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

Abstract

The application discloses a grid-connected control method and device, a storage medium and an electronic device. It relates to the technical field of new energy power generation and other related technical fields. The method comprises the following steps: calculating target parameters according to a first phase angle and a first angular frequency corresponding to a grid-connection type energy storage system and a second phase angle and a second angular frequency corresponding to a target power grid system; configuring a target active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller; 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; and performing grid-connected processing on the grid-connection type energy storage system and the target power grid system. Through the application, the problem that a large grid-connected impact current is easily generated in the grid-connected process and the safety of the power grid system is relatively poor when the grid-connection type energy storage system and the power grid system are connected through a traditional PI controller in the related art is solved.

Description

Technical Field

[0001] This application relates to the field of new energy power generation technology and other related technical fields. Specifically, it relates to a grid connection control method and device, a storage medium and an electronic device. Background Technology

[0002] With the increasing complexity of power systems and the growing proportion of renewable energy, the stability of the power grid is also affected, making it highly susceptible to large-scale blackouts caused by low-probability incidents. Therefore, grid-connected renewable energy sources are needed to participate in the black start process of the power grid, providing voltage and frequency support. However, if renewable energy systems cannot meet the conditions of voltage amplitude, phase, and frequency synchronization with the grid side when connecting to the grid, a large inrush current will be generated. Therefore, precise pre-synchronization control is required before renewable energy systems are connected to the grid to achieve smooth grid connection. Traditional PI control-based pre-synchronization control strategies have slow response speeds, poor accuracy, and generate large grid connection inrush currents after PI control, threatening the safety and stability of the power system.

[0003] There is currently no effective solution to the problem that traditional PI controllers are used to connect grid-type energy storage systems to the power grid, but this often results in large grid connection inrush currents that lead to poor grid system safety. Summary of the Invention

[0004] The main objective of this application is to provide a grid-connected control method and device, storage medium and electronic device to solve the problem in related technologies where grid-connected energy storage systems and power grid systems are connected using traditional PI controllers, but large grid-connected inrush currents are easily generated during the grid connection process, resulting in poor safety of the power grid system.

[0005] To achieve the above objectives, according to one aspect of this application, a grid-connected control method is provided. The method includes: calculating 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 (AVR), the AVR being used to adjust the phase angle and angular frequency of the grid-connected energy storage system; configuring the AVR based on the target parameters to obtain a target AVR; adjusting the first phase angle and the first angular frequency using the target AVR to obtain a third phase angle and a third angular frequency; and performing 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 satisfy a first preset condition.

[0006] Further, the target parameters are calculated based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system, 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; and determining the target parameters based on the first calculation result and the second calculation result.

[0007] Further, configuring the active disturbance rejection controller (ADRC) according to the target parameters to obtain the target ADRC includes: configuring the ADRC according to the target parameters to obtain the configured ADRC; obtaining the rated frequency and output frequency of the configured ADRC; calculating 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, then the configured ADRC is determined as the target ADRC.

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

[0009] Furthermore, before performing grid connection processing on the grid-type energy storage system and the target power grid system, the method further includes: calculating a fourth calculation result based on the third phase angle and the second phase angle; calculating a fifth calculation result based on the third angular frequency and the second angular frequency; and determining 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, determining whether the third phase angle and the third angular frequency satisfy the first preset condition based on the fourth calculation result and the fifth calculation result includes: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a determination result; if the determination result indicates that both the fourth calculation result and the fifth calculation result are equal to the preset threshold, then it is determined that the third phase angle and the third angular frequency satisfy the first preset condition; if the determination 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 it is determined that the third phase angle and the third angular frequency do not satisfy the first preset condition.

[0011] Furthermore, after determining that the third phase angle and the third angular frequency do not meet the first preset condition, the method further includes: determining the adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter according to the adjustment range to obtain the adjusted target parameter; configuring the active interference rejection controller according to the adjusted target parameter to obtain the adjusted target active interference rejection controller; and repeatedly executing the process of adjusting the first phase angle and the first angular frequency through the adjusted target active interference 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.

[0012] To achieve the above objectives, according to another aspect of this application, a grid-connected control device is provided. The device includes: a first calculation unit, configured to calculate target parameters based on a first phase angle and a first angular frequency corresponding to a grid-type 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 (AVR), the AVR being used to adjust the phase angle and angular frequency of the grid-type energy storage system; a first configuration unit, configured to configure the AVR based on the target parameters to obtain a target AVR; a first adjustment unit, configured to adjust the first phase angle and the first angular frequency using the target AVR to obtain a third phase angle and a third angular frequency; and a processing unit, configured to perform grid-connection 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 a first preset condition.

[0013] Further, 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; and a first determination module, used to determine the target parameter based on the first calculation result and the second calculation result.

[0014] Further, the first configuration unit includes: a configuration module, configured to configure the active disturbance rejection controller according to the target parameters to obtain a configured active disturbance rejection controller; an acquisition module, configured to acquire the rated frequency and output frequency of the configured active disturbance rejection controller; a third calculation module, configured to perform calculations based on the rated frequency and the output frequency to obtain a third calculation result; and a second determination module, configured to determine the configured active disturbance rejection controller as the target active disturbance rejection controller if the third calculation result satisfies a second preset condition.

[0015] Further, 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; and 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 further includes: a second calculation unit, used to calculate a fourth calculation result based on the third phase angle and the second phase angle before performing grid connection processing on the grid-type energy storage system and the target power grid system; a third calculation unit, used to calculate a fifth calculation result based on the third angular frequency and the second angular frequency; 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.

[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, and obtain a judgment result; a third determination module, used to determine that the third phase angle and the third angular frequency satisfy 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 satisfy 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 further includes: a determining unit, configured to determine the adjustment range of the target parameter based on 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 adjusting unit, configured to adjust the target parameter according to the adjustment range to obtain the adjusted target parameter; a second configuring unit, configured to configure the active interference rejection controller according to the adjusted target parameter to obtain the adjusted target active interference rejection controller; and an execution unit, configured to repeatedly execute the process of adjusting the first phase angle and the first angular frequency through the adjusted target active interference 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.

[0019] To achieve the above objectives, according to one aspect of this application, a computer-readable storage medium is provided, the storage medium storing a program, wherein, when the program is executed, it controls the device where the storage medium is located to perform the grid-connected control method described in any one of the above claims.

[0020] To achieve the above objectives, according to another aspect of this application, an electronic device is also provided, the electronic device including one or more processors and a memory, the memory being used to store the grid-connected control method described in any one of the above-mentioned methods implemented by the one or more processors.

[0021] This application employs the following steps: Target parameters are calculated based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system. These target parameters are used to configure an active disturbance rejection controller (AVR), which adjusts the phase angle and angular frequency of the grid-type energy storage system. The ARR is then configured based on the target parameters to obtain a target ARR. The first phase angle and first angular frequency are adjusted using the target ARR to obtain a third phase angle and third angular frequency. When the third phase angle and third angular frequency meet a first preset condition, the grid-type energy storage system and the target power grid system are connected to the grid. This application solves the problem in related technologies where connecting a grid-type energy storage system to the power grid using a traditional PI controller is prone to generating large grid-connection inrush currents during the connection process, leading to poor grid system safety.

[0022] In this scheme, target parameters for configuring the active disturbance rejection controller (ADRC) are calculated based on the first phase angle and first angular frequency of the grid-type energy storage system, and the second phase angle and second angular frequency of the target power grid system. Then, the ADRC is configured according to the target parameters to obtain the target ADRC. The first phase angle and first angular frequency of the grid-type energy storage system are adjusted using the target ADRC to obtain the adjusted third phase angle and third angular frequency. Finally, if the third phase angle and third angular frequency meet the grid connection conditions (i.e., the first preset condition), the grid-type energy storage system and the target power grid system are connected to the grid.

[0023] By calculating the target parameters, the active disturbance rejection controller can be configured efficiently to accurately adjust the phase angle and angular frequency of the grid-type energy storage system, thereby achieving smooth grid connection between the grid-type energy storage system and the target power grid system. This helps the system maintain stable operation and improves the system's safety and reliability. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0025] Figure 1 This is a flowchart of a grid connection control method provided according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the simulation experiment comparison results provided in the embodiments of this application. Figure 1 ;

[0027] Figure 3 This is a schematic diagram of the simulation experiment comparison results provided in the embodiments of this application. Figure 2 ;

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

[0029] Figure 5 This is a schematic diagram of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0034] The present invention will now be described in conjunction with preferred implementation steps. Figure 1 This is a flowchart of the grid connection control method provided according to the embodiments of this application, such as... Figure 1 As shown, the method includes the following steps:

[0035] Step S101: Target parameters are obtained by calculating the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system. The target parameters are used to configure the active disturbance rejection controller, which is used to adjust the phase angle and angular frequency of the grid-type energy storage system.

[0036] Optionally, based on 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 θ (i.e., the second phase angle) corresponding to the grid side (i.e., the target power grid system), gCalculations are performed to obtain the observer bandwidth parameters corresponding to the active disturbance rejection controller. This is based on the angular frequency ω (i.e., the first angular frequency) corresponding to the new energy system side and the angular frequency ω (i.e., the grid side side). g The fixed controller bandwidth parameters corresponding to the active disturbance rejection controller are obtained by calculating the second angular frequency.

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

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

[0039]

[0040] Where z1, z2, and z3 are state variables, β1, β2, and β3 are observer gains, b0 is system gain, y is the phase angle or angular frequency of the new energy system, and u is the control signal calculated by the extended state observer based on the phase angle and angular frequency.

[0041] The expressions for β1, β2, and β3 are as follows:

[0042]

[0043] Where ω0 is the bandwidth parameter of the extended state observer.

[0044] The expression for the control form of the state error feedback control law u0 is as follows:

[0045] u0 = k p (R-z1)-k d z2

[0046] Where u0 is the state error feedback control law, k p k is the magnification factor. d Z is the amplification factor of the differential, z1 and z2 are state variables, and R is a given value.

[0047] This 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, u0 is the state error feedback control law, b0 is the system gain, z3 is the state variable, and k p k is the magnification factor. d ω is the amplification factor of the differential. c This refers to the controller bandwidth parameter.

[0050] Step S102: Configure the active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller.

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

[0052] Step S103: The first phase angle and the first angular frequency are adjusted by the target active interference rejection controller to obtain the third phase angle and the third angular frequency.

[0053] Optionally, the target active disturbance rejection 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 the third phase angle and third angular frequency.

[0054] It should be noted that the target active disturbance rejection controller will continuously adjust the control signal based on the system feedback information in order to maintain the stability and performance of the system.

[0055] Step S104: If the third phase angle and the third angular frequency meet the first preset conditions, the grid-connected 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 connection conditions (i.e., the third phase angle and the third angular frequency meet the first preset conditions), the grid connection switch on the grid side is closed to complete the grid connection process of the new energy system side and the grid side.

[0057] In summary, based on the first phase angle and first angular frequency of the grid-connected energy storage system, and the second phase angle and second angular frequency of the target power grid system, target parameters for configuring the active disturbance rejection controller (ADRC) are calculated. Then, the ADRC is configured according to the target parameters to obtain the target ADRC. The first phase angle and first angular frequency of the grid-connected energy storage system are adjusted using the target ADRC to obtain the adjusted third phase angle and third angular frequency. Finally, if the third phase angle and third angular frequency meet the grid connection conditions (i.e., the first preset condition), the grid-connected energy storage system and the target power grid system are connected to the grid.

[0058] By calculating the target parameters, the active disturbance rejection controller can be configured efficiently to accurately adjust the phase angle and angular frequency of the grid-type energy storage system, thereby achieving smooth grid connection between the grid-type energy storage system and the target power grid system. This helps the system maintain stable operation and improves the system's safety and reliability.

[0059] Optionally, in the grid-connected control method provided in this application embodiment, the target parameters are calculated based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system. This includes: 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; and 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 The relationship between the bandwidth parameter ω0 of the extended state observer (i.e., the target parameter) and ω0 is ω0≈3-10ω c Controller bandwidth parameter ω c ω affects the system's response speed. c The larger the value of ω, the faster the system response speed and the more precise the adjustment of phase and frequency, but ω... c Excessive bandwidth can cause system overshoot and instability, therefore the bandwidth parameter ω of the extended state observer needs to be adjusted. c and controller bandwidth parameter ω c Adjustments are required.

[0061] Based on the phase difference θ-θ between the new energy system side and the grid side g (i.e., the first calculation result) Adaptively adjusts the bandwidth parameter ω0 of the extended state observer in the active disturbance rejection controller. The adaptive adjustment formula is as follows:

[0062]

[0063] Where, ω 0_0 To fix the observer bandwidth, k1 is an additional adjustment parameter of the active disturbance rejection controller. When the phase difference between the two is large and greater than 10°, the value of the extended state observer bandwidth parameter ω0 is increased to improve the system response speed; when the phase difference between the two is small and less than 10°, in order to avoid the system from oscillating and losing stability, the value of the extended state observer bandwidth parameter ω0 is decreased.

[0064] Based on the angular frequency difference ω-ω between the new energy system side and the grid side g (i.e., the second calculation result) relates to the controller bandwidth parameter ω in the active disturbance rejection controller. c Adaptive adjustment is performed, and the formula for adaptive adjustment is as follows:

[0065]

[0066] Where, ω c_0 To fix the controller bandwidth, k2 is an additional adjustment parameter for the active disturbance rejection controller. When the frequency of the new energy system deviates significantly from the grid frequency, the controller bandwidth parameter ω is reduced. cThe value of ω is used to maintain the stability of the system frequency. When the frequency of the new energy system deviates slightly from the grid frequency, the controller bandwidth parameter ω... c Restore to the initial value for adjustment.

[0067] The additional adjustment parameters k1 and k2 in the above adaptive adjustment formula are optimized, and the additional adjustment parameters with the best adjustment effect are selected. The objective function J is constructed using the frequency and phase angle of the new energy system as performance indicators. m Objective function J m The expression is as follows:

[0068] J m =(ff N ) 2 +(θ-θ g ) 2

[0069] Where f is the real-time frequency of the system, f N θ-θ is the rated frequency of the system. g This represents the phase difference between the new energy system side and the grid side (i.e., the first calculation result).

[0070] Take a fixed observer bandwidth ω 0_0 The value is 2500, and the initial value of the additional adjustment parameter k1 is taken as k. 1(0) The value is 100, and the fixed controller bandwidth ω is taken. c_0 The initial value of the additional adjustment parameter k2 is 400. 2(0) The value is 1. The additional adjustment parameter k1 is increased arithmetically, k... 1(i) =k 1(i-1) +10, i = 1, 2, 3…; decrease the value of the additional adjustment parameter k1 in an arithmetic progression, k 1(i) =k 1(i-1) -10, i = 1, 2, 3…; the value of the additional adjustment parameter k2 is increased arithmetically, k… 2(i) =k 2(i-1) +0.1, i = 1, 2, 3…; decrease the value of the additional adjustment parameter k2 in an arithmetic progression, k 2(i) =k 2(i-1) -0.1, i = 1, 2, 3…. The initial value of the additional adjustment parameter k2 is fixed at 1. The additional adjustment parameter k… 1(i) Substituting into the adaptive adjustment formula, when the objective function J m When the minimum value is obtained, select the corresponding additional adjustment parameter k1. Set the additional adjustment parameter k... 2(i) Substituting into the adaptive adjustment formula, when the objective function J m When the minimum value is obtained, the corresponding additional adjustment parameter k2 is selected, and then the bandwidth parameter ω of the extended state observer is obtained. c and 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 this application embodiment, 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 output frequency of the configured active disturbance rejection controller; performing calculations based on the rated frequency and output frequency to obtain a third calculation result; if the third calculation result satisfies a second preset condition, then the configured active disturbance rejection controller is determined as the target active disturbance rejection controller.

[0073] In an optional embodiment, based on the extended state observer bandwidth parameter ω c and controller bandwidth parameter ω c The target parameters are used to configure the form of the control law and the range of observer parameters in the active disturbance rejection controller (ADRC) to obtain the configured ADRC. After configuration, calculations (e.g., frequency response, stability analysis) are performed based on the rated frequency and output frequency of the ADRC 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 has met 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] By configuring the active disturbance rejection controller (ADRC) with target parameters and determining the final target ADRC, the control and regulation of the system are effectively realized, thereby improving the system's performance and stability.

[0075] Optionally, in the grid-connected control method provided in this application embodiment, adjusting 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 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 the extended state observer of the target active disturbance rejection controller to obtain the third phase angle; and 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 the state error feedback controller of the target active disturbance rejection controller to obtain the third angular frequency.

[0076] In an optional embodiment, the phase angle θ on the new energy system side and the phase angle θ on the grid side are... gThe input is fed into the linear active disturbance rejection controller (i.e., the target active disturbance rejection controller) to complete phase angle pre-synchronization and obtain the third phase angle. The angular frequency ω0 on the new energy system side and the angular frequency ω0 on the grid side are then compared. g The input is fed into the linear active disturbance rejection controller (i.e., the target active disturbance rejection controller) to complete the frequency pre-synchronization in order to obtain the third angular frequency.

[0077] By adjusting the first phase angle and the first angular frequency using a target active disturbance rejection controller, 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 connection control method provided in the embodiments of this application, before performing grid connection processing on the grid-type energy storage system and the target power grid system, the method further includes: calculating a fourth calculation result based on the third phase angle and the second phase angle; calculating a fifth calculation result based on the third angular frequency and the second angular frequency; and determining 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 source 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 source 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 third angular frequency of the new energy source 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-type energy storage system and the target power grid system can be effectively guaranteed, and the system's optimized regulation and performance improvement can be achieved.

[0081] Optionally, in the grid-connected control method provided in this application embodiment, determining 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: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold, and obtaining a determination result; if the determination result indicates that both the fourth calculation result and the fifth calculation result are equal to the preset threshold, then it is determined that the third phase angle and the third angular frequency meet the first preset condition; if the determination 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 it is determined 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 of the new energy side and the phase angle of the grid side (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 (i.e., the fifth calculation result) have decreased to 0 (i.e., whether the fourth and fifth calculation results are equal to a preset threshold). If both decrease to 0, it indicates that the phase angle and angular frequency of the new energy side and the grid side meet the grid connection conditions (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 do not decrease to 0, it indicates that the phase angle and angular frequency of the new energy side and the grid side do not meet the grid connection conditions. Therefore, it is necessary to adjust the phase angle and angular frequency of the new energy side.

[0083] By setting a preset threshold and determining whether the third phase angle and third angular frequency meet the conditions based on the fourth and fifth calculation results, the judgment 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 this application embodiment, after determining that the third phase angle and the third angular frequency do not meet the first preset condition, the method further includes: determining the adjustment range of the target parameter based on the fourth calculation result and the fifth calculation result; adjusting the target parameter according to the adjustment range to obtain the adjusted target parameter; configuring the active disturbance rejection controller according to the adjusted target parameter to obtain the adjusted target active disturbance rejection controller; and repeatedly executing the process of adjusting the first phase angle and the first angular frequency through the adjusted target active 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.

[0085] In an optional embodiment, based on the fourth and fifth calculation results, the reasons why the third phase angle and third angular frequency do not meet the grid connection conditions are analyzed, and the range within 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 involve increasing or decreasing parameter values, so that the phase angle and angular frequency on the new energy side gradually approach the grid connection conditions. Based on the adjusted target parameters, the active disturbance rejection controller is reconfigured, and the phase angle and angular frequency on the new energy side are repeatedly adjusted through the adjusted target active disturbance rejection controller, continuously optimizing the parameters until the fourth phase angle and fourth angular frequency on the new energy side meet the grid connection conditions.

[0086] By following the above steps, the target parameters can be effectively adjusted to ensure that the phase angle and angular frequency of the new energy source meet the grid connection requirements, thereby improving the stability and performance of the grid connection.

[0087] It should be noted that, Figure 2 This is a schematic diagram of the simulation experiment comparison results provided in the embodiments of this application. Figure 1 , Figure 3This is a schematic diagram of the simulation experiment comparison results provided in the embodiments of this application. Figure 2 .like Figure 2 and Figure 3 As shown, a simulation model of grid-connected new energy sources is constructed, and a linear active disturbance rejection control strategy based on adaptive adjustment is used for pre-synchronization. Figure 2 The waveform of the inrush current generated by grid-connected renewable energy sources shows that the inrush current oscillation amplitude under conventional linear active disturbance rejection control is relatively large, with a maximum value close to 600A, while the inrush current oscillation amplitude under adaptive linear active disturbance rejection control is much smaller, with a maximum inrush current amplitude of around 400A. Figure 3 The voltage amplitude waveform of the grid-connected renewable energy source shows that the voltage waveform under the adaptive linear active disturbance rejection control is relatively smooth and does not exhibit significant surges. Therefore, the grid-connected control method provided in this application can effectively reduce the inrush current generated during grid connection, achieving smooth grid connection of the grid-connected renewable energy source after black start.

[0088] The grid-connected control method provided in this application calculates target parameters based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system and the second phase angle and second angular frequency corresponding to the target power grid system. These target parameters are used to configure an active disturbance rejection controller (AVR), which adjusts the phase angle and angular frequency of the grid-type energy storage system. The AVR is configured according to the target parameters to obtain a target AVR. The first phase angle and first angular frequency are adjusted using the target AVR to obtain a third phase angle and third angular frequency. When the third phase angle and third angular frequency meet a first preset condition, the grid-type energy storage system and the target power grid system are connected to the grid. This method solves the problem in related technologies where the grid connection of the grid-type energy storage system and the power grid system is achieved using a traditional PI controller, but this often results in a large grid connection inrush current, leading to poor grid system safety.

[0089] In this scheme, target parameters for configuring the active disturbance rejection controller (ADRC) are calculated based on the first phase angle and first angular frequency of the grid-type energy storage system, and the second phase angle and second angular frequency of the target power grid system. Then, the ADRC is configured according to the target parameters to obtain the target ADRC. The first phase angle and first angular frequency of the grid-type energy storage system are adjusted using the target ADRC to obtain the adjusted third phase angle and third angular frequency. Finally, if the third phase angle and third angular frequency meet the grid connection conditions (i.e., the first preset condition), the grid-type energy storage system and the target power grid system are connected to the grid.

[0090] By calculating the target parameters, the active disturbance rejection controller can be configured efficiently to accurately adjust the phase angle and angular frequency of the grid-type energy storage system, thereby achieving smooth grid connection between the grid-type energy storage system and the target power grid system. This helps the system maintain stable operation and improves the system's safety and reliability.

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

[0092] This application also provides a grid-connected control device. It should be noted that the grid-connected control device of this application can be used to execute the grid-connected control method provided in this application. The following describes the grid-connected control device provided in this application.

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

[0094] The first calculation unit 401 is used to calculate the target parameters based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system and the second phase angle and second angular frequency corresponding to the target grid system. The target parameters are used to configure the active disturbance rejection controller, which is used to adjust the phase angle and angular frequency of the grid-type energy storage system.

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

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

[0097] The processing unit 404 is used to perform grid connection 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 conditions.

[0098] The grid-connected control device provided in this application embodiment includes a first calculation unit 401 that calculates target parameters based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system and the second phase angle and second angular frequency corresponding to the target grid system. The target parameters are used to configure an active disturbance rejection controller (AVR), which adjusts the phase angle and angular frequency of the grid-type energy storage system. A first configuration unit 402 configures the AVR based on the target parameters to obtain a target AVR. A first adjustment unit 403 adjusts the first phase angle and first angular frequency using the target AVR to obtain a third phase angle and third angular frequency. A processing unit 404 performs grid-connection processing on the grid-type energy storage system and the target grid system when the third phase angle and third angular frequency meet a first preset condition. This solves the problem in related technologies where grid-type energy storage systems and grid systems are connected using traditional PI controllers, but this often results in large grid-connection inrush currents, leading to poor grid system safety.

[0099] In this scheme, target parameters for configuring the active disturbance rejection controller (ADRC) are calculated based on the first phase angle and first angular frequency of the grid-type energy storage system, and the second phase angle and second angular frequency of the target power grid system. Then, the ADRC is configured according to the target parameters to obtain the target ADRC. The first phase angle and first angular frequency of the grid-type energy storage system are adjusted using the target ADRC to obtain the adjusted third phase angle and third angular frequency. Finally, if the third phase angle and third angular frequency meet the grid connection conditions (i.e., the first preset condition), the grid-type energy storage system and the target power grid system are connected to the grid.

[0100] By calculating the target parameters, the active disturbance rejection controller can be configured efficiently to accurately adjust the phase angle and angular frequency of the grid-type energy storage system, thereby achieving smooth grid connection between the grid-type energy storage system and the target power grid system. This helps the system maintain stable operation and improves the system's safety and reliability.

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

[0102] Optionally, in the grid-connected control device provided in the embodiments of this 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 acquire the rated frequency and output frequency of the configured active disturbance rejection controller; a third calculation module, used to perform calculations based on the rated frequency and 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.

[0103] Optionally, in the grid-connected control device provided in the embodiments of this application, 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 a third phase angle; and 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 a third angular frequency.

[0104] Optionally, in the grid-connected control device provided in the embodiments of this application, the device further includes: a second calculation unit, used to calculate based on a third phase angle and a second phase angle to obtain a fourth calculation result before performing grid-connected processing on the grid-type energy storage system and the target power grid system; a third calculation unit, used to calculate based on a third angular frequency and a 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 a first preset condition based on the fourth calculation result and the fifth calculation result.

[0105] Optionally, in the grid-connected control device provided in this application embodiment, 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, and 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 embodiments of this application, the device further includes: a determining unit, configured to determine the adjustment range of the target parameters based on 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 adjusting unit, configured to adjust the target parameters according to the adjustment range to obtain the adjusted target parameters; a second configuring unit, configured to configure the active disturbance rejection controller according to the adjusted target parameters to obtain the adjusted target active disturbance rejection controller; and an execution unit, configured to repeatedly execute the process of adjusting the first phase angle and the first angular frequency through the adjusted target active 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 connection control device includes a processor and a memory. The first computing unit 401, the first configuration unit 402, the first adjustment unit 403, the processing unit 404, etc., are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the safe control of the grid connection.

[0108] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and grid-connected safety control can be achieved by adjusting kernel parameters.

[0109] The memory may include non-permanent memory in computer-readable media, such as 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] This invention provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements a grid-connected control method.

[0111] This invention provides a processor for running a program, wherein the program executes a grid-connected control method during runtime.

[0112] like Figure 5As shown, this embodiment of the invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: calculating target parameters based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system. The target parameters are used to configure an active disturbance rejection controller (AVR), which is used to adjust the phase angle and angular frequency of the grid-type energy storage system. The AVR is configured based on the target parameters to obtain a target AVR. The first phase angle and first angular frequency are adjusted by the target AVR to obtain a third phase angle and third angular frequency. When the third phase angle and third angular frequency meet a first preset condition, the grid-type energy storage system and the target power grid system are connected to the grid.

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

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

[0115] Optionally, adjusting 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 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 using the extended state observer of the target active disturbance rejection controller to obtain the third phase angle; and adjusting the first angular frequency of the grid-type energy storage system based on the second angular frequency of the target power grid system using the state error feedback controller of the target active disturbance rejection controller to obtain the third angular frequency.

[0116] Optionally, before connecting the grid-type energy storage system and the target power grid system to the grid, the method further includes: calculating a fourth calculation result based on the third phase angle and the second phase angle; calculating a fifth calculation result based on the third angular frequency and the second angular frequency; and determining 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, determining 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: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold, and obtaining a determination result; if the determination result indicates that both the fourth calculation result and the fifth calculation result are equal to the preset threshold, then it is determined that the third phase angle and the third angular frequency meet the first preset condition; if the determination 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 it is determined 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 further includes: determining the adjustment range of the target parameters based on the fourth calculation result and the fifth calculation result; adjusting the target parameters according to the adjustment range to obtain the adjusted target parameters; configuring the active disturbance rejection controller according to the adjusted target parameters to obtain the adjusted target active disturbance rejection controller; and repeatedly executing the process of adjusting the first phase angle and the first angular frequency through the adjusted target active 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.

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

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

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

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

[0123] Optionally, adjusting 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 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 using the extended state observer of the target active disturbance rejection controller to obtain the third phase angle; and adjusting the first angular frequency of the grid-type energy storage system based on the second angular frequency of the target power grid system using the state error feedback controller of the target active disturbance rejection controller to obtain the third angular frequency.

[0124] Optionally, before connecting the grid-type energy storage system and the target power grid system to the grid, the method further includes: calculating a fourth calculation result based on the third phase angle and the second phase angle; calculating a fifth calculation result based on the third angular frequency and the second angular frequency; and determining 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, determining 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: determining whether the fourth calculation result and the fifth calculation result are equal to a preset threshold, and obtaining a determination result; if the determination result indicates that both the fourth calculation result and the fifth calculation result are equal to the preset threshold, then it is determined that the third phase angle and the third angular frequency meet the first preset condition; if the determination 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 it is determined 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 further includes: determining the adjustment range of the target parameters based on the fourth calculation result and the fifth calculation result; adjusting the target parameters according to the adjustment range to obtain the adjusted target parameters; configuring the active disturbance rejection controller according to the adjusted target parameters to obtain the adjusted target active disturbance rejection controller; and repeatedly executing the process of adjusting the first phase angle and the first angular frequency through the adjusted target active 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.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0133] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0135] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A grid-connected control method, characterized in that, include: The target parameters are calculated based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system and the second phase angle and second angular frequency corresponding to the target power grid system. The target parameters are used to configure the active disturbance rejection controller, which is used to adjust the phase angle and angular frequency of the grid-type energy storage system. The active disturbance rejection controller is configured according to the target parameters to obtain the 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 the third phase angle and the third angular frequency; When the third phase angle and the third angular frequency meet the first preset conditions, the grid-connected energy storage system and the target power grid system are connected to the grid. The target parameters include: controller bandwidth parameters and extended state observer bandwidth parameters; Based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system, and the second phase angle and second angular frequency corresponding to the target power grid system, the target parameters are calculated as follows: The extended state observer bandwidth parameter in the active disturbance rejection controller is adaptively adjusted based on the phase difference between the grid-type energy storage system side and the target grid side, the fixed observer bandwidth, and the additional adjustment parameters of the active disturbance rejection controller. The controller bandwidth parameter in the active disturbance rejection controller is adaptively adjusted based on the angular frequency difference between the grid-type energy storage system side and the target grid side, the fixed controller bandwidth, and the additional adjustment parameters of the active disturbance rejection controller.

2. The method according to claim 1, characterized in that, The active disturbance rejection controller is configured according to the target parameters to obtain the target active disturbance rejection controller, which includes: The active disturbance rejection controller is configured according to the target parameters to obtain the configured active disturbance rejection controller; Obtain the rated frequency and output frequency of the configured active disturbance rejection controller; A third calculation result is obtained by calculating based on the rated frequency and the output frequency; If the third calculation result satisfies the second preset condition, then the configured active disturbance rejection controller is determined as the target active disturbance rejection controller.

3. The method according to claim 1, characterized in that, The third phase angle and third angular frequency are obtained by adjusting the first phase angle and the first angular frequency through the target active disturbance rejection controller, including: The third phase angle is obtained by adjusting the first phase angle of the grid-type energy storage system based on the second phase angle of the target power grid system using the extended state observer of the target active disturbance rejection controller; The target active disturbance rejection controller adjusts the first angular frequency of the grid-type energy storage system based on the second angular frequency of the target power grid system using the state error feedback controller to obtain the third angular frequency.

4. The method according to claim 1, characterized in that, Before connecting the grid-connected energy storage system and the target power grid system to the grid, the method further includes: A fourth calculation result is obtained by calculating based on the third phase angle and the second phase angle; The fifth calculation result is obtained by calculating based on the third angular frequency and the second angular frequency; Based on the fourth calculation result and the fifth calculation result, determine whether the third phase angle and the third angular frequency satisfy the first preset condition.

5. The method according to claim 4, characterized in that, Based on the fourth calculation result and the fifth calculation result, determining whether the third phase angle and the third angular frequency satisfy the first preset condition includes: Determine whether the fourth calculation result and the fifth calculation result are equal to a preset threshold to obtain a determination result; If the judgment result indicates that both the fourth calculation result and the fifth calculation result are equal to the preset threshold, then it is determined that the third phase angle and the third angular frequency satisfy 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 it is determined that the third phase angle and the third angular frequency do not satisfy the first preset condition.

6. The method according to claim 5, 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: Based on the fourth and fifth calculation results, the adjustment range of the target parameter is determined; The target parameters are adjusted according to the adjustment range to obtain the adjusted target parameters; The active disturbance rejection controller is configured according to the adjusted target parameters to obtain the adjusted target active disturbance rejection controller; The process of adjusting the first phase angle and the first angular frequency through the adjusted target active interference rejection controller to obtain the fourth phase angle and the fourth angular frequency is repeated until the fourth phase angle and the fourth angular frequency meet the first preset condition.

7. A grid-connected control device, characterized in that, include: The first calculation unit is used to calculate the target parameters based on the first phase angle and first angular frequency corresponding to the grid-type energy storage system and the second phase angle and second angular frequency corresponding to the target power grid system. The target parameters are used to configure the active disturbance rejection controller, which is used to adjust the phase angle and angular frequency of the grid-type energy storage system. The first configuration unit is used to configure the active disturbance rejection controller according to the target parameters to obtain the target active disturbance rejection controller; The first adjustment unit is used to adjust the first phase angle and the first angular frequency through the target active interference rejection controller to obtain the third phase angle and the third angular frequency; The processing unit is used to perform grid connection 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 conditions; The device is also used to adaptively adjust the extended state observer bandwidth parameter in the active disturbance rejection controller based on the phase difference between the grid-type energy storage system side and the target grid side, the fixed observer bandwidth, and the additional adjustment parameters of the active disturbance rejection controller. The controller bandwidth parameter in the active disturbance rejection controller is adaptively adjusted based on the angular frequency difference between the grid-type energy storage system side and the target grid side, the fixed controller bandwidth, and the additional adjustment parameters of the active disturbance rejection controller.

8. 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 controls the device to perform the grid-connected control method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being 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 cause the one or more processors to implement the grid-connected control method according to any one of claims 1 to 6.

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