a *u a[k] 。 5. The DC commutation coordination method based on phase modulator according to claim 4 is characterized in that: The processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator also includes: Preset state error: Among them, e [k] is the error, x [k] is the output value, x d[k] To control the target, C a =[II] is the state matrix; The performance indicators of the system are defined as: Among them, J is the performance index, e [N] is the difference in the control target of the state value at the end of the system at time N, e [k] is the difference of the control target of the system state value after discretization, u [k] is the input quantity, S and Q are both 2*2 semi-positive definite matrices, which are the weight matrices of the terminal cost and the running cost respectively, and R is the weight matrix of the system control quantity cost.

6. The DC commutation coordination method based on phase modulator according to claim 5 is characterized in that: The processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator also includes: The relationship expression between the terminal voltage and transient voltage of the phase regulator is obtained as follows: Among them, U G is the voltage at the phase-modulating machine terminal, U q is the q-axis component of the terminal voltage, U d is the d-axis component of the terminal voltage, I d ,I d are the d-axis and q-axis components of the stator current, x d ' is the subtransient reactance, x q The q-axis component of the phase-shifting reactance can be ignored; The phase modulator terminal voltage is introduced into the fixed β angle control part on the inverter side. At the generator terminal, when the commutation bus voltage drops, the LQR control method is used to control the phase modulator terminal voltage to rise, and the phase modulator power angle is controlled to be within a preset range.

7. The DC commutation coordination method based on phase modulator according to claim 6 is characterized in that: The processing of the state space model based on the LQR algorithm and adjusting the power angle and transient electromotive force of the phase regulator also includes: When commutation failure occurs on the inverter side, the transient electromotive force of the phase regulator is controlled by an improved LQR control method, and the terminal voltage of the phase regulator is adjusted to reach a control value.

8. A DC commutation coordination method system based on phase regulator, characterized in that: The system comprises: a model building unit, a discretization unit and a coordination control unit; The model building unit is used to collect the physical parameters of the phase regulator and build a mathematical model of the phase regulator; The discretization unit is used to discretize the mathematical model of the phase regulator to obtain a state space model; The coordination control unit is used to process the state space model based on the LQR algorithm and adjust the power angle and transient electromotive force of the phase regulator.

9. A readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 7.

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