Grid-connected control method and device, storage medium and electronic equipment

Abstract

The invention discloses a grid-connected control method and device, a storage medium and electronic equipment. The method relates to the technical field of new energy power generation and other related technical fields, and comprises the following steps: calculating according to a first phase angle and a first angular frequency corresponding to a network-forming type energy storage system and a second phase angle and a second angular frequency corresponding to a target power grid system to obtain a target parameter; configuring an active-disturbance-rejection controller according to the target parameter to obtain a target active-disturbance-rejection controller; adjusting the first phase angle and the first angular frequency through a target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; and carrying out grid connection processing on the network-forming energy storage system and the target power grid system. Through application of the method and the device, the problem that the safety of the power grid system is poor due to the fact that large grid-connected impact current is easily generated in the grid-connected process when grid connection of the grid-forming type energy storage system and the power grid system is realized through a traditional PI controller in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of renewable energy power generation technology and other related technical fields, and more specifically, to a grid-connected control method and device, a storage medium, and an electronic device. Background Art

[0002] With the increasing complexity of the power system and the gradual increase in the proportion of renewable energy, the stability of the power grid is also affected. The power grid is very likely to cause a major blackout due to a small probability accident. Therefore, it is necessary to build a grid-type renewable energy to participate in the black start process of the power grid to provide voltage and frequency support for the power grid. However, if the renewable energy system cannot meet the same conditions as the grid-side voltage amplitude phase and frequency when it is connected to the grid, a large impact current will be generated. Therefore, it is necessary to perform precise pre-synchronization control on the renewable energy system before it is connected to the grid, so as to achieve smooth grid connection of the renewable energy system. The pre-synchronization control strategy based on traditional PI control has a slow response speed and poor accuracy, and the grid-connected impact current after PI control is large, which poses a threat to the safety and stability of the power system.

[0003] In the related technology, the grid-connected energy storage system and the power grid system are connected to the grid through the traditional PI controller, but a large grid-connected impact current is easily generated during the grid-connected process, resulting in poor safety of the power grid system. No effective solution has been proposed yet. Summary of the invention

[0004] The main purpose of the present application is to provide a grid-connected control method and device, a storage medium and an electronic device to solve the problem in the related art that a grid-connected energy storage system and a power grid system are connected to the grid through a traditional PI controller, but a large grid-connected impact current is easily generated during the grid-connected process, resulting in poor safety of the power grid system.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a grid-connected control method is provided. The method includes: calculating according to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an anti-disturbance control controller, and the anti-disturbance control controller is used to adjust the phase angle and angular frequency of the grid-type energy storage system; configuring the anti-disturbance control controller according to the target parameters to obtain a target anti-disturbance control controller; adjusting the first phase angle and the first angular frequency by the target anti-disturbance control controller to obtain a third phase angle and a third angular frequency; when the third phase angle and the third angular frequency meet the first preset condition, the grid-connected energy storage system and the target power grid system are processed for grid connection.

[0006] Furthermore, calculations are performed based on the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system to obtain target parameters, including: calculating based on the first phase angle and the second phase angle to obtain a first calculation result; calculating based on the first angular frequency and the second angular frequency to obtain a second calculation result; determining the target parameters based on the first calculation result and the second calculation result.

[0007] Further, configuring the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller includes: configuring the active disturbance rejection controller according to the target parameters to obtain a configured active disturbance rejection controller; obtaining a rated frequency and an output frequency of the configured active disturbance rejection controller; performing calculations based on the rated frequency and the output frequency to obtain a third calculation result; if the third calculation result satisfies a second preset condition, determining the configured active disturbance rejection controller as the target active disturbance rejection controller.

[0008] Furthermore, adjusting the first phase angle and the first angular frequency through the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency includes: adjusting the first phase angle of the grid-type energy storage system based on the second phase angle of the target power grid system through an extended state observer of the target active disturbance rejection controller to obtain the third phase angle; adjusting the first angular frequency of the grid-type energy storage system based on the second angular frequency of the target power grid system through a state error feedback controller of the target active disturbance rejection controller to obtain the third angular frequency.

[0009] Furthermore, before the grid-connected energy storage system and the target power grid system are connected to the grid, the method also includes: performing calculations based on the third phase angle and the second phase angle to obtain a fourth calculation result; performing calculations based on the third angular frequency and the second angular frequency to obtain a fifth calculation result; and judging whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0010] Further, based on the fourth calculation result and the fifth calculation result, judging whether the third phase angle and the third angular frequency meet the first preset condition includes: judging whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold, then determining that the third phase angle and the third angular frequency meet the first preset condition; if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold, then determining that the third phase angle and the third angular frequency do not meet the first preset condition.

[0011] Further, after determining that the third phase angle and the third angular frequency do not satisfy the first preset condition, the method also includes: determining an adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter based on the adjustment range to obtain an adjusted target parameter; configuring the auto-disturbance rejection controller based on the adjusted target parameter to obtain an adjusted target auto-disturbance rejection controller; repeating the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain a fourth phase angle and a fourth angular frequency, until the fourth phase angle and the fourth angular frequency satisfy the first preset condition.

[0012] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a grid-connected control device is provided. The device includes: a first calculation unit, which is used to calculate according to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an anti-disturbance rejection controller, and the anti-disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-type energy storage system; a first configuration unit, which is used to configure the anti-disturbance rejection controller according to the target parameters to obtain a target anti-disturbance rejection controller; a first adjustment unit, which is used to adjust the first phase angle and the first angular frequency through the target anti-disturbance rejection controller to obtain a third phase angle and a third angular frequency; a processing unit, which is used to perform grid-connected processing on the grid-type energy storage system and the target power grid system when the third phase angle and the third angular frequency meet the first preset condition.

[0013] Furthermore, the first calculation unit includes: a first calculation module, used to calculate based on the first phase angle and the second phase angle to obtain a first calculation result; a second calculation module, used to calculate based on the first angular frequency and the second angular frequency to obtain a second calculation result; a first determination module, used to determine the target parameter based on the first calculation result and the second calculation result.

[0014] Furthermore, the first configuration unit includes: a configuration module, used to configure the active disturbance rejection controller according to the target parameters to obtain the configured active disturbance rejection controller; an acquisition module, used to obtain the rated frequency and output frequency of the configured active disturbance rejection controller; a third calculation module, used to calculate according to the rated frequency and the output frequency to obtain a third calculation result; and a second determination module, used to determine the configured active disturbance rejection controller as the target active disturbance rejection controller if the third calculation result meets a second preset condition.

[0015] Furthermore, the first adjustment unit includes: a first adjustment module, used to adjust the first phase angle of the grid-type energy storage system based on the second phase angle of the target power grid system through the extended state observer of the target active disturbance rejection controller to obtain the third phase angle; a second adjustment module, used to adjust the first angular frequency of the grid-type energy storage system based on the second angular frequency of the target power grid system through the state error feedback controller of the target active disturbance rejection controller to obtain the third angular frequency.

[0016] Furthermore, the device also includes: a second calculation unit, used to calculate according to the third phase angle and the second phase angle to obtain a fourth calculation result before the grid-connected energy storage system and the target power grid system are connected to the grid; a third calculation unit, used to calculate according to the third angular frequency and the second angular frequency to obtain a fifth calculation result; a judgment unit, used to judge whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0017] Further, the judgment unit includes: a judgment module, used to judge whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; a third determination module, used to determine that the third phase angle and the third angular frequency meet the first preset condition if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold; and a fourth determination module, used to determine that the third phase angle and the third angular frequency do not meet the first preset condition if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold.

[0018] Furthermore, the device also includes: a determination unit, used to determine the adjustment range of the target parameter according to the fourth calculation result and the fifth calculation result after determining that the third phase angle and the third angular frequency do not meet the first preset condition; a second adjustment unit, used to adjust the target parameter according to the adjustment range to obtain the adjusted target parameter; a second configuration unit, used to configure the auto-disturbance rejection controller according to the adjusted target parameter to obtain an adjusted target auto-disturbance rejection controller; an execution unit, used to repeatedly execute the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain a fourth phase angle and a fourth angular frequency, until the fourth phase angle and the fourth angular frequency meet the first preset condition.

[0019] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a program, wherein when the program is executed, the device where the storage medium is located is controlled to execute any one of the above-mentioned grid-connected control methods.

[0020] In order to achieve the above-mentioned purpose, according to another aspect of the present application, an electronic device is further provided, the electronic device includes one or more processors and a memory, and the memory is used to store one or more processors to implement any one of the above-mentioned grid-connected control methods.

[0021] Through the present application, the following steps are adopted: according to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, calculation is performed to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and the angular frequency of the grid-type energy storage system; the active disturbance rejection controller is configured according to the target parameters to obtain a target active disturbance rejection controller; the first phase angle and the first angular frequency are adjusted by the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; when the third phase angle and the third angular frequency meet the first preset condition, the grid-type energy storage system and the target power grid system are connected to the grid. Through the present application, the problem that the grid-type energy storage system and the power grid system are connected to the grid through the traditional PI controller in the related art is solved, but a large grid-connected impact current is easily generated during the grid-connected process, resulting in poor safety of the power grid system.

[0022] In this scheme, the target parameters for configuring the self-disturbance rejection controller are calculated according to the first phase angle and the first angular frequency of the grid-type energy storage system, and the second phase angle and the second angular frequency of the target power grid system. Then, the self-disturbance rejection controller is configured according to the target parameters to obtain the target self-disturbance rejection controller. The first phase angle and the first angular frequency of the grid-type energy storage system are adjusted by the target self-disturbance rejection controller to obtain the adjusted third phase angle and the third angular frequency. Finally, when the third phase angle and the third angular frequency meet the grid-connected condition (i.e., the first preset condition), the grid-connected processing of the grid-type energy storage system and the target power grid system is performed.

[0023] By calculating the target parameters, the anti-disturbance controller can be efficiently configured to accurately adjust the phase angle and angular frequency of the grid-connected energy storage system, thereby achieving smooth grid connection between the grid-connected energy storage system and the target power grid system, helping the system maintain stable operation and improving the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 is a flow chart of a grid connection control method provided according to an embodiment of the present application;

[0026] Figure 2 It is a schematic diagram of the comparison results of the simulation experiment provided in the embodiment of the present application. Figure 1 ;

[0027] Figure 3 It is a schematic diagram of the comparison results of the simulation experiment provided in the embodiment of the present application. Figure 2 ;

[0028] Figure 4 is a schematic diagram of a grid-connected control device provided according to an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0034] The present invention is described below in conjunction with preferred implementation steps. Figure 1 is a flow chart of a grid connection control method provided in an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0035] Step S101, calculate according to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-type energy storage system.

[0036] Optionally, according to the phase angle θ (i.e., the first phase angle) corresponding to the new energy system side (i.e., the grid-type energy storage system) and the phase angle (i.e., the second phase angle) θ corresponding to the grid side (i.e., the target grid system), gCalculate and obtain the observer bandwidth parameter corresponding to the ADRC. According to the angular frequency ω (i.e., the first angular frequency) corresponding to the new energy system side and the angular frequency ω corresponding to the grid side g (i.e., the second angular frequency) is calculated to obtain the fixed controller bandwidth parameter corresponding to the ADRC.

[0037] It should be noted that the active disturbance rejection controller mainly consists of three parts: tracking differentiator, extended state observer and state error feedback control law.

[0038] The expression of the extended state observer is as follows:

[0039]

[0040] Among them, z 1 、z 2 and z 3 is the state variable, β 1 , β 2 and β 3 is the observer gain, b 0 is the system gain, y is the phase angle or angular frequency on the new energy system side, and u is the control signal calculated by the extended state observer based on the phase angle and angular frequency.

[0041] β 1 , β 2 and β 3 The expression is as follows:

[0042]

[0043] Among them, ω 0 is the bandwidth parameter of the extended state observer.

[0044] State error feedback control law u 0 The expression of the control form is as follows:

[0045] u 0 =k p (Rz 1 )-k d z 2

[0046] Among them, u 0 is the state error feedback control law, k p is the magnification factor of the ratio, k d is the differential magnification factor, z 1 、z 2 is the state variable and R is the given value.

[0047] It can be further expressed as:

[0048]

[0049] Where u is the control signal calculated by the extended state observer based on the phase angle and angular frequency, u 0 is the state error feedback control law, b 0 is the system gain, z 3 is the state variable, k p is the magnification factor of the ratio, k d is the differential amplification factor, ω c is the controller bandwidth parameter.

[0050] Step S102, configuring the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller.

[0051] Optionally, the structure and parameters of the active disturbance rejection controller are adjusted according to the target parameters, and a control algorithm of the active disturbance rejection controller is designed to ensure that the active disturbance rejection controller can meet the performance indicators and stability requirements of the system.

[0052] Step S103: adjusting the first phase angle and the first angular frequency by a target active disturbance rejection controller to obtain a third phase angle and a third angular frequency.

[0053] Optionally, the target anti-disturbance controller calculates and controls the input first phase angle and first angular frequency based on the second phase angle and second angular frequency corresponding to the target power grid system, thereby adjusting the phase angle and angular frequency to obtain a third phase angle and a third angular frequency.

[0054] It should be noted that the target ADRC will continuously adjust the control signal according to the feedback information of the system to maintain the stability and performance of the system.

[0055] Step S104, when the third phase angle and the third angular frequency meet the first preset condition, the grid-connecting type energy storage system and the target power grid system are connected to the grid.

[0056] Optionally, when the phase angle and angular frequency of the new energy system side and the grid side meet the grid-connected conditions (that is, the third phase angle and the third angular frequency meet the first preset condition), the grid-connected switch on the grid side is closed to complete the grid-connected processing of the new energy system side and the grid side.

[0057] In summary, according to the first phase angle and the first angular frequency of the grid-type energy storage system, and the second phase angle and the second angular frequency of the target power grid system, the target parameters for configuring the active disturbance rejection controller are calculated. Then, the active disturbance rejection controller is configured according to the target parameters to obtain the target active disturbance rejection controller. And the first phase angle and the first angular frequency of the grid-type energy storage system are adjusted by the target active disturbance rejection controller to obtain the adjusted third phase angle and the third angular frequency. Finally, when the third phase angle and the third angular frequency meet the grid connection condition (ie, the first preset condition), the grid connection processing of the grid-type energy storage system and the target power grid system is performed.

[0058] By calculating the target parameters, the anti-disturbance controller can be efficiently configured to accurately adjust the phase angle and angular frequency of the grid-connected energy storage system, thereby achieving smooth grid connection between the grid-connected energy storage system and the target power grid system, helping the system maintain stable operation and improving the safety and reliability of the system.

[0059] Optionally, in the grid-connected control method provided in an embodiment of the present application, calculation is performed based on a first phase angle and a first angular frequency corresponding to the grid-connected energy storage system, and a second phase angle and a second angular frequency corresponding to the target power grid system to obtain target parameters, including: calculating based on the first phase angle and the second phase angle to obtain a first calculation result; calculating based on the first angular frequency and the second angular frequency to obtain a second calculation result; determining the target parameters based on the first calculation result and the second calculation result.

[0060] In an optional embodiment, the controller bandwidth parameter ω c and the extended state observer bandwidth parameter ω 0 (i.e., target parameters) is ω 0 ≈3-10ω c . Controller bandwidth parameter ω c Affects the response speed of the system, ω c The larger the value, the faster the system responds and the more accurate the adjustment of phase and frequency. c Too large will cause the system to overshoot and lose stability, so the bandwidth parameter ω of the extended state observer is c and the controller bandwidth parameter ω c Need to be adjusted.

[0061] According to the phase difference θ-θ between the new energy system side and the grid side g (i.e. the first calculation result) is used to calculate the extended state observer bandwidth parameter ω in the active disturbance rejection controller 0 Perform adaptive adjustment. The formula for adaptive adjustment is as follows:

[0062]

[0063] Among them, ω0_0 is the fixed observer bandwidth, k 1 is an additional adjustment parameter of the ADRC. When the phase difference between the two is large and greater than 10°, the bandwidth parameter ω of the extended state observer 0 The value increases to improve the system response speed; when the phase difference between the two is small and less than 10°, in order to avoid oscillation and instability of the system, the bandwidth parameter ω of the extended state observer is reduced. 0 The value of .

[0064] According to the angular frequency difference between the new energy system side and the grid side ω-ω g (i.e., the second calculation result) is used to calculate the controller bandwidth parameter ω in the ADRC c Perform adaptive adjustment. The formula for adaptive adjustment is as follows:

[0065]

[0066] Among them, ω c_0 is the fixed controller bandwidth, k 2 is an additional adjustment parameter of the ADRC. When the frequency of the new energy system deviates greatly from the grid frequency, the controller bandwidth parameter ω is reduced. c To maintain the stability of the system frequency, when the frequency of the new energy system deviates from the grid frequency by a small amount, the controller bandwidth parameter ω c Restore to initial value for adjustment.

[0067] The additional adjustment parameter k in the above adaptive adjustment formula 1 and k 2 Optimize and select the additional adjustment parameters with the best adjustment effect. Use the frequency and phase angle of the new energy system as performance indicators to construct the objective function J m , objective function J m The expression is as follows:

[0068] J m =(ff N ) 2 +(θ-θ g ) 2

[0069] Among them, f is the real-time frequency of the system, f N is the rated frequency of the system, θ-θ g is the phase difference between the new energy system side and the grid side (ie, the first calculation result).

[0070] Take a fixed observer bandwidth ω 0_0 is 2500, and the additional adjustment parameter k is taken 1 The initial value k 1(0) is 100, and the fixed controller bandwidth ω is taken c_0is 400, and the additional adjustment parameter k is taken 2 The initial value k 2(0) 1. Increase the additional adjustment parameter k by arithmetic increments 1 The value of k 1(i) =k 1(i-1) +10, i=1,2,3…; arithmetic reduction of additional adjustment parameter k 1 The value of k 1(i) =k 1(i-1) -10, i = 1, 2, 3...; increase the additional adjustment parameter k in arithmetic increments 2 The value of k 2(i) =k 2(i-1) +0.1, i=1,2,3…; arithmetic reduction of additional adjustment parameter k 2 The value of k 2(i) =k 2(i-1) -0.1, i=1,2,3…. Fixed additional adjustment parameter k 2 The initial value is 1, and the additional adjustment parameter k 1(i) Substitute into the adaptive adjustment formula, when the objective function J m When the minimum value is taken, select the corresponding additional adjustment parameter k 1 The additional adjustment parameter k 2(i) Substitute into the adaptive adjustment formula, when the objective function J m When the minimum value is taken, select the corresponding additional adjustment parameter k 2 The value of the extended state observer bandwidth parameter ω is obtained c and the controller bandwidth parameter ω c .

[0071] By calculating different parameters separately, the target parameters can be determined more accurately, avoiding possible errors and uncertainties.

[0072] Optionally, in the grid-connected control method provided in an embodiment of the present application, configuring the active disturbance rejection controller according to target parameters to obtain the target active disturbance rejection controller includes: configuring the active disturbance rejection controller according to the target parameters to obtain the configured active disturbance rejection controller; obtaining the rated frequency and output frequency of the configured active disturbance rejection controller; performing calculations based on the rated frequency and the output frequency to obtain a third calculation result; if the third calculation result satisfies the second preset condition, determining the configured active disturbance rejection controller as the target active disturbance rejection controller.

[0073] In an optional embodiment, according to the extended state observer bandwidth parameter ω c and the controller bandwidth parameter ω c(i.e., target parameters) configure the form of the control law in the ADRC, the value range of the observer parameters, and other contents to obtain the configured ADRC. After the configuration is completed, calculations are performed according to the rated frequency and output frequency of the ADRC (e.g., frequency response, stability analysis, etc.) to obtain a third calculation result. The third calculation result is compared with the second preset condition: if the third calculation result meets the second preset condition, it means that the configuration of the ADRC meets the design requirements, and the configured ADRC is determined as the target ADRC. If the third calculation result does not meet the second preset condition, the parameters of the ADRC need to be adjusted until the current ADRC meets the second preset condition.

[0074] The ADRC is configured through target parameters and the final target ADRC is determined, which effectively realizes the control and regulation of the system and improves the performance and stability of the system.

[0075] Optionally, in the grid-connected control method provided in an embodiment of the present application, adjusting the first phase angle and the first angular frequency through a target active disturbance rejection controller to obtain a third phase angle and a third angular frequency includes: adjusting the first phase angle of the grid-connected energy storage system based on the second phase angle of the target power grid system through an extended state observer of the target active disturbance rejection controller to obtain a third phase angle; adjusting the first angular frequency of the grid-connected energy storage system based on the second angular frequency of the target power grid system through a state error feedback controller of the target active disturbance rejection controller to obtain a third angular frequency.

[0076] In an optional embodiment, the phase angle θ of the new energy system side and the phase angle θ of the grid side are g Input into the linear active disturbance rejection controller (i.e., target active disturbance rejection controller) to complete phase angle pre-synchronization to obtain the third phase angle. And the angular frequency ω of the new energy system side and the angular frequency ω of the grid side are g The frequency is input into the linear active disturbance rejection controller (ie, the target active disturbance rejection controller) to complete frequency pre-synchronization to obtain the third angular frequency.

[0077] By adjusting the first phase angle and the first angular frequency through the target ADRC, the frequency deviation and phase difference of the system can be effectively reduced, thereby improving the stability and reliability of the system.

[0078] Optionally, in the grid-connected control method provided in the embodiment of the present application, before the grid-connected energy storage system and the target power grid system are connected to the grid, the method also includes: calculating based on the third phase angle and the second phase angle to obtain a fourth calculation result; calculating based on the third angular frequency and the second angular frequency to obtain a fifth calculation result; and judging whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0079] In an optional embodiment, the phase angle difference between the phase angle of the new energy side and the phase angle of the grid side is calculated (i.e., the fourth calculation result), and the frequency difference between the angular frequency of the new energy side and the angular frequency of the grid side is calculated (i.e., the fifth calculation result). Based on the above phase angle difference and frequency difference, it is determined whether the third phase angle and the third angular frequency of the new energy side after pre-synchronization meet the first preset condition.

[0080] By calculating and judging the phase angle and angular frequency, the safe and stable operation of the grid-connected energy storage system and the target power grid system can be effectively guaranteed, and the system's optimal adjustment and performance improvement can be achieved.

[0081] Optionally, in the grid-connected control method provided in an embodiment of the present application, judging whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result includes: judging whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold, then determining that the third phase angle and the third angular frequency meet the first preset condition; if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold, then determining that the third phase angle and the third angular frequency do not meet the first preset condition.

[0082] In an optional embodiment, it is determined whether the phase angle difference between the phase angle on the new energy side and the phase angle on the grid side (i.e., the fourth calculation result) and the frequency difference between the angular frequency on the new energy side and the angular frequency on the grid side (i.e., the fifth calculation result) are reduced to 0 (i.e., it is determined whether the fourth calculation result and the fifth calculation result are equal to the preset threshold value): if both are reduced to 0, it means that the phase angle and angular frequency on the new energy side and the grid side meet the grid connection condition (i.e., the first preset condition), therefore, the grid connection switch on the grid side is closed to complete the grid connection process. If both are not reduced to 0, it means that the phase angle and angular frequency on the new energy side and the grid side do not meet the grid connection condition, therefore, the phase angle and angular frequency on the new energy side need to be adjusted.

[0083] By setting a preset threshold and judging whether the third phase angle and the third angular frequency meet the conditions according to the fourth calculation result and the fifth calculation result, the judging process can be simplified and the reliability and stability of the system can be improved.

[0084] Optionally, in the grid-connected control method provided in an embodiment of the present application, after determining that the third phase angle and the third angular frequency do not meet the first preset condition, the method also includes: determining an adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter based on the adjustment range to obtain an adjusted target parameter; configuring the auto-disturbance rejection controller based on the adjusted target parameter to obtain an adjusted target auto-disturbance rejection controller; repeatedly performing the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain a fourth phase angle and a fourth angular frequency, until the fourth phase angle and the fourth angular frequency meet the first preset condition.

[0085] In an optional embodiment, based on the fourth calculation result and the fifth calculation result, the reasons why the third phase angle and the third angular frequency do not meet the grid connection conditions are analyzed, and the range in which the target parameters need to be adjusted is determined, including: the direction and magnitude of the adjustment. According to the determined adjustment range, the target parameters are appropriately adjusted, which may be to increase or decrease the parameter values, so that the phase angle and angular frequency on the new energy side gradually approach the grid connection conditions. According to the adjusted target parameters, the self-interference rejection controller is reconfigured, and the phase angle and angular frequency on the new energy side are repeatedly adjusted through the adjusted target self-interference rejection controller, and the parameters are continuously optimized until the fourth phase angle and fourth angular frequency on the new energy side meet the grid connection conditions.

[0086] Through the above steps, the target parameters can be effectively adjusted, and finally the phase angle and angular frequency of the new energy side can meet the grid connection conditions, thereby improving the stability and performance of the grid connection.

[0087] It should be noted that Figure 2 It is a schematic diagram of the comparison results of the simulation experiment provided in the embodiment of the present application. Figure 1 , Figure 3 It is a schematic diagram of the comparison results of the simulation experiment provided in the embodiment of the present application. Figure 2 .like Figure 2 and Figure 3 As shown in the figure, a simulation model of grid-connected new energy is built, and a linear anti-disturbance control strategy based on adaptive adjustment is used for pre-synchronization. Figure 2 The waveform of the impulse current amplitude generated by the grid-connected new energy grid-connected can show that the grid-connected impulse current oscillation amplitude is large under the conventional linear anti-disturbance control, with the maximum value close to 600A, while the grid-connected impulse current oscillation amplitude under the linear anti-disturbance control based on adaptive adjustment is much smaller, with the maximum impulse current amplitude being around 400A. Figure 3It can be seen from the voltage amplitude waveform of the grid-connected new energy of the grid-building type that the grid-connected voltage waveform under the linear anti-disturbance control based on adaptive adjustment is relatively smooth and does not have a large impact. Therefore, the grid-connected control method provided by the embodiment of the present application can effectively reduce the impact current generated during grid connection and achieve smooth grid connection after the black start of the grid-building new energy.

[0088] The grid-connected control method provided in the embodiment of the present application calculates target parameters based on a first phase angle and a first angular frequency corresponding to a grid-connected energy storage system, and a second phase angle and a second angular frequency corresponding to a target power grid system, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and the angular frequency of the grid-connected energy storage system; the active disturbance rejection controller is configured according to the target parameters to obtain a target active disturbance rejection controller; the first phase angle and the first angular frequency are adjusted by the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; and when the third phase angle and the third angular frequency meet a first preset condition, the grid-connected energy storage system and the target power grid system are grid-connected, thereby solving the problem in the related art that a traditional PI controller is used to realize the grid-connected energy storage system and the power grid system, but a large grid-connected impact current is easily generated during the grid-connected process, resulting in poor safety of the power grid system.

[0089] In this scheme, the target parameters for configuring the self-disturbance rejection controller are calculated according to the first phase angle and the first angular frequency of the grid-type energy storage system, and the second phase angle and the second angular frequency of the target power grid system. Then, the self-disturbance rejection controller is configured according to the target parameters to obtain the target self-disturbance rejection controller. The first phase angle and the first angular frequency of the grid-type energy storage system are adjusted by the target self-disturbance rejection controller to obtain the adjusted third phase angle and the third angular frequency. Finally, when the third phase angle and the third angular frequency meet the grid-connected condition (i.e., the first preset condition), the grid-connected processing of the grid-type energy storage system and the target power grid system is performed.

[0090] By calculating the target parameters, the anti-disturbance controller can be efficiently configured to accurately adjust the phase angle and angular frequency of the grid-connected energy storage system, thereby achieving smooth grid connection between the grid-connected energy storage system and the target power grid system, helping the system maintain stable operation and improving the safety and reliability of the system.

[0091] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0092] The embodiment of the present application also provides a grid-connected control device. It should be noted that the grid-connected control device of the embodiment of the present application can be used to execute the grid-connected control method provided by the embodiment of the present application. The grid-connected control device provided by the embodiment of the present application is introduced below.

[0093] Figure 4 Schematic diagram of a grid-connected control device according to an embodiment of the present application. Figure 4 As shown, the device includes: a first calculation unit 401, a first configuration unit 402, a first adjustment unit 403, and a processing unit 404.

[0094] A first calculation unit 401 is used to calculate according to a first phase angle and a first angular frequency corresponding to the grid-forming energy storage system, and a second phase angle and a second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-forming energy storage system;

[0095] A first configuration unit 402 is used to configure the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller;

[0096] A first adjustment unit 403 is used to adjust the first phase angle and the first angular frequency through a target active disturbance rejection controller to obtain a third phase angle and a third angular frequency;

[0097] The processing unit 404 is used to perform grid connection processing on the grid-connecting type energy storage system and the target power grid system when the third phase angle and the third angular frequency meet the first preset condition.

[0098] In the grid-connected control device provided in the embodiment of the present application, the first calculation unit 401 calculates according to the first phase angle and the first angular frequency corresponding to the grid-connected energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system to obtain the target parameters, wherein the target parameters are used to configure the active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and the angular frequency of the grid-connected energy storage system; the first configuration unit 402 configures the active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller; the first adjustment unit 403 adjusts the first phase angle and the first angular frequency through the target active disturbance rejection controller to obtain the third phase angle and the third angular frequency; the processing unit 404 performs grid-connected processing on the grid-connected energy storage system and the target power grid system when the third phase angle and the third angular frequency meet the first preset condition, thereby solving the problem in the related art that the grid-connected energy storage system and the power grid system are connected to the grid through the traditional PI controller, but a large grid-connected impact current is easily generated during the grid-connected process, resulting in poor safety of the power grid system.

[0099] In this scheme, the target parameters for configuring the self-disturbance rejection controller are calculated according to the first phase angle and the first angular frequency of the grid-type energy storage system, and the second phase angle and the second angular frequency of the target power grid system. Then, the self-disturbance rejection controller is configured according to the target parameters to obtain the target self-disturbance rejection controller. The first phase angle and the first angular frequency of the grid-type energy storage system are adjusted by the target self-disturbance rejection controller to obtain the adjusted third phase angle and the third angular frequency. Finally, when the third phase angle and the third angular frequency meet the grid-connected condition (i.e., the first preset condition), the grid-connected processing of the grid-type energy storage system and the target power grid system is performed.

[0100] By calculating the target parameters, the anti-disturbance controller can be efficiently configured to accurately adjust the phase angle and angular frequency of the grid-connected energy storage system, thereby achieving smooth grid connection between the grid-connected energy storage system and the target power grid system, helping the system maintain stable operation and improving the safety and reliability of the system.

[0101] Optionally, in the grid-connected control device provided in an embodiment of the present application, the first calculation unit includes: a first calculation module, used to perform calculations based on the first phase angle and the second phase angle to obtain a first calculation result; a second calculation module, used to perform calculations based on the first angular frequency and the second angular frequency to obtain a second calculation result; and a first determination module, used to determine the target parameter based on the first calculation result and the second calculation result.

[0102] Optionally, in the grid-connected control device provided in the embodiment of the present application, the first configuration unit includes: a configuration module, used to configure the active disturbance rejection controller according to the target parameters to obtain the configured active disturbance rejection controller; an acquisition module, used to obtain the rated frequency and output frequency of the configured active disturbance rejection controller; a third calculation module, used to calculate according to the rated frequency and the output frequency to obtain a third calculation result; and a second determination module, used to determine the configured active disturbance rejection controller as a target active disturbance rejection controller if the third calculation result satisfies a second preset condition.

[0103] Optionally, in the grid-connected control device provided in an embodiment of the present application, the first adjustment unit includes: a first adjustment module, used to adjust the first phase angle of the grid-connected energy storage system based on the second phase angle of the target power grid system through an extended state observer of the target self-disturbance rejection controller to obtain a third phase angle; a second adjustment module, used to adjust the first angular frequency of the grid-connected energy storage system based on the second angular frequency of the target power grid system through a state error feedback controller of the target self-disturbance rejection controller to obtain a third angular frequency.

[0104] Optionally, in the grid-connected control device provided in the embodiment of the present application, the device also includes: a second calculation unit, used to calculate based on the third phase angle and the second phase angle to obtain a fourth calculation result before the grid-connected energy storage system and the target power grid system are connected to the grid; a third calculation unit, used to calculate based on the third angular frequency and the second angular frequency to obtain a fifth calculation result; and a judgment unit, used to judge whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0105] Optionally, in the grid-connected control device provided in the embodiment of the present application, the judgment unit includes: a judgment module, used to judge whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; a third determination module, used to determine that the third phase angle and the third angular frequency meet the first preset condition if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold; and a fourth determination module, used to determine that the third phase angle and the third angular frequency do not meet the first preset condition if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold.

[0106] Optionally, in the grid-connected control device provided in the embodiment of the present application, the device also includes: a determination unit, used to determine the adjustment range of the target parameter according to the fourth calculation result and the fifth calculation result after determining that the third phase angle and the third angular frequency do not meet the first preset condition; a second adjustment unit, used to adjust the target parameter according to the adjustment range to obtain the adjusted target parameter; a second configuration unit, used to configure the auto-disturbance rejection controller according to the adjusted target parameter to obtain the adjusted target auto-disturbance rejection controller; an execution unit, used to repeatedly execute the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain the fourth phase angle and the fourth angular frequency, until the fourth phase angle and the fourth angular frequency meet the first preset condition.

[0107] The grid-connected control device includes a processor and a memory. The above-mentioned first calculation unit 401, first configuration unit 402, first adjustment unit 403, processing unit 404, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize safe control of the grid connection.

[0108] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the safety control of the grid connection can be achieved by adjusting the kernel parameters.

[0109] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0110] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, a grid-connected control method is implemented.

[0111] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes a grid-connected control method when it is run.

[0112] like Figure 5 As shown, an embodiment of the present invention provides an electronic device, the device includes a processor, a memory and a program stored in the memory and executable on the processor, and the processor implements the following steps when executing the program: calculating according to a first phase angle and a first angular frequency corresponding to a grid-forming energy storage system, and a second phase angle and a second angular frequency corresponding to a target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-forming energy storage system; configuring the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller; adjusting the first phase angle and the first angular frequency by the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; and when the third phase angle and the third angular frequency meet a first preset condition, performing grid connection processing on the grid-forming energy storage system and the target power grid system.

[0113] Optionally, calculation is performed based on the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system to obtain the target parameters, including: calculating based on the first phase angle and the second phase angle to obtain a first calculation result; calculating based on the first angular frequency and the second angular frequency to obtain a second calculation result; determining the target parameters based on the first calculation result and the second calculation result.

[0114] Optionally, configuring the active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller includes: configuring the active disturbance rejection controller according to the target parameters to obtain the configured active disturbance rejection controller; obtaining the rated frequency and the output frequency of the configured active disturbance rejection controller; performing calculations based on the rated frequency and the output frequency to obtain a third calculation result; if the third calculation result meets the second preset condition, determining the configured active disturbance rejection controller as the target active disturbance rejection controller.

[0115] Optionally, adjusting the first phase angle and the first angular frequency through the target auto-disturbance rejection controller to obtain the third phase angle and the third angular frequency includes: adjusting the first phase angle of the grid-connected energy storage system based on the second phase angle of the target power grid system through an extended state observer of the target auto-disturbance rejection controller to obtain the third phase angle; adjusting the first angular frequency of the grid-connected energy storage system based on the second angular frequency of the target power grid system through a state error feedback controller of the target auto-disturbance rejection controller to obtain the third angular frequency.

[0116] Optionally, before the grid-connected energy storage system and the target power grid system are connected to the grid, the method also includes: calculating based on the third phase angle and the second phase angle to obtain a fourth calculation result; calculating based on the third angular frequency and the second angular frequency to obtain a fifth calculation result; and judging whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0117] Optionally, based on the fourth calculation result and the fifth calculation result, determining whether the third phase angle and the third angular frequency meet the first preset condition includes: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold, then determining that the third phase angle and the third angular frequency meet the first preset condition; if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold, then determining that the third phase angle and the third angular frequency do not meet the first preset condition.

[0118] Optionally, after determining that the third phase angle and the third angular frequency do not meet the first preset condition, the method also includes: determining an adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter based on the adjustment range to obtain an adjusted target parameter; configuring the auto-disturbance rejection controller based on the adjusted target parameter to obtain an adjusted target auto-disturbance rejection controller; repeating the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain a fourth phase angle and a fourth angular frequency, until the fourth phase angle and the fourth angular frequency meet the first preset condition.

[0119] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0120] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with the following method steps: calculating according to a first phase angle and a first angular frequency corresponding to the grid-forming energy storage system, and a second phase angle and a second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-forming energy storage system; configuring the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller; adjusting the first phase angle and the first angular frequency by the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; and when the third phase angle and the third angular frequency meet a first preset condition, performing grid connection processing on the grid-forming energy storage system and the target power grid system.

[0121] Optionally, calculation is performed based on the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system to obtain the target parameters, including: calculating based on the first phase angle and the second phase angle to obtain a first calculation result; calculating based on the first angular frequency and the second angular frequency to obtain a second calculation result; determining the target parameters based on the first calculation result and the second calculation result.

[0122] Optionally, configuring the active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller includes: configuring the active disturbance rejection controller according to the target parameters to obtain the configured active disturbance rejection controller; obtaining the rated frequency and the output frequency of the configured active disturbance rejection controller; performing calculations based on the rated frequency and the output frequency to obtain a third calculation result; if the third calculation result meets the second preset condition, determining the configured active disturbance rejection controller as the target active disturbance rejection controller.

[0123] Optionally, adjusting the first phase angle and the first angular frequency through the target auto-disturbance rejection controller to obtain the third phase angle and the third angular frequency includes: adjusting the first phase angle of the grid-connected energy storage system based on the second phase angle of the target power grid system through an extended state observer of the target auto-disturbance rejection controller to obtain the third phase angle; adjusting the first angular frequency of the grid-connected energy storage system based on the second angular frequency of the target power grid system through a state error feedback controller of the target auto-disturbance rejection controller to obtain the third angular frequency.

[0124] Optionally, before the grid-connected energy storage system and the target power grid system are connected to the grid, the method also includes: calculating based on the third phase angle and the second phase angle to obtain a fourth calculation result; calculating based on the third angular frequency and the second angular frequency to obtain a fifth calculation result; and judging whether the third phase angle and the third angular frequency meet the first preset condition based on the fourth calculation result and the fifth calculation result.

[0125] Optionally, based on the fourth calculation result and the fifth calculation result, determining whether the third phase angle and the third angular frequency meet the first preset condition includes: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a judgment result; if the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold, then determining that the third phase angle and the third angular frequency meet the first preset condition; if the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold, then determining that the third phase angle and the third angular frequency do not meet the first preset condition.

[0126] Optionally, after determining that the third phase angle and the third angular frequency do not meet the first preset condition, the method also includes: determining an adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter based on the adjustment range to obtain an adjusted target parameter; configuring the auto-disturbance rejection controller based on the adjusted target parameter to obtain an adjusted target auto-disturbance rejection controller; repeating the process of adjusting the first phase angle and the first angular frequency through the adjusted target auto-disturbance rejection controller to obtain a fourth phase angle and a fourth angular frequency, until the fourth phase angle and the fourth angular frequency meet the first preset condition.

[0127] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0133] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0135] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0136] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A grid-connected control method, characterized in that: include: Calculating according to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and the angular frequency of the grid-type energy storage system; Configuring the active disturbance rejection controller according to the target parameters to obtain a target active disturbance rejection controller; The first phase angle and the first angular frequency are adjusted by the target active disturbance rejection controller to obtain a third phase angle and a third angular frequency; When the third phase angle and the third angular frequency meet a first preset condition, the grid-connected energy storage system and the target power grid system are connected to the grid.

2. The method according to claim 1, characterized in that According to the first phase angle and the first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and the second angular frequency corresponding to the target power grid system, the target parameters are calculated to include: Performing calculation according to the first phase angle and the second phase angle to obtain a first calculation result; Performing calculation according to the first angular frequency and the second angular frequency to obtain a second calculation result; The target parameter is determined according to the first calculation result and the second calculation result.

3. The method according to claim 1, characterized in that Configuring the active disturbance rejection controller according to the target parameter to obtain a target active disturbance rejection controller includes: configuring the active disturbance rejection controller according to the target parameters to obtain a configured active disturbance rejection controller; Obtaining the rated frequency and output frequency of the configured active disturbance rejection controller; Performing calculation according to the rated frequency and the output frequency to obtain a third calculation result; If the third calculation result satisfies a second preset condition, the configured active disturbance rejection controller is determined as the target active disturbance rejection controller.

4. The method according to claim 1, characterized in that The first phase angle and the first angular frequency are adjusted by the target ADRC to obtain a third phase angle and a third angular frequency, comprising: The extended state observer of the target active disturbance rejection controller adjusts the first phase angle of the grid-connected energy storage system based on the second phase angle of the target power grid system to obtain the third phase angle; The state error feedback controller of the target active disturbance rejection controller adjusts the first angular frequency of the grid-connected energy storage system based on the second angular frequency of the target power grid system to obtain the third angular frequency.

5. The method according to claim 1, characterized in that Before the grid-connected energy storage system and the target power grid system are connected to the grid, the method further includes: Performing calculation according to the third phase angle and the second phase angle to obtain a fourth calculation result; Performing calculation according to the third angular frequency and the second angular frequency to obtain a fifth calculation result; According to the fourth calculation result and the fifth calculation result, it is determined whether the third phase angle and the third angular frequency meet the first preset condition.

6. The method according to claim 5, characterized in that Judging whether the third phase angle and the third angular frequency meet the first preset condition according to the fourth calculation result and the fifth calculation result includes: Determine whether the fourth calculation result and the fifth calculation result are equal to a preset threshold value to obtain a determination result; If the judgment result indicates that the fourth calculation result and the fifth calculation result are both equal to the preset threshold, it is determined that the third phase angle and the third angular frequency meet the first preset condition; If the judgment result indicates that the fourth calculation result is not equal to the preset threshold, or the fifth calculation result is not equal to the preset threshold, it is determined that the third phase angle and the third angular frequency do not meet the first preset condition.

7. The method according to claim 6, characterized in that After determining that the third phase angle and the third angular frequency do not satisfy the first preset condition, the method further includes: Determining an adjustment range of the target parameter according to the fourth calculation result and the fifth calculation result; Adjusting the target parameter according to the adjustment range to obtain an adjusted target parameter; configuring the active disturbance rejection controller according to the adjusted target parameters to obtain an adjusted target active disturbance rejection controller; Repeat the process of adjusting the first phase angle and the first angular frequency through the adjusted target ADRC to obtain a fourth phase angle and a fourth angular frequency until the fourth phase angle and the fourth angular frequency meet the first preset condition.

8. A grid-connected control device, characterized in that: include: A first calculation unit is used to calculate according to a first phase angle and a first angular frequency corresponding to the grid-type energy storage system, and a second phase angle and a second angular frequency corresponding to the target power grid system, to obtain target parameters, wherein the target parameters are used to configure an active disturbance rejection controller, and the active disturbance rejection controller is used to adjust the phase angle and angular frequency of the grid-type energy storage system; A first configuration unit, configured to configure the active disturbance rejection controller according to the target parameter to obtain a target active disturbance rejection controller; A first adjustment unit, configured to adjust the first phase angle and the first angular frequency through the target ADRC to obtain a third phase angle and a third angular frequency; A processing unit is used to perform grid connection processing on the grid-connecting type energy storage system and the target power grid system when the third phase angle and the third angular frequency meet a first preset condition.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the storage medium is controlled to execute the grid-connected control method according to any one of claims 1 to 7 on a device.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the grid-connected control method described in any one of claims 1 to 7.

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